A water tank management method, device, robot, medium and product

Abstract

The present invention discloses a water tank management method, device, robot, medium and product, including: determining a water tank cleaning path and an initial cleaning area, determining the initial cleaning area as the current cleaning area; obtaining an image of the environment in the tank, and cleaning the current cleaning area according to the image of the environment in the tank; obtaining a current inspection image, and determining whether a repeated cleaning condition is currently met according to the current inspection image; if so, determining the current inspection image as a historical inspection image, returning to re-clean the current cleaning area, and obtaining the current inspection image until the area cleaning end condition is met; determining the current cleaning area as a historical cleaning area, determining the current cleaning area according to the water tank cleaning path and the historical cleaning area, and returning to re-clean the current cleaning area until the water tank cleaning end condition is met. The above technical scheme realizes real-time monitoring of water tank cleaning and improves the cleaning effect of the target water tank.

Description

Technical Field

[0001] The present invention relates to the technical field of water tank management, and in particular to a water tank management method, device, robot, medium and product. Background Art

[0002] Water tanks are used to store domestic water. With the continuous development of living standards, people's requirements for water quality are getting higher and higher. Therefore, it is necessary to clean the water tanks regularly to ensure the quality of water.

[0003] At present, the water tank cleaning method commonly used in the industry is for the robot to clean the entire water tank directly at one time along a specific cleaning path. This cleaning method can easily lead to problems of inadequate cleaning and poor cleaning effects. After cleaning, the water tank will still be dirty to a certain extent. Summary of the invention

[0004] The present invention provides a water tank management method, device, robot, medium and product, which realize real-time monitoring of water tank cleaning and improve the cleaning effect of a target water tank.

[0005] In a first aspect, an embodiment of the present disclosure provides a water tank management method, comprising:

[0006] Determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area;

[0007] Acquire an internal environment image of the target water tank through a first camera, and perform cleaning processing on the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank;

[0008] Acquire a current inspection image of the current cleaning area through a second camera, and determine whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above a horizontal plane in the target water tank;

[0009] If the repeated cleaning condition is currently met, the current inspection image is determined as a historical inspection image, the current cleaning area is returned to be cleaned again, and the current inspection image of the current cleaning area is obtained through the second camera until the area cleaning end condition is met;

[0010] The current cleaning area is determined as a historical cleaning area, the current cleaning area is determined according to the water tank cleaning path and the historical cleaning area, and the current cleaning area is cleaned again until a water tank cleaning end condition is met.

[0011] In a second aspect, an embodiment of the present disclosure provides a water tank management device, including:

[0012] A cleaning area determination module, used to determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area;

[0013] An initial cleaning module, used for acquiring an image of the internal environment of the target water tank through a first camera, and performing cleaning processing on the current cleaning area according to the image of the internal environment, wherein the first camera is located below the horizontal plane in the target water tank;

[0014] A cleaning inspection module, used to obtain a current inspection image of the current cleaning area through a second camera, and determine whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above the horizontal plane in the target water tank;

[0015] A repeated cleaning module, for determining the current inspection image as a historical inspection image if the repeated cleaning condition is currently met, returning to re-clean the current cleaning area, and obtaining the current inspection image of the current cleaning area through a second camera until the area cleaning end condition is met;

[0016] The continuing cleaning module is used to determine the current cleaning area as the historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met.

[0017] In a third aspect, an embodiment of the present disclosure provides a water tank management robot, including:

[0018] at least one processor; and

[0019] a memory communicatively connected to at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute a water tank management method provided in the above-mentioned first aspect embodiment.

[0021] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a processor to implement a water tank management method provided in the embodiment of the first aspect above when executed.

[0022] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements a water tank management method provided in the embodiment of the first aspect above.

[0023] A water tank management method, device, robot, medium and product according to an embodiment of the present invention include determining a water tank cleaning path and an initial cleaning area for a target water tank, and determining the initial cleaning area as a current cleaning area; acquiring an internal environment image of the target water tank through a first camera, and cleaning the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank; acquiring a current inspection image of the current cleaning area through a second camera, and determining whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above the horizontal plane in the target water tank; if the repeated cleaning condition is currently met, determining the current inspection image as a historical inspection image, returning to re-clean the current cleaning area, and acquiring the current inspection image of the current cleaning area through the second camera until an area cleaning end condition is met; determining the current cleaning area as a historical cleaning area, determining the current cleaning area according to the water tank cleaning path and the historical cleaning area, and returning to re-clean the current cleaning area until the water tank cleaning end condition is met. The above technical solution determines the degree of dirtiness of the water tank through a first camera located underwater and performs cleaning with corresponding intensity. Since the water underwater is relatively turbid, the cleaning result is verified through a second camera located above the water. If a satisfactory cleaning effect is not achieved, the system returns to clean again, thereby realizing real-time monitoring of the water tank cleaning and improving the cleaning effect of the target water tank.

