Vacuum cleaner, control method and apparatus therefor for preventing hair wrapping, and storage medium

Abstract

The present application relates to the field of vacuum cleaners, and in particular to a vacuum cleaner, a control method and apparatus therefor for preventing hair wrapping, and a storage medium. The method comprises: acquiring environment information in a working scenario of a vacuum cleaner; on the basis of preset control logic, determining control parameters corresponding to the minimum degree of wrapping under the environment information, the control parameters comprising at least one of a fan rotating speed, a locomotion motor rotating speed and a rolling brush rotating speed; and on the basis of the control parameters, controlling at least one of the fan rotating speed, the locomotion motor rotating speed and the rolling brush rotating speed of the vacuum cleaner. In this way, the vacuum cleaner can adaptively adjust the control parameters on the basis of the environment information so as to be in a state with the minimum degree of wrapping, improving the performance of the vacuum cleaner, and improving the cleaning effect.

Description

Hair entanglement prevention method, device and storage medium for vacuum cleaner

[0001] The present application claims priority to the Chinese patent application No. 202410441031.4, filed on April 10, 2024 in the China Patent Office, and entitled "Hair entanglement prevention method, device and storage medium for vacuum cleaner", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of vacuum cleaners, and in particular to a hair entanglement prevention method, device and storage medium for vacuum cleaner. BACKGROUND

[0003] With the rapid development of smart home devices, vacuum cleaners with autonomous navigation function (i.e. smart vacuum cleaners) have become an indispensable part of home cleaning. Smart vacuum cleaners greatly reduce people's housework burden through autonomous navigation and cleaning functions. Especially for pet-keeping families, smart vacuum cleaners can effectively clean pet hair and various small debris, keeping the home environment clean.

[0004] However, the existing vacuum cleaners often face the problem of hair entanglement on the roller brush during cleaning. Hair entanglement not only causes the performance of the vacuum cleaner to decline, but also increases the difficulty for users to clean and maintain the vacuum cleaner. In addition, as the vacuum cleaner accumulates more and more hair, its suction force and cleaning efficiency will also be affected, thereby affecting the cleaning effect. TECHNICAL PROBLEM

[0005] Therefore, the embodiments of the present application provide a hair entanglement prevention method, device and storage medium for vacuum cleaner to reduce the degree of hair entanglement of the vacuum cleaner in the prior art, and to improve the performance and cleaning effect of the vacuum cleaner. TECHNICAL SOLUTION

[0006] A first aspect of the embodiments of the present application provides a hair entanglement prevention method for a vacuum cleaner, the method comprising:

[0007] obtaining environment information in a working scene of the vacuum cleaner;

[0008] determining, according to a pre-set control logic, a control parameter corresponding to the minimum degree of entanglement under the environment information, the control parameter comprising at least one of fan speed, walking motor speed and roller brush speed;

[0009] controlling at least one of the fan speed, the walking motor speed and the roller brush speed of the vacuum cleaner according to the control parameter.

[0010] In a first possible implementation manner of the first aspect, according to the preset control logic, the control parameter corresponding to the minimum entanglement degree under the environment information is determined, including:

[0011] According to the current control parameter of the vacuum cleaner and the environment information, a pre-trained vacuum cleaner control network model is used to calculate a predicted entanglement degree of the vacuum cleaner.

[0012] An iterative optimization is performed by using a preset optimization algorithm to determine the control parameter corresponding to the minimum predicted entanglement degree.

[0013] In a second possible implementation manner of the first aspect, before the pre-trained vacuum cleaner control network model is used to calculate the predicted entanglement degree of the vacuum cleaner, the method further includes:

[0014] Sample data is obtained, including sample entanglement degrees obtained by the vacuum cleaner in different sample environment information working scenarios, using sample control parameters of different fan speeds, different walking motor speeds and different brushroll speeds.

[0015] The sample environment information and the sample control parameters in the sample data are calculated by the vacuum cleaner control network model to output a predicted entanglement degree.

[0016] The parameters of the vacuum cleaner control network model are adjusted according to the deviation between the sample entanglement degree and the predicted entanglement degree until the deviation meets a preset requirement, to obtain a trained vacuum cleaner control network model.

[0017] In a third possible implementation manner of the first aspect, according to the preset control logic, the control parameter corresponding to the minimum entanglement degree under the environment information is determined, including:

[0018] The control parameters corresponding to different control gears are determined.

