Control Method, Device, Cleaning Device and Storage Medium of Cleaning Equipment

Abstract

An embodiment of the present application discloses a control method for a cleaning device, including: when the cleaning device performs a cleaning operation in a cleaning scenario, obtaining a scene image of the cleaning scenario collected by the cleaning device through an image collector; if the scene image meets the image collection prompt condition, controlling the motion states of the image collector and the cleaning device based on the scene image. An embodiment of the present application also discloses a control device for a cleaning device, a cleaning device, and a storage medium.

Description

Technical Field

[0001] This application relates to the technical field of smart home, and in particular to a control method for a cleaning device, a control device for a cleaning device, a cleaning device, and a storage medium. Background Art

[0002] With the development of intelligent cleaning technology, cleaning devices integrated with cameras or camera modules have entered different scenarios such as homes, shopping malls, and factories for cleaning work, realizing the monitoring of the indoor environment while cleaning.

[0003] In the related art, during the cleaning process of a cleaning device integrated with a camera or a camera module, the cleaning device is controlled to clean based on the constructed motion trajectory. However, this control method is relatively single, and there is an urgent need to provide a new control method currently.

[0004] Application Content

[0005] Embodiments of this application provide a control method for a cleaning device, a control device for a cleaning device, a cleaning device, and a storage medium to solve the problem that the control method of the currently integrated cleaning device with a camera is relatively single.

[0006] The technical solution of this application is implemented as follows:

[0007] A control method for a cleaning device, the method includes:

[0008] When the cleaning device performs a cleaning operation in a cleaning scenario, obtain the scene image of the cleaning scenario collected by the cleaning device through an image collector;

[0009] If the scene image meets the image collection prompt condition, control the motion states of the image collector and the cleaning device based on the scene image.

[0010] A control device for a cleaning device, the device includes:

[0011] An obtaining module, configured to obtain the scene image of the cleaning scenario collected by the cleaning device through an image collector when the cleaning device performs a cleaning operation in a cleaning scenario;

[0012] A processing module, configured to control the motion states of the image collector and the cleaning device based on the scene image if the scene image meets the image collection prompt condition.

[0013] A cleaning device, the cleaning device includes:

[0014] A memory, configured to store executable instructions;

[0015] A processor for executing executable instructions stored in the memory to implement the control method of the cleaning device.

[0016] A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the control method of the cleaning device.

[0017] In the control method of the cleaning device, the control device of the cleaning device, the cleaning device, and the storage medium provided by the embodiments of the present application, when the cleaning device performs a cleaning operation in a cleaning scenario, the scene image of the cleaning scenario collected by the cleaning device through an image collector is obtained; if the scene image meets the image collection prompt condition, the motion states of the image collector and the cleaning device are controlled based on the scene image; that is, when the scene image meets the image collection prompt condition, according to the content in the scene image, the motion states of the image collector and the cleaning device are controlled; thus, the motion states of the image collector and the cleaning device are intelligently controlled in combination with the scene image collected in the actual cleaning scenario. Description of the Drawings

[0018] Figure 1 It is an optional flowchart of the control method of the cleaning device provided by the embodiments of the present application;

[0019] Figure 2 It is an optional flowchart of the control method of the cleaning device provided by the embodiments of the present application;

[0020] Figure 3 It is an optional flowchart of the control method of the cleaning device provided by the embodiments of the present application;

[0021] Figure 4 It is a schematic diagram of the interaction among the cleaning device, the remote device, and the server provided by the embodiments of the present application;

[0022] Figure 5 It is an optional structural diagram of the control device of the cleaning device provided by the embodiments of the present application;

[0023] Figure 6 It is an optional structural diagram of the cleaning device provided by the embodiments of the present application. Detailed Embodiments

[0024] To enable those skilled in the art to better understand the solution of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0025] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0026] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0027] An embodiment of this application provides a control method for a cleaning device. The control method for the cleaning device is applied to the cleaning device. Referring to Figure 1 as shown, the control method for the cleaning device includes the following steps:

[0028] Step 101, when the cleaning device performs a cleaning operation in a cleaning scenario, obtain a scene image of the cleaning scenario collected by the cleaning device through an image collector.