[0024] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a flow chart of a water tank management method provided in Embodiment 1 of the present invention;

[0027] Figure 2 is a flow chart of a water tank management method provided by Embodiment 2 of the present invention;

[0028] Figure 3 is a structural schematic diagram of a water tank management device provided in Embodiment 3 of the present invention;

[0029] Figure 4 It is a structural schematic diagram of a water tank management robot provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second" and "target" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 It is a flow chart of a water tank management method provided in Example 1 of the present invention. This embodiment is applicable to the situation of cleaning the target water tank. The method can be executed by a water tank management device. The water tank management device can be implemented in the form of hardware and / or software and executed by a water tank management robot. The water tank management robot includes a first camera, a second camera and at least one roller brush.

[0034] like Figure 1 As shown, the method includes:

[0035] S101. Determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area.

[0036] In this embodiment, the target water tank can be understood as the water tank to be cleaned, that is, the water tank where the water tank management robot is located. The water tank management robot is adsorbed on the wall of the target water tank to clean the wall. The water tank management robot is connected to the server in communication, and can obtain information such as the water tank cleaning path transmitted by the server, and can also upload information such as location coordinates and identification to the server. The water tank cleaning path can be understood as the direction and planned path for the water tank management robot to clean the target water tank, and the initial cleaning area can be understood as the first position that the water tank management robot needs to clean. The current cleaning area can be understood as the position that the water tank management robot currently needs to clean.

[0037] Specifically, the water tank management robot obtains the water tank cleaning path corresponding to the target water tank from the server. The water tank cleaning path can be a spiral descent path for cleaning layer by layer, or a bow-shaped circular cleaning path. The cleaning path can be customized based on the shape of the target water tank or actual needs, and this embodiment does not limit this. In this embodiment. It is preferred that the spiral descent path for cleaning layer by layer is the water tank cleaning path of the target water tank. Each water tank cleaning path has its corresponding starting point, that is, the initial cleaning area, such as the area where the vertex at the angle between the water tank wall is located. At the start of the water tank cleaning, the initial cleaning area is determined as the current cleaning area.

[0038] S102, obtaining an internal environment image of the target water tank through a first camera, and performing cleaning processing on the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank.

[0039] In this embodiment, the first camera can be understood as a camera for shooting underwater images provided on the water tank management robot, which is provided below the water tank management robot body. The connection between the first camera and the water tank management robot body can be through a fixed connecting rod or a telescopic connecting rod. Through the telescopic connecting rod connection, the distance effect can be overcome when shooting needs to be generated, so that the first camera is located below the horizontal plane of the target water tank, ensuring the feasibility and success rate of shooting the environment image inside the tank. The environment image inside the tank can be understood as the image inside the target water tank, which can at least characterize the water quality of the civil water stored in the target water tank and the dirtiness of the tank wall.

[0040] Specifically, the first camera is used to obtain an image of the environment inside the target water tank below the horizontal plane, and image processing is performed on the image of the environment inside the tank to determine the water quality of civil water stored in the target water tank, the dirty area and dirt thickness of the target water tank wall, and based on these indicators characterizing the degree of dirtiness in the water tank, the corresponding cleaning force is determined, and the roller brush is controlled to polish and clean the current cleaning area according to the cleaning force.

[0041] S103, obtaining a current inspection image of the current cleaning area through a second camera, and determining whether a repeated cleaning condition is currently met based on the current inspection image, wherein the second camera is located above a horizontal plane in the target water tank.