[0019] The environment information and the control parameters corresponding to different gears are calculated by the pre-trained vacuum cleaner control network model to output a predicted entanglement degree.

[0020] The gear corresponding to the minimum predicted entanglement degree is determined, and the control parameter is determined according to the gear.

[0021] In a fourth possible implementation manner of the first aspect, the environment information in the working scenario of the vacuum cleaner is obtained, including:

[0022] According to the navigation path of the vacuum cleaner, the environment information of a navigation path point at a predetermined distance from the current position of the vacuum cleaner is determined.

[0023] According to the control parameter, at least one of the fan rotating speed, the walking motor rotating speed and the rolling brush rotating speed of the dust collector is controlled, including:

[0024] According to the control parameter, at least one of the fan rotating speed, the walking motor rotating speed and the rolling brush rotating speed of the dust collector is controlled when the navigation path point at the predetermined distance is reached.

[0025] With reference to the first aspect, in a fifth possible implementation manner of the first aspect, the environment information includes ground material information.

[0026] The environment information in the working scene of the dust collector is acquired, including:

[0027] The ground material information of the ground is determined by receiving an ultrasonic reflection signal after an ultrasonic wave is reflected on the ground, or receiving an infrared reflection signal after an infrared signal is reflected on the ground.

[0028] With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the environment information further includes at least one of the hair length and the ground humidity.

[0029] The environment information in the working scene of the dust collector is acquired, including:

[0030] The ground image is acquired by an image sensor.

[0031] At least one of the hair length and the ground humidity in the environment information is parsed according to the ground image.

[0032] A second aspect of the embodiments of the present application provides a control device for preventing hair entanglement of a dust collector, and the device includes:

[0033] An environment information acquisition unit is configured to acquire environment information in a working scene of the dust collector.

[0034] A control parameter determination unit is configured to determine, according to a pre-set control logic, a control parameter corresponding to a minimum entanglement degree under the environment information, the control parameter including at least one of a fan rotating speed, a walking motor rotating speed and a rolling brush rotating speed.

[0035] A control unit is configured to control at least one of the fan rotating speed, the walking motor rotating speed and the rolling brush rotating speed of the dust collector according to the control parameter.

[0036] With reference to the second aspect, in a first possible implementation manner of the second aspect, the control parameter determination unit includes:

[0037] a calculation subunit, configured to calculate a predicted winding degree of the vacuum cleaner by using a pre-trained vacuum cleaner control network model according to the current control parameter of the vacuum cleaner and the environment information;

[0038] an optimization subunit, configured to determine the control parameter corresponding to the minimum predicted winding degree by using a preset optimization algorithm for iterative optimization.

[0039] With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the apparatus further includes:

[0040] a sample data acquisition unit, configured to acquire sample data, the sample data including sample winding degrees obtained by using sample control parameters of different fan rotating speeds, different walking motor rotating speeds and different roller brush rotating speeds in different sample environment information working scenarios of the vacuum cleaner;

[0041] a calculation output unit, configured to calculate the sample environment information and the sample control parameter in the sample data by using the vacuum cleaner control network model, and output a predicted winding degree;

[0042] a parameter adjustment unit, configured to adjust parameters of the vacuum cleaner control network model according to a deviation between the sample winding degree and the predicted winding degree until the deviation meets a preset requirement, and obtain a trained vacuum cleaner control network model.

[0043] With reference to the second aspect, in a third possible implementation manner of the second aspect, the control parameter determination unit includes:

[0044] a corresponding relationship determination subunit, configured to determine control parameters corresponding to different control gears;

[0045] a winding degree prediction subunit, configured to calculate a predicted winding degree output by the environment information and the control parameters corresponding to different gears by using the pre-trained vacuum cleaner control network model;

[0046] a gear determination subunit, configured to determine a gear corresponding to the minimum predicted winding degree, and determine the control parameter according to the gear.

[0047] With reference to the second aspect, in a fourth possible implementation manner of the second aspect, the environment information acquisition unit includes:

[0048] a position determination subunit, configured to determine environment information of a navigation path point at a predetermined distance from a current position of the vacuum cleaner according to a navigation path of the vacuum cleaner;

[0049] The control unit is configured to control at least one of a fan rotating speed, a walking motor rotating speed and a rolling brush rotating speed of the cleaner at a navigation path point at the predetermined distance according to the control parameter.