[0029] In the embodiment of this application, the cleaning device performing a cleaning operation in a cleaning scenario can be the first time the cleaning device performs a cleaning operation in the cleaning scenario, or the Nth time the cleaning device performs a cleaning operation in the cleaning scenario, where N is a positive integer greater than or equal to 2.

[0030] In the embodiment of this application, the image collector can be a camera, and the cleaning device includes one or more cameras.

[0031] Here, the cleaning scenario can be understood as an environment including at least one indoor space, such as a user's residence, including a living room, a bedroom, a kitchen, and a bathroom; or a shopping mall, including stores, bathrooms, entertainment areas, and rest areas; or a company, including an office area, a leadership office, a meeting room, a lounge, etc.

[0032] Here, the cleaning device is a device capable of performing cleaning tasks such as sweeping, vacuuming, and mopping. For example, the cleaning device can be a sweeper, a cleaning machine, a vacuum cleaner, etc. The cleaning device is an intelligent household appliance that can automatically complete the cleaning work in the cleaning scenario after entering the cleaning stage. Here, taking the sweeper as an example, the sweeper generally uses a brushing and vacuuming method to first suck the ground debris into its own garbage collection box, thus completing the cleaning of the ground and other cleaning scenarios.

[0033] In the embodiments of the present application, when the cleaning device performs a cleaning operation in the cleaning scenario, the image collector in the cleaning device is in an on state, and the cleaning device acquires the scene image collected by the image collector in the cleaning scenario.

[0034] In one implementation, the cleaning device can construct a cleaning map in the cleaning scenario based on the Simultaneous Localization and Mapping (SLAM) algorithm of lidar to determine the position space in the cleaning scenario.

[0035] In another implementation, the cleaning device can construct a cleaning map in the cleaning scenario based on the panoramic image including the cleaning scenario or the image of each position space in the cleaning scenario captured by the set image acquisition module, and determine the position space in the cleaning scenario again.

[0036] It should be noted that in practical applications, either of the above two implementation methods can be used to construct the cleaning map in the cleaning scenario, or the two implementation methods can be combined to construct the cleaning map in the cleaning scenario, or other methods other than the above two implementation methods can be used to construct the cleaning map in the cleaning scenario. The present application does not make specific limitations on this. Here, when constructing the cleaning map of the cleaning scenario, it is determined that there are no users or other objects with a moving state in the cleaning scenario.

[0037] Step 102: If the scene image meets the image acquisition prompt condition, control the motion states of the image collector and the cleaning device based on the scene image.

[0038] In the embodiments of the present application, the scene image meeting the image acquisition prompt condition includes: there is a target object in the scene image, and the regional feature corresponding to the target object meets the target regional feature.

[0039] Among them, the target object can be the target position space in the cleaning scenario, and the target object can also be the user in the cleaning scenario. Here, the target position space can be the cleaning scenarios such as the bedroom, bathroom, and balcony in the user's residence, etc.

[0040] Among them, the target area feature is the area feature preset for the target object, such as the cabinet feature in the bedroom area, the location of the bedroom area in the user's residence, the item feature in the bathroom area, the location of the bathroom area in the user's residence, etc., and also such as the local feature or gesture feature corresponding to the user.

[0041] In the embodiments of the present application, controlling the image collector includes: if the image collector is in the on state, controlling the image collector to turn off or stop collecting; if the image collector is in the off state or the stop collecting state, controlling the image collector to turn on or continue collecting.

[0042] In the embodiments of the present application, controlling the motion state of the cleaning device includes: changing the current motion trajectory of the cleaning device.

[0043] In the embodiments of the present application, when the cleaning device performs a cleaning operation in the cleaning scenario, after the cleaning device obtains the scene image of the cleaning scenario collected by the image collector, the cleaning device identifies all the objects in the scene image through the trained deep learning model for each frame of the obtained image; when there is a target object among all the identified objects, and the area feature corresponding to the target object conforms to the target area feature, the motion states of the image collector and the cleaning device are controlled based on the scene image.

[0044] Here, the deep learning model includes but is not limited to a neural network model, a convolutional neural network model, and a recurrent neural network model. Specifically, the training image set can be input into the deep learning model to obtain the trained deep learning model. Here, the training image set includes user images, images of the target position space without a user in the cleaning scenario, and images of the target position space with a user in the cleaning scenario.