[0042] In this embodiment, the second camera can be understood as a camera for shooting water images provided on the water tank management robot, which is provided on the water tank management robot body. The connection between the second camera and the water tank management robot body can be through a fixed connecting rod or a telescopic connecting rod. Through the telescopic connecting rod, the distance effect can be overcome when the shooting demand is generated, so that the second camera is located above the horizontal plane of the target water tank, ensuring the feasibility and success rate of shooting the current inspection image in a waterless environment. The current inspection image can be understood as the image of the current cleaning area after the cleaning is completed. It can be understood that the cleaning of the target water tank adopts the method of cleaning while draining water. Therefore, when shooting the current inspection image, due to the drop in the water level line, the current cleaning area is in a water-free state. The repeated cleaning condition can be understood as the condition for secondary cleaning or even multiple cleaning of the current cleaning area. If the current cleaning area is not cleaned, the repeated cleaning condition is met.

[0043] Specifically, the current inspection image of the current cleaning area above the horizontal line of the target water tank is obtained through the second camera, and image recognition and processing are performed on the current inspection image to determine the degree of dirtiness of the current cleaning area. If there is still a certain degree of dirtiness, it is determined that the repeated cleaning conditions are currently met and repeated cleaning is required; if the degree of dirtiness is light or there is no dirtiness, it is determined that the repeated cleaning conditions are not currently met.

[0044] S104: If the repeated cleaning condition is currently met, the current inspection image is determined as a historical inspection image, and the current cleaning area is returned to be cleaned again, and the current inspection image of the current cleaning area is obtained through the second camera until the area cleaning end condition is met.

[0045] In this embodiment, the historical inspection image can be understood as the inspection image of the previous moment or other historical moments relative to the current moment, and the historical inspection image is iteratively updated by the current inspection image at each moment. The area cleaning end condition can be understood as the condition for ending cleaning of the current cleaning area, for example, the dirt in the current cleaning area has been cleaned or the dirt is stubborn and cannot be completely cleaned.

[0046] Specifically, if the repeated cleaning condition is currently met, it indicates that the current cleaning area cannot be cleaned in one go and there is still some dirt in the current cleaning area. At this time, the current inspection image is determined as the historical inspection image, and the current cleaning area is returned to be re-cleaned. After completing the secondary cleaning process of the current cleaning area, return to re-execute step S103, and obtain the current inspection image of the current cleaning area through the second camera. According to the current inspection image, it is determined whether the repeated cleaning condition is currently met. If the current inspection image collected after the secondary cleaning does not meet the repeated cleaning condition, it is determined that the current cleaning area has met the regional cleaning end condition; conversely, if the current inspection image collected after the secondary cleaning still meets the repeated cleaning condition, the current cleaning area is cleaned for the third time, and then step S103 is continued to be executed, and this iterative cycle is performed until the regional cleaning end condition is currently met. For example, after cleaning is completed, the current inspection image indicates that the current cleaning area has met the cleaning level requirement, and the repeated cleaning condition is not met at this time, that is, the regional cleaning end condition is met; or, the cleaning has been repeated several times (for example, 3 times), but the current inspection image still indicates that there is a certain degree of dirt in the current cleaning area, and the repeated cleaning condition is still met. At this time, in order to avoid low cleaning efficiency and lengthy cleaning time, it is also determined that the current cleaning area meets the regional cleaning end condition.

[0047] When cleaning has been repeated several times and the conditions for repeated cleaning are still met, the location coordinates of the current cleaning area are determined, a cleaning abnormality mark is added to the location coordinates, and the coordinates and mark are uploaded to the server to prompt the staff to conduct inspections or deeper cleaning.

[0048] S105: Determine the current cleaning area as the historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met.

[0049] In this embodiment, the historical cleaning area can be understood as the current cleaning area of ​​the last cleaning or the current cleaning area of ​​the previous cleanings, which is the cleaning area that has been cleaned based on the water tank cleaning path. The water tank cleaning end condition can be understood as the condition for ending the cleaning of the target water tank, such as completing the cleaning of the entire target water tank, or the remaining power of the water tank management robot is less than a set percentage (e.g., 5%), etc.

[0050] Specifically, the next cleaning area of ​​the current cleaning area is determined according to the cleaning path and direction of the water tank, the current cleaning area is determined as the historical cleaning area, and the next cleaning area is determined as the current cleaning area. At this time, the cleaning process in step S102 and steps S103-S104 are performed for the current cleaning area. After each cleaning process of the current cleaning area is completed, that is, after each current cleaning area is determined to meet the regional cleaning end condition, it is determined whether the current cleaning area is the end cleaning area in the water tank cleaning path. If so, it is determined that the water tank cleaning end condition is met and the target water tank is completely cleaned. Alternatively, after each current cleaning area is determined to meet the regional cleaning end condition, it is determined whether the remaining power of the water tank management robot is sufficient to support it to complete the cleaning process of the next cleaning area. A specific power percentage can be customized. For example, when the remaining power is 5% of the full power, it is determined that the water tank cleaning end condition is currently met. At this time, the position coordinates of the current cleaning area are determined, and a power abnormality mark is added to the position coordinates. The coordinates and the mark are uploaded to the server so that the water tank management robot can continue to clean the next cleaning area directly based on the position coordinates after charging is completed.