[0050] With reference to the second aspect, in a fifth possible implementation manner of the second aspect, the environment information comprises ground material information.

[0051] The environment information acquisition unit is configured to determine the ground material information of the ground by receiving an ultrasonic reflection signal after ultrasonic waves are reflected by the ground, or receiving an infrared reflection signal after infrared signals are reflected by the ground.

[0052] With reference to the fifth possible implementation manner of the second aspect, in a sixth possible implementation manner of the second aspect, the environment information further comprises at least one of the hair length and ground humidity.

[0053] The environment information acquisition unit comprises:

[0054] An image acquisition sub-unit, configured to acquire a ground image by an image sensor.

[0055] An image analysis sub-unit, configured to analyze at least one of the hair length and the ground humidity in the environment information according to the ground image.

[0056] The third aspect of the embodiments of the present application provides a cleaner, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method according to any one of the first aspect when executing the computer program.

[0057] The fourth aspect of the embodiments of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps of the method according to any one of the first aspect. Advantageous effects

[0058] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application acquire environment information in a working scene where the cleaner is located, determine a control parameter corresponding to a minimum winding degree based on a pre-set control logic, and control at least one of a fan rotating speed, a rolling brush rotating speed and a walking motor rotating speed of the cleaner based on the determined control parameter, so that the cleaner can adaptively adjust the control parameter according to the environment information and be in a state of the minimum winding degree, thereby being beneficial to improving the performance of the cleaner and improving the cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0060] Fig. 1 is a structural schematic diagram of a dust collector provided by an embodiment of the present application;

[0061] Fig. 2 is an implementation flowchart of a hair entanglement prevention control method of a dust collector provided by an embodiment of the present application;

[0062] Fig. 3 is an implementation flowchart of determining a control parameter provided by an embodiment of the present application;

[0063] Fig. 4 is an implementation flowchart of training a parameter of a dust collector control network model provided by an embodiment of the present application;

[0064] Fig. 5 is a schematic diagram of a hair entanglement prevention control device of a dust collector provided by an embodiment of the present application;

[0065] Fig. 6 is a schematic diagram of a dust collector provided by an embodiment of the present application. Embodiments of the present application

[0066] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the present application. However, persons skilled in the art will understand that embodiments of the present application can be practiced without these specific details. In other instances, well-known systems, devices, circuits, and methods have not been described in detail so as not to obscure the description of the present application.

[0067] In order to illustrate the technical solutions described in the present application, the following will be described through specific embodiments.

[0068] A dust collector is a household appliance used to clean dust, dirt and hair and other garbage on the floor, carpet and other ground. The dust collector can pick up garbage and push it to the suction port through the roller brush, and the electric pump can generate suction to suck the garbage into the machine. With the development of indoor mapping technology, the dust collector can also automatically complete cleaning according to the set path through the walking motor control, greatly reducing the household burden of people.

[0069] However, existing vacuum cleaners often face the problem of hair entanglement on the roller brush during cleaning. Hair entanglement not only causes the performance of the vacuum cleaner to decline, but also increases the difficulty of the user to clean and maintain the vacuum cleaner. In addition, as the vacuum cleaner accumulates more hair, its suction force and cleaning efficiency will be affected, thereby affecting the cleaning effect.

[0070] To solve the above problems, the embodiments of the present application propose a vacuum cleaner capable of effectively reducing hair entanglement, and Fig. 1 is a structural schematic diagram of the vacuum cleaner. The vacuum cleaner comprises an environment sensor, an input module, a control module, a storage module, a roller brush, a fan, a walking module, a state detection and control module.

[0071] The environment sensor is used to detect the environmental information at the current position of the vacuum cleaner, or the environmental information at a predetermined distance in front of the current position, such as the navigation path point at a predetermined distance in front.

[0072] The environmental information can include ground material information, or can also include at least one of ground humidity and ground hair length.

[0073] The ground material information can include a plurality of different types. For example, the ground material information can include two or more of wood floor, ceramic tile floor, rubber floor, woven floor and concrete floor. Since different ground material information has different adhesion ability to hair, and the contact mode with the roller brush is also different.