[0045] The control method of the cleaning device provided by the embodiments of the present application is as follows: when the cleaning device performs a cleaning operation in the cleaning scenario, the cleaning device obtains the scene image of the cleaning scenario collected by the image collector; if the scene image meets the image collection prompt condition, the motion states of the image collector and the cleaning device are controlled based on the scene image; that is to say, when the scene image meets the image collection prompt condition, according to the content in the scene image, the motion states of the image collector and the cleaning device are controlled; in this way, combined with the scene image collected in the actual cleaning scenario, the motion states of the image collector and the cleaning device are intelligently controlled.

[0046] An embodiment of the present application provides a control method for a cleaning device. The control method for the cleaning device is applied to the cleaning device. Refer to Figure 2 As shown, the control method for the cleaning device includes the following steps:

[0047] Step 201, when the cleaning device performs a cleaning operation in a cleaning scenario, obtain a scene image of the cleaning scenario collected by the cleaning device through an image collector.

[0048] Step 202, if the scene image meets the image collection prompt condition, generate a prompt information associated with the content existing in the scene image, and output the prompt information.

[0049] In the embodiment of the present application, there is a target object in the scene image, and the regional feature corresponding to the target object meets the target regional feature, including at least one of the following situations:

[0050] Situation 1, there is a target position space in the cleaning scenario in the scene image, and the regional feature corresponding to the target position space meets the first privacy area feature.

[0051] Situation 2, there is a first user in the cleaning scenario in the scene image, and the local feature corresponding to the first user meets the second privacy area feature.

[0052] Situation 3, there is a second user in the cleaning scenario in the scene image, and the gesture feature corresponding to the second user meets the target gesture feature.

[0053] Here, the first user and the second user may be the same, or the first user and the second user may be different. The present application does not make specific limitations.

[0054] In the embodiment of the present application, the prompt information is information associated with the content existing in the scene image. Here, the prompt information may be information for prompting the image collector to continue collecting the scene image, the prompt information may also be information for prompting the image collector to stop collecting the scene image, and the prompt information may also be information for prompting that the cleaning device is about to reach the target position space or the user position and asking whether to change its own motion state.

[0055] Among them, the prompt information may also be voice prompt information or buzzer alarm prompt information.

[0056] In a realizable application scenario, if there is a target position space in the cleaning scenario in the scene image, such as the bathroom area in a user's residence, and the regional feature corresponding to the bathroom area, such as the spatial shape feature of the bathroom area or the feature of items in the bathroom area such as the feature of toiletries, meets the first privacy area feature, generate a prompt information corresponding to the target position space existing in the scene image; here, the generated prompt information is information on whether to enter the target position space for cleaning.

[0057] In a feasible application scenario, if there is a first user in the cleaning scene in the scene image, and the regional features corresponding to the first user, such as the regional features of the thigh area, meet the second privacy area features, prompt information corresponding to the regional features of the first user in the scene image is generated; here, the generated prompt information is information on whether to continue cleaning the cleaning scene.

[0058] In a feasible application scenario, if there is a second user in the cleaning scene in the scene image, and the gesture features corresponding to the second user, such as five fingers together and the palm facing opposite to the image collector, or a cross feature formed by two fingers, meet the second privacy area features, prompt information corresponding to the gesture features of the second user in the scene image is generated; here, the generated prompt information is information on whether to clean the cleaning scene according to the recognition results of the gesture.

[0059] In another feasible application scenario, if there is a light projection in a cleaning scene, or a user's shadow in the scene image, the position of the light projection or the user's shadow is determined; through an image analysis algorithm, whether the distance between the position of the light projection or the position of the human shadow in the scene image and the position of the target position space meets the distance threshold range; if it is determined that the distance between the position of the light projection or the position of the human shadow in the scene image and the position of the target position space meets the distance threshold range, it is determined that the scene image meets the image acquisition prompt conditions, prompt information associated with the content in the scene image is generated, and the prompt information is output.

[0060] Here, the image analysis algorithm includes binarizing the scene image, and performing edge detection on the processed scene image through the Canny operator to determine the edge area of the light area in the scene image; segmenting the grayscale value of the pixel points in the scene image according to the grayscale value threshold to determine the target area in the scene image, and the target area includes the area where the human shadow is located and / or the area where the light projection is located; obtaining the posture of the cleaning equipment; according to the posture, edge area and target area,

[0061] In an embodiment of the present application, when the cleaning device performs a cleaning operation in a cleaning scene, after the cleaning device obtains a scene image of the cleaning scene captured by the image collector, if the scene image meets the image capture prompt conditions, prompt information associated with the content present in the scene image is generated and the prompt information is output.