[0051] A water tank management method provided by an embodiment of the present invention includes determining a water tank cleaning path and an initial cleaning area for a target water tank, and determining the initial cleaning area as a current cleaning area; acquiring an internal environment image of the target water tank through a first camera, and cleaning the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank; acquiring a current inspection image of the current cleaning area through a second camera, and determining whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above the horizontal plane in the target water tank; if the repeated cleaning condition is currently met, determining the current inspection image as a historical inspection image, returning to re-clean the current cleaning area, and acquiring the current inspection image of the current cleaning area through the second camera until an area cleaning end condition is met; determining the current cleaning area as a historical cleaning area, determining the current cleaning area according to the water tank cleaning path and the historical cleaning area, and returning to re-clean the current cleaning area until the water tank cleaning end condition is met. In the above technical solution, when the water tank management robot is grinding along the wall of the water tank, the first underwater camera will be difficult to make accurate judgments due to the turbidity of the water. At this time, it is more dependent on the second camera exposed above the water surface. The area it shoots is exactly the area where the water line gradually descends along the surrounding walls. In other words, the area that has just been horizontally polished and cleaned, as the water level drops, the second camera of the robot exposed above the water surface performs real-time detection of this area. If it is found that there are still stains that have not been cleaned, or the cleanliness is not enough, the roller brush above the robot is started to continue to repeat the secondary cleaning task. At this time, the roller brush exposed above the water surface is still rotating and a small part of it will be immersed in water, which effectively improves the cleaning effect on the target water tank.

[0052] As a first optional embodiment of this embodiment, performing cleaning processing on the current cleaning area includes:

[0053] a. Cleaning the current cleaning area with the first roller brush, wherein the portion of the first roller brush below the target water tank level accounts for at least one third of the roller brush body; or

[0054] In this embodiment, the first roller brush can be understood as a roller brush used for grinding and cleaning the box wall, and the first roller brush is in contact with the horizontal plane.

[0055] Specifically, when the roller brush is in contact with the horizontal plane and the area or volume of the first roller brush below the horizontal plane occupies at least one third of the total area or volume of the roller brush body, the roller brush is determined to be the first roller brush, it is determined that the cleaning conditions of the first roller brush are currently met, and the current cleaning area is polished and cleaned by the first roller brush.

[0056] b. Clean the current cleaning area by means of a second roller brush and a water suction device, wherein the second roller brush is located above the horizontal plane of the target water tank, the water suction device comprises at least a water suction pipe and a water spray port, the pipe port of the water suction pipe is located below the horizontal plane of the target water tank, and the water spray port is located above the horizontal plane of the target water tank.

[0057] In this embodiment, the second roller brush can be understood as a roller brush used to polish and clean the box wall, and the second roller brush does not have contact with the horizontal plane. It can be understood that the first roller brush and the second roller brush can be the same roller brush, and the contact state between the two and the horizontal plane is inconsistent. The water absorption device can be understood as a device for absorbing water below the horizontal plane and spraying it to the current cleaning area, so as to facilitate efficient cleaning of the roller brush.

[0058] Specifically, when the roller brush is not in contact with the horizontal plane, the roller brush is determined to be the second roller brush, and it is determined that the cleaning conditions of the second roller brush are currently met. At this time, water is absorbed through the pipe mouth of the water absorption pipe located below the horizontal plane of the target water tank in the water absorption device, and the water absorbed by the water absorption pipe is sprayed to the current cleaning area through the water spray port located above the horizontal plane of the target water tank in the water absorption device. At the same time, the current cleaning area is polished and cleaned by the second roller brush.

[0059] The above technical solutions can ensure that the water tank management robot can operate with water, reduce the difficulty of cleaning and improve cleaning efficiency.

[0060] As a second optional embodiment of this embodiment, the method further includes:

[0061] The target water tank is drained at a set drainage rate; alternatively, a drainage comparison