[0074] The humidity of the ground also affects the adhesion ability of the ground to the hair. When the vacuum cleaner cleans the ground with different humidity, the contact mode of the hair with the roller brush, the shape change information of the hair, and the suction force required to adsorb the hair will also change. The length of the hair also affects the state of the hair on the roller brush.

[0075] The input module can be used to input control data of the vacuum cleaner. For example, the walking speed of the vacuum cleaner can be controlled, the fan speed of the vacuum cleaner or the speed of the roller brush can be controlled, or different gears can be input, and the vacuum cleaner can be operated according to the control parameters corresponding to the gears. Or, the input module can also control the vacuum cleaner to be in an automatic control state or a manual control state. When the vacuum cleaner is in an automatic control state, the control parameter with the smallest entanglement degree can be automatically selected according to the environmental information. The input module can be input through the display panel of the vacuum cleaner, or input through the key, or also input through the APP interface of the control terminal.

[0076] The control module can be used to execute the hair entanglement prevention control method of the vacuum cleaner in the embodiments of the present application, determine the control parameter that best matches the environmental information, and enable the vacuum cleaner to effectively reduce the degree of hair entanglement according to the control parameter, and improve the use performance and cleaning effect of the vacuum cleaner.

[0077] The storage module can be configured to store code data corresponding to the hair entanglement prevention control method of the dust collector, so as to control the control module to execute the code data and implement the hair entanglement prevention control method of the dust collector. In a possible implementation manner, the storage module can further store a corresponding relationship between different gears and control parameters.

[0078] The rolling brush and the air blower are one of main cleaning devices of the dust collector. The rolling brush can directly contact the ground. Through the rotating motion, the bristles on the rolling brush sweep the dust or garbage on the ground into the suction inlet of the dust collector. The air blower can be configured to generate negative pressure or suction force to suck the hair or dust on the ground into the dust collection box. Through the cooperation of the rolling brush and the air blower, the cleaning efficiency of the pollutants can be effectively improved.

[0079] The traveling module is configured to control the dust collector to move according to the set cleaning path, so that the dust collector can autonomously complete the cleaning work in a room or a specified area, and improve the convenience of use.

[0080] The state detection and control module can be configured to detect the cleaning state data of the dust collector, which can include detecting one or more of the rotating speed of the air blower, the rotating speed of the traveling motor and the rotating speed of the rolling brush motor, and controlling one or more of the rotating speed of the air blower, the rotating speed of the traveling motor and the rotating speed of the rolling brush motor according to the control parameters generated by the control module.

[0081] FIG. 2 is an implementation flowchart of a hair entanglement prevention control method of a dust collector according to an embodiment of the present application, which is described in detail as follows:

[0082] In S201, the environment information in the working scene of the dust collector is acquired.

[0083] In the embodiment of the present application, the working scene of the dust collector can include different room working scenes. The environment information in the working scene can include ground material information in the working scene. For example, the ground material information can include two or more of wood floor, ceramic tile floor, rubber floor, woven floor and concrete floor.

[0084] When the ground material information is acquired, the signal collected by the infrared sensor and / or the ultrasonic sensor can be analyzed and determined.

[0085] For example, the ground material information can be determined according to the reflection intensity of the infrared signal or the ultrasonic signal on different ground, through the infrared sensor to detect the intensity of the infrared signal emitted by the infrared emitter tube and reflected by the ground, or through the ultrasonic sensor to detect the intensity of the ultrasonic signal emitted by the ultrasonic tube and reflected by the ground.

[0086] The environment information is not limited to be detected by an infrared sensor or an ultrasonic sensor, and ground material information in a working scene can also be detected by an image sensor. For example, a corresponding relationship between different grounds and image features can be preset, and a ground type in a working environment can be determined based on an image feature included in a collected ground image.

[0087] In a possible implementation, the environment information can include at least one of a hair length of the ground and a humidity of the ground.

[0088] When the hair length is included in the environment information, the hair included in the image can be detected through the collected image, and the length of the hair can be calculated. When the humidity is included in the environment information, the humidity in the working scene can be detected through the humidity sensor.

[0089] In S202, according to a preset control logic, a control parameter corresponding to a minimum winding degree under the environment information is determined.

[0090] The control parameter of the dust collector includes at least one of a fan rotating speed, a walking motor rotating speed, and a roller brush rotating speed.