[0062] Step 203: Obtain an input event for the prompt information.

[0063] In the embodiments of the present application, the input event may be an event in which the user makes a voice input in response to the prompt information, such as an input event determined when the user agrees that the image collector continues to collect the scene image, or an input event determined when the user refuses the image collector to continue collecting the scene image, that is, the input event determined when the image collector stops collecting the scene image, or an input event determined when the cleaning device is about to reach the target position space or the user's position and changes the motion state of the cleaning device. The input event may also be an event in which the cleaning device collects a sound signal through the voice collector, such as an input event determined when the cleaning device collects a sound signal through a voice collector such as a microphone array and determines that the sound signal comes from the target position space.

[0064] Step 204: Control the motion states of the image collector and the cleaning device based on the scene image and the input event.

[0065] In the embodiments of the present application, step 204 controls the motion states of the image collector and the cleaning device based on the scene image and the input event, including the following methods:

[0066] Method 1: If the input event is used to indicate that the cleaning device changes its motion trajectory and the scene image meets the image deletion condition, delete the scene image collected by the image collector.

[0067] In an implementable application scenario, if there is a first user in the cleaning scene in the scene image and the regional feature corresponding to the first user, such as the regional feature of the thigh part, meets the second privacy regional feature, generate a prompt information corresponding to the regional feature of the first user existing in the scene image; the cleaning device obtains an input event for the prompt information, the input event is used to indicate that the cleaning device changes its motion trajectory, and the scene image meets the image deletion condition, delete the scene image collected by the image collector, and control the cleaning device to change its motion trajectory according to the input event. In this way, when the image collector collects a scene image of the user's privacy part, the cleaning device deletes the scene image containing the user's privacy part according to the input event and the scene image to prevent the leakage of privacy photos, and changes the motion trajectory of the cleaning device to ensure that the image collector no longer collects user images, improving the intelligence level of the cleaning device.

[0068] Method 2: If the input event is used to indicate that the cleaning device changes its motion trajectory, update the cleaning trajectory of the cleaning device based on the scene image, and control the cleaning device to perform cleaning based on the updated cleaning trajectory.

[0069] In an implementable application scenario, if there is a target location space in the cleaning scenario in the scene image, such as the bathroom area in a user's residence, and the regional features corresponding to the bathroom area, such as the spatial shape feature of the bathroom area or the item features in the bathroom area such as the features of toiletries, meet the first privacy area features, a prompt message corresponding to the target location space existing in the scene image is generated; the cleaning device obtains an input event for the prompt message, and the input event is used to instruct the cleaning device to change the movement trajectory; the un-cleaned area in the scene image is obtained, and based on the un-cleaned area, a new cleaning trajectory of the cleaning device is generated. In the new cleaning trajectory, the image collector collects the scene image of the cleaning scenario including other objects except the target location space; the cleaning trajectory of the cleaning device is updated to the new cleaning trajectory, and the cleaning device is controlled to clean based on the new cleaning trajectory. In this way, when the image collector collects the scene image of the target location space in the cleaning scenario, the cleaning device determines the un-cleaned area in the scene image according to the input event and the scene image, and updates the cleaning trajectory of the cleaning device based on the un-cleaned area, so that the cleaning device does not clean the target location space to prevent privacy leakage and improve the intelligence level of the cleaning device.

[0070] Method 3: If the input event is used to instruct the cleaning device to change the movement trajectory and the scene image meets the image collection stop condition, control the image collector to stop collecting images.

[0071] In an implementable application scenario, if there is a first user in the cleaning scenario in the scene image and the regional features corresponding to the first user, such as the regional features of the calf part, meet the third privacy area features, a prompt message corresponding to the regional features of the first user existing in the scene image is generated; the cleaning device obtains an input event for the prompt message, the input event is used to instruct the cleaning device to change the movement trajectory, and the scene image meets the image collection stop condition, control the image collector to stop collecting images, and control the cleaning device to change the movement trajectory according to the input event. In this way, when the image collector of the cleaning device captures a user in front, control the image collector to stop collecting images and control the cleaning device to stop cleaning, so as to prevent the image collector from collecting images that should not be collected after the cleaning device continues to move forward, and improve the intelligence level of the cleaning device.