[0091] The control logic in the embodiment of the application can be a preset corresponding relationship between environment information and a control parameter. Based on the corresponding relationship, a control strategy of current environment information is quickly determined, and the corresponding relationship can be a corresponding relationship between control parameters of different gears and environment information.

[0092] Alternatively, the control logic can calculate different predicted winding degrees based on a dust collector control network model, determine an optimal control parameter through optimization iteration, and determine a control parameter corresponding to a minimum winding degree to control the state of the dust collector.

[0093] For example, a process of determining a control parameter of the dust collector based on an optimization iteration method can be as shown in FIG. 3, and the process includes the following steps.

[0094] In S301, a preset dust collector control network model is used to calculate a predicted winding degree of the dust collector according to a current control parameter of the dust collector and the environment information.

[0095] The current control parameter of the dust collector can include at least one of a fan rotating speed, a walking motor rotating speed, and a roller brush rotating speed of the dust collector.

[0096] The current environment information of the vacuum cleaner can be the same as the environment information used when training the control network model of the vacuum cleaner. For example, when the environment information used when training the control network model of the vacuum cleaner includes floor material information, the environment information used for calculation also includes floor material information. When the environment information used when training includes hair length, the environment information used for calculation also includes hair length. When the environment information used when training includes floor humidity, the environment information used for calculation also includes floor humidity.

[0097] Since the vacuum cleaner control network model has been trained, the error of the predicted winding degree calculated based on the vacuum cleaner control network model is small, and meets the predetermined error requirement, and the iterative optimization of the control parameter can be performed based on the calculated predicted winding degree.

[0098] The vacuum cleaner control network model can include a plurality of different neural network models, such as a convolutional neural network, a feedforward neural network, etc.

[0099] In a possible implementation, before calculating the predicted winding degree using the vacuum cleaner control network model, the training of the model can also be completed, as shown in FIG. 4, including:

[0100] In S401, sample data is obtained.

[0101] The sample data includes the sample winding degree obtained by the vacuum cleaner in different sample environment information working scenarios using different fan speeds, different walking motor speeds and different brush speeds.

[0102] In order to reduce the influence of accidental events on the accuracy of the sample data, for the same sample data, that is, for the same sample environment information and the same sample control parameter, a predetermined number of winding degrees can be obtained by repeated collection, and the sample winding degree can be determined according to the predetermined number of winding degrees. For example, the average value of the predetermined number of winding degrees can be calculated to obtain the sample winding degree. Alternatively, the maximum and minimum values of the predetermined number of winding degrees can be removed, and then the average value can be calculated to obtain the sample winding degree.

[0103] In S402, the sample environment information and the sample control parameter in the sample data are calculated by the vacuum cleaner control network model, and the predicted winding degree is output.

[0104] The sample environment information and the sample control parameter in the sample data in the training set can be calculated by the vacuum cleaner control network model according to the pre-initialized parameters to obtain the predicted winding degree.

[0105] Since there is usually a difference between the initialized parameters and the accurate parameters, the prediction of the winding degree calculated based on the initialized parameters is not accurate and needs to be further optimized.

[0106] In S403, the parameters of the cleaner control network model are adjusted according to the deviation between the sample winding degree and the predicted winding degree until the deviation meets the preset requirement, and a trained cleaner control network model is obtained.

[0107] When the parameters of the model are optimized and adjusted, the parameters can be adjusted and optimized based on the size of the deviation between the sample winding degree and the predicted winding degree by using a gradient optimization method or other optimization methods. After the adjustment, the parameters can be verified by using the sample data in the sample verification set. When the parameters of the cleaner control network model are adjusted according to the deviation between the sample winding degree and the predicted winding degree, a deviation threshold can be set. If the deviation between the sample winding degree and the predicted winding degree is greater than the deviation threshold, the parameters can be updated in the gradient direction to quickly reduce the deviation between the two, so that the deviation is less than or equal to the deviation threshold, that is, the preset requirement is met, and the cleaner control network model converges quickly.

[0108] In S302, a preset optimization algorithm is used for iterative optimization to determine the control parameters corresponding to the minimum winding degree.

[0109] After the cleaner control network model is trained, the numerical optimization method, including the gradient descent method, the stochastic gradient ascent method, the quasi-Newton method, and the like, can be used for iterative optimization until the control parameters corresponding to the minimum winding degree are determined.