[0072] It should be noted that, in addition to the above methods, other methods can also be used to control the movement states of the image collector and the cleaning device. For example, based on the control method combined by Method 1 and Method 3, control the movement states of the image collector and the cleaning device, or based on the control method combined by Method 2 and Method 3, control the movement states of the image collector and the cleaning device.

[0073] An embodiment of the present application provides a control method for a cleaning device. The control method of the cleaning device is applied to the cleaning device. Refer to Figure 3 As shown, the control method of the cleaning device includes the following steps:

[0074] Step 301: When the cleaning device performs a cleaning operation in a cleaning scenario, obtain a scene image of the cleaning scenario collected by the cleaning device through an image collector.

[0075] Step 302: If the scene image meets the image collection prompt condition, generate a prompt message associated with the content existing in the scene image, and output the prompt message.

[0076] Step 303: Obtain an input event generated by a remote device connected to the cleaning device for the prompt message.

[0077] In the embodiment of the present application, the input event is an event generated by the remote device for the prompt message.

[0078] In the embodiment of the present application, the cleaning device sends the prompt message to the remote device. The remote device receives the prompt message and displays it on the display interface, and obtains the input operation of the user for the prompt message to generate an input event.

[0079] Among them, the remote device includes but is not limited to smart phones, tablet computers, personal digital assistants (Personal Digital Assistant, PDA), cameras, wearable devices, smart TVs, smart cameras, smart projectors, laptop computers, and desktop computers, etc.

[0080] Step 304: If the input event is used to instruct the cleaning device to monitor a third user existing in the scene image, control the cleaning device to move according to the movement trajectory of the third user, and control the image collector to collect the movement image of the third user.

[0081] In an implementable application scenario, if there is a third user such as a child in the cleaning scenario in the scenario image, and the third user is located in the target position space such as the balcony area, it is determined that the scenario image meets the image prompt condition, a prompt message associated with the third user and the target position space existing in the scenario image is generated, and the prompt message is output; the cleaning device sends the prompt message to a remote device connected to its own device, and the remote device generates an input event for the prompt message, and the input event is used to instruct the cleaning device to monitor the third user existing in the scenario image and sends the input event to the cleaning device. The cleaning device controls the cleaning device to move according to the movement trajectory of the third user according to the input event, and controls the image collector to collect the moving image of the third user and sends the moving image to the remote device. In this way, by controlling the cleaning device to move according to the movement trajectory of the third user and controlling the image collector to collect the moving image of the third user, it is ensured that the remote user can view the moving image of the third user in real time through the remote device, ensuring the safety of the user and improving the intelligence level of the cleaning device.

[0082] It should be noted that, referring to Figure 4 , Figure 4 is a schematic diagram of the network architecture for implementing the control method of the cleaning device provided by this application. The network architecture at least includes a cleaning device 100, a remote device 200, and a network 300; wherein, the cleaning device 100 and the remote device 200 are connected through the network 300; the network architecture may further include a cleaning device 100, a remote device 200, a network 300, and a server 400; wherein, the cleaning device 100 and the remote device 200 are respectively connected to the server 400 through the network 300. Exemplarily, the cleaning device 100 is a device capable of completing cleaning work such as sweeping, vacuuming, and mopping; the cleaning device 100 includes but is not limited to a sweeper, a cleaning machine, a vacuum cleaner, and a mopping machine. The remote device 200 may be referred to as a remote device connected to the cleaning device 100, and the remote device 200 includes but is not limited to a smart phone, a tablet computer, a personal digital assistant (Personal Digital Assistant, PDA), a camera, a wearable device, a smart TV, a smart camera, a smart projector, a laptop computer, and a desktop computer, etc.; the network 300 includes but is not limited to a local area network, a metropolitan area network, and a wide area network; the server 400 may be a single server, or a server cluster, a cloud computing center, etc. composed of multiple servers. It should be noted that Figures 1 to 2 A corresponding control method of a cleaning device provided in the embodiment can be applied to Figure 4 any one of the cleaning device 100, the remote device 200, and the server 400 shown.

[0083] It should be noted that for the descriptions of the same steps and the same content in this embodiment and other embodiments, reference may be made to the descriptions in other embodiments, and details will not be repeated here.

[0084] An embodiment of the present application provides a control device for a cleaning device, and this control device for the cleaning device is used to implement Figures 1 to 3 a control method for a cleaning device provided in the corresponding embodiment. Refer to Figure 5 As shown, this control device 5 of the cleaning device includes:

[0085] An acquisition module 501, which is used to acquire a scene image of the cleaning scene collected by the cleaning device through an image collector when the cleaning device performs a cleaning operation in the cleaning scene;

[0086] A processing module 502, which is used to control the motion states of the image collector and the cleaning device based on the scene image if the scene image meets the image acquisition prompt condition.

[0087] In other embodiments of the present application, the scene image meeting the image acquisition prompt condition includes: there is a target object in the scene image, and the regional feature corresponding to the target object meets the target regional feature.

[0088] In other embodiments of the present application, there is a target position space in the cleaning scene in the scene image, and the regional feature corresponding to the target position space meets the first privacy regional feature; there is a first user in the cleaning scene in the scene image, and the local feature corresponding to the first user meets the second privacy regional feature; there is a second user in the cleaning scene in the scene image, and the gesture feature corresponding to the second user meets the target gesture feature.

[0089] In other embodiments of the present application, the processing module 502 is further used to generate a prompt message associated with the content existing in the scene image and output the prompt message if the scene image meets the image acquisition prompt condition; the acquisition module 501 is further used to acquire an input event for the prompt message; the processing module 502 is further used to control the motion states of the image collector and the cleaning device based on the scene image and the input event.

[0090] In other embodiments of the present application, the processing module 502 is further used to delete the scene image collected by the image collector if the input event is used to indicate that the cleaning device changes its motion trajectory and the scene image meets the image deletion condition; if the input event is used to indicate that the cleaning device changes its motion trajectory, update the cleaning trajectory of the cleaning device based on the scene image, and control the cleaning device to perform cleaning based on the updated cleaning trajectory.

[0091] In other embodiments of the present application, the processing module 502 is further configured to control the image collector to stop collecting images if the input event is used to indicate that the cleaning device changes its movement trajectory and the scene image meets the image collection stop condition.

[0092] In other embodiments of the present application, the acquisition module 501 is further configured to acquire an input event generated by a remote device connected to the cleaning device for a prompt message; the processing module 502 is further configured to control the cleaning device to move along the movement trajectory of a third user and control the image collector to collect a moving image of the third user if the input event is used to indicate that the cleaning device monitors a third user existing in the scene image.

[0093] Embodiments of the present application provide a cleaning device, which can be used to implement Figures 1 to 3 a control method for a cleaning device provided in a corresponding embodiment. Referring to Figure 6 as shown, the cleaning device 100 ( Figure 6 the cleaning device 100 in Figure 5 corresponds to the control device 5 of the cleaning device in

[0094] When the cleaning device performs a cleaning operation in a cleaning scene, acquire a scene image of the cleaning scene collected by the cleaning device through an image collector;

[0095] If the scene image meets the image collection prompt condition, control the movement states of the image collector and the cleaning device based on the scene image.

[0096] In other embodiments of the present application, that the scene image meets the image collection prompt condition includes: there is a target object in the scene image, and the region feature corresponding to the target object meets the target region feature.

[0097] In other embodiments of the present application, that there is a target object in the scene image and the region feature corresponding to the target object meets the target region feature includes at least one of the following:

[0098] There is a target position space in the cleaning scene in the scene image, and the region feature corresponding to the target position space meets the first privacy region feature;

[0099] There is a first user in the cleaning scene in the scene image, and the local feature corresponding to the first user meets the second privacy region feature;

[0100] There is a second user in the cleaning scene in the scene image, and the gesture feature corresponding to the second user meets the target gesture feature.

[0101] In other embodiments of the present application, the processor 1002 is configured to execute the control program of the cleaning device stored in the memory 1001 to implement the following steps:

[0102] If the scene image meets the image acquisition prompt condition, generate prompt information associated with the content existing in the scene image, and output the prompt information; obtain an input event for the prompt information; based on the scene image and the input event, control the motion states of the image collector and the cleaning device.