[0110] In S203, at least one of the fan speed, the walking motor speed, and the roller brush speed of the cleaner is controlled according to the control parameters.

[0111] Since the control parameters obtained by iterative optimization can minimize the winding degree of the cleaner when cleaning the hair, the cleaner can minimize the accumulation of hair, improve the use performance of the cleaner, and improve the cleaning effect of the cleaner.

[0112] In the embodiments of the present application, the control parameters corresponding to the minimum winding degree can be calculated according to different environmental information, including at least one of the fan speed, the walking motor speed, and the roller brush speed of the cleaner. After the control parameters corresponding to different environmental information are determined, different gears can be set according to the correspondence between the common environmental information and the control parameters. The control parameters of the set gears are the control parameters corresponding to the minimum winding degree under the environmental information.

[0113] For example, the common environmental information includes ground material information. The ground material information can include ceramic tile floor, concrete floor, wooden floor and woven floor. According to the method shown in FIG. 3, the optimal control parameters corresponding to different ground material information can be determined, and the correspondence between the optimal control parameters and the gears can be set. For example, the first gear is set to the control parameters corresponding to the ceramic tile floor, the second gear is set to the control parameters corresponding to the concrete floor, the third gear is set to the control parameters corresponding to the wooden floor, and the fourth gear is set to the control parameters corresponding to the woven floor. Through the correspondence between the gears and the control parameters, the cleaner can automatically switch to the corresponding gear and quickly locate the optimal control parameters by detecting the current environmental information when working. Alternatively, the user can set the gear to be used according to the correspondence between the cleaner and the gears in different environmental information.

[0114] It can be understood that the environmental information is not limited to the ground material information, but can also include the length of the hair on the ground and the humidity of the ground. Based on the possibility of environmental information, the control parameters of multiple gears are set to correspond to multiple environmental information.

[0115] In possible implementation manners, the embodiment of the present application can pre-acquire the environmental information at the position to be reached by the cleaner, determine the correspondence between the position in the navigation path and the control parameter, and control the control parameter of the cleaner during movement based on the correspondence, so as to more accurately control the working state of the cleaner.

[0116] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0117] FIG. 5 is a schematic diagram of a hair entanglement prevention control device of a cleaner provided by an embodiment of the present application, which includes:

[0118] An environmental information acquisition unit 501 is configured to acquire environmental information in a working scene of the cleaner;

[0119] A control parameter determination unit 502 is configured to determine a control parameter corresponding to the minimum entanglement degree under the environmental information according to a pre-set control logic, the control parameter including at least one of fan speed, walking motor speed and roller brush speed.

[0120] A control unit 503 is configured to control at least one of the fan speed, the walking motor speed and the roller brush speed of the cleaner according to the control parameter.

[0121] The hair entanglement prevention control device of the cleaner shown in FIG. 5 corresponds to the hair entanglement prevention control method of the cleaner shown in FIG. 2.

[0122] Fig. 6 is a schematic diagram of a dust collector according to an embodiment of the present application. As shown in Fig. 6, the dust collector 6 according to the embodiment includes a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and capable of running on the processor 60, e.g., a control program for preventing hair winding of the dust collector. The processor 60 implements the steps in the control method embodiments for preventing hair winding of the dust collector described above when executing the computer program 62. Alternatively, the processor 60 implements the functions of the modules / units in the device embodiments described above when executing the computer program 62.

[0123] For example, the computer program 62 can be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 62 in the dust collector 6.

[0124] The dust collector can include, but is not limited to, the processor 60 and the memory 61. Those skilled in the art can understand that Fig. 6 is only an example of the dust collector 6 and does not limit the dust collector 6, which can include more or fewer components than those shown, or combine certain components, or different components, e.g., the dust collector can also include an input / output device, a network access device, a bus, etc.

[0125] The processor 60 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0126] The memory 61 can be an internal storage unit of the cleaner 6, such as a hard disk or a memory of the cleaner 6. The memory 61 can also be an external storage device of the cleaner 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the cleaner 6. Further, the memory 61 can include both the internal storage unit and the external storage device of the cleaner 6. The memory 61 is used to store the computer program and other programs and data required by the cleaner. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0127] It can be clearly understood by those skilled in the art that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0128] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can refer to the relevant description of other embodiments.

[0129] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or in combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0130] In the embodiments of the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented in other manners. For example, the described apparatus / terminal device embodiments are merely schematic. For example, the division of the modules or units is merely logical function division. There can be another division manner for actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, can be indirect couplings or communication connections through some interfaces, devices or units.

[0131] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0132] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0133] The integrated module / unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the above-mentioned embodiment methods can also be completed by computer program instruction related hardware, and the computer program can be stored in a computer readable storage medium. When the processor executes the computer program, the steps of each method embodiment described above can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the computer readable medium can include appropriate contents according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electric carrier signal and telecommunication signal.

[0134] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method for preventing hair entanglement in a vacuum cleaner, characterized in that: The method comprises: Acquiring environmental information of a working scene of the vacuum cleaner; Determining, according to a preset control logic, a control parameter corresponding to when the degree of entanglement is minimized under the environmental information, the control parameter including at least one of a fan speed, a travel motor speed, and a roller brush speed; At least one of the fan speed, the travel motor speed and the roller brush speed of the vacuum cleaner is controlled according to the control parameters.

2. The method according to claim 1, characterized in that According to the preset control logic, the control parameters corresponding to the minimum entanglement degree under the environmental information are determined, including: Calculating a predicted entanglement degree of the vacuum cleaner using a pre-trained vacuum cleaner control network model according to the current control parameters of the vacuum cleaner and the environmental information; An iterative optimization is performed using a preset optimization algorithm to determine the control parameters corresponding to the minimum predicted entanglement degree.

3. The method according to claim 2, characterized in that Before calculating the predicted entanglement degree of the vacuum cleaner using the pre-trained vacuum cleaner control network model, the method further includes: Acquiring sample data, the sample data including sample entanglement degrees obtained by the vacuum cleaner in working scenarios with different sample environmental information and using sample control parameters of different fan speeds, different travel motor speeds, and different roller brush speeds; Calculating sample environment information and sample control parameters in the sample data through a vacuum cleaner control network model, and outputting a predicted degree of entanglement; The parameters of the vacuum cleaner control network model are adjusted according to the deviation between the sample entanglement degree and the predicted entanglement degree until the deviation meets the preset requirements, thereby obtaining a trained vacuum cleaner control network model.

4. The method according to claim 1, wherein According to the preset control logic, the control parameters corresponding to the minimum entanglement degree under the environmental information are determined, including: Determine the control parameters corresponding to different control gears; Calculating the predicted entanglement degree output by the environmental information and the control parameters corresponding to different gears through a pre-trained vacuum cleaner control network model; The gear position corresponding to the minimum predicted winding degree is determined, and the control parameter is determined according to the gear position.

5. The method according to claim 1, wherein Obtaining environmental information in the working scene of the vacuum cleaner, including: determining, based on the navigation path of the vacuum cleaner, environmental information of a navigation path point at a predetermined distance from the current position of the vacuum cleaner; Controlling at least one of the fan speed, the travel motor speed, and the roller brush speed of the vacuum cleaner according to the control parameter includes: According to the control parameters, at least one of the fan speed, the travel motor speed and the roller brush speed of the vacuum cleaner at the navigation path point at the predetermined distance is controlled.

6. The method according to claim 1, characterized in that The environmental information includes ground material information; Obtaining environmental information in the working scene of the vacuum cleaner, including: The ground material information of the ground is determined by receiving an ultrasonic reflection signal after an ultrasonic wave is reflected on the ground, or receiving an infrared reflection signal after an infrared signal is reflected on the ground.

7. The method according to claim 6, characterized in that The environmental information further includes at least one of hair length and ground humidity; Obtaining environmental information in the working scene of the vacuum cleaner, including: Acquire ground images through image sensors; At least one of hair length and ground humidity in the environmental information is obtained by parsing the ground image.

8. A control device for preventing hair entanglement of a vacuum cleaner, characterized in that: The device comprises: An environmental information acquisition unit, configured to acquire environmental information of a working scene of the vacuum cleaner; a control parameter determination unit, configured to determine, based on a preset control logic, a control parameter corresponding to a minimum entanglement degree under the environmental information, the control parameter comprising at least one of a fan speed, a travel motor speed, and a roller brush speed; A control unit is used to control at least one of the fan speed, travel motor speed and roller brush speed of the vacuum cleaner according to the control parameters.

9. A vacuum cleaner comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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