[0103] In other embodiments of the present application, the processor 1002 is configured to execute the control program of the cleaning device stored in the memory 1001 to implement the following steps:

[0104] If the input event is used to indicate that the cleaning device changes its motion trajectory and the scene image meets the image deletion condition, delete the scene image collected by the image collector; if the input event is used to indicate that the cleaning device changes its motion trajectory, update the cleaning trajectory of the cleaning device based on the scene image, and control the cleaning device to perform cleaning based on the updated cleaning trajectory.

[0105] In other embodiments of the present application, the processor 1002 is configured to execute the control program of the cleaning device stored in the memory 1001 to implement the following steps:

[0106] If the input event is used to indicate that the cleaning device changes its motion trajectory and the scene image meets the image acquisition stop condition, control the image collector to stop collecting images.

[0107] In other embodiments of the present application, the processor 1002 is configured to execute the control program of the cleaning device stored in the memory 1001 to implement the following steps:

[0108] Obtain the input event generated by the remote device connected to the cleaning device for the prompt information; if the input event is used to indicate that the cleaning device monitors a third user existing in the scene image, control the cleaning device to move according to the moving trajectory of the third user, and control the image collector to collect the moving images of the third user.

[0109] An embodiment of the present application provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the following steps:

[0110] When the cleaning device performs a cleaning operation in a cleaning scene, obtain the scene image of the cleaning scene collected by the cleaning device through the image collector;

[0111] If the scene image meets the image acquisition prompt condition, control the motion states of the image collector and the cleaning device based on the scene image.

[0112] In other embodiments of the present application, the scene image meets the image acquisition prompt conditions, including: there is a target object in the scene image, and the regional features corresponding to the target object meet the target regional features.

[0113] In other embodiments of the present application, there is a target object in the scene image, and the regional features corresponding to the target object meet the target regional features, including at least one of the following: there is a target position space in the cleaning scene in the scene image, and the regional features corresponding to the target position space meet the first privacy area features; there is a first user in the cleaning scene in the scene image, and the local features corresponding to the first user meet the second privacy area features; there is a second user in the cleaning scene in the scene image, and the gesture features corresponding to the second user meet the target gesture features.

[0114] In other embodiments of the present application, the one or more programs can be executed by one or more processors to implement the following steps:

[0115] If the scene image meets the image acquisition prompt conditions, generate prompt information associated with the content existing in the scene image, and output the prompt information; obtain an input event for the prompt information; based on the scene image and the input event, control the motion states of the image collector and the cleaning device.

[0116] In other embodiments of the present application, the one or more programs can be executed by one or more processors to implement the following steps:

[0117] If the input event is used to indicate that the cleaning device changes its motion trajectory, and the scene image meets the image deletion conditions, delete the scene image collected by the image collector; if the input event is used to indicate that the cleaning device changes its motion trajectory, update the cleaning trajectory of the cleaning device based on the scene image, and control the cleaning device to perform cleaning based on the updated cleaning trajectory.

[0118] In other embodiments of the present application, the one or more programs can be executed by one or more processors to implement the following steps:

[0119] If the input event is used to indicate that the cleaning device changes its motion trajectory, and the scene image meets the image acquisition stop conditions, control the image collector to stop collecting images.

[0120] In other embodiments of the present application, the one or more programs can be executed by one or more processors to implement the following steps:

[0121] Obtain the input event generated by the remote device connected to the cleaning device in response to the prompt message; if the input event is used to instruct the cleaning device to monitor a third user existing in the scene image, control the cleaning device to move along the moving trajectory of the third user, and control the image collector to collect the moving images of the third user.

[0122] It should be noted here that the descriptions of the above storage medium and device embodiments are similar to those of the above method embodiments and have similar beneficial effects to the method embodiments. For the technical details not disclosed in the storage medium and device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0123] The above computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a ferromagnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various terminals including one or any combination of the above memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0124] It should be understood that the "one embodiment" or "an embodiment" or "the embodiment of the present application" or "the foregoing embodiment" or "some embodiments" or "some implementation manners" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in an embodiment" or "the embodiment of the present application" or "the foregoing embodiment" or "some embodiments" or "some implementation manners" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the order numbers of the above processes do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0125] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the couplings, direct couplings, or communication connections between the displayed or discussed components can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0126] The units described as separate components above may or may not be physically separated. The components displayed as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0127] In addition, in each embodiment of the present application, the functional units can all be integrated in one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware, or in the form of a combination of hardware and software functional units.

[0128] In the method embodiments disclosed in several method embodiments provided by the present application, they can be arbitrarily combined without conflict to obtain new method embodiments.

[0129] The features disclosed in several product embodiments provided by the present application can be arbitrarily combined without conflict to obtain new product embodiments.

[0130] The features disclosed in several method or device embodiments provided by the present application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0131] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), magnetic disks, or optical discs.

[0132] Alternatively, if the above integrated units of the present application are implemented in the form of software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of the present application, in essence or the part that contributes to the related art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as removable storage devices, ROMs, magnetic disks, or optical discs.

[0133] It should be noted that the drawings in the embodiments of the present application are only for illustrating the schematic positions of the respective devices on the remote device and do not represent their actual positions in the remote device. The actual positions of the respective devices or regions can be changed or offset according to the actual situation (for example, the structure of the remote device). Moreover, the ratios of different parts in the remote device in the figure do not represent the actual ratios.

[0134] As described above, the above are only the implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a cleaning device, characterized in that The method includes: When the cleaning device performs a cleaning operation in a cleaning scenario, obtaining a scene image of the cleaning scenario collected by the cleaning device through an image collector; If the scene image meets the image collection prompt condition, controlling the motion states of the image collector and the cleaning device based on the scene image; Among them, if the scene image meets the image collection prompt condition, controlling the motion states of the image collector and the cleaning device based on the scene image includes: If the scene image meets the image collection prompt condition, generating a prompt message associated with the content existing in the scene image and outputting the prompt message; Obtaining an input event generated by a remote device connected to the cleaning device for the prompt message; If the input event is used to instruct the cleaning device to monitor a third user existing in the scene image, controlling the cleaning device to move along the moving trajectory of the third user and controlling the image collector to collect a moving image of the third user.

2. The method according to claim 1, characterized in that, The scene image meeting the image collection prompt condition includes: there is a target object in the scene image, and the regional feature corresponding to the target object meets the target regional feature.

3. The method according to claim 2, wherein There is a target object in the scene image, and the regional feature corresponding to the target object meets the target regional feature, including at least one of the following: There is a target position space in the cleaning scenario in the scene image, and the regional feature corresponding to the target position space meets the first privacy area feature; There is a first user in the cleaning scenario in the scene image, and the local feature corresponding to the first user meets the second privacy area feature; There is a second user in the cleaning scenario in the scene image, and the gesture feature corresponding to the second user meets the target gesture feature.

4. The method according to claim 1, characterized in that The method further includes: If the input event is used to instruct the cleaning device to change the motion trajectory and the scene image meets the image deletion condition, deleting the scene image collected by the image collector; If the input event is used to instruct the cleaning device to change the motion trajectory, updating the cleaning trajectory of the cleaning device based on the scene image and controlling the cleaning device to perform cleaning based on the updated cleaning trajectory.

5. The method according to claim 4, wherein The method further includes: If the input event is used to instruct the cleaning device to change the motion trajectory and the scene image meets the image collection stop condition, controlling the image collector to stop collecting images.

6. A control device for a cleaning device, characterized in that, The control device of the cleaning device includes: An obtaining module, configured to obtain a scene image of the cleaning scenario collected by the cleaning device through an image collector when the cleaning device performs a cleaning operation in the cleaning scenario; A processing module, configured to control the motion states of the image collector and the cleaning device based on the scene image if the scene image meets the image collection prompt condition; The processing module is further configured to generate a prompt message associated with the content existing in the scene image and output the prompt message if the scene image meets the image collection prompt condition; The obtaining module is further configured to obtain an input event generated by a remote device connected to the cleaning device for the prompt information; The processing module is further configured to, if the input event is used to instruct the cleaning device to monitor a third user existing in the scene image, control the cleaning device to move along the moving trajectory of the third user, and control the image collector to collect moving images of the third user.

7. A cleaning device, characterized in that, The cleaning device includes: A memory for storing executable instructions; A processor for executing the executable instructions stored in the memory to implement the control method of the cleaning device according to any one of claims 1 to 5.

8. A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the control method of the cleaning device according to any one of claims 1 to 5.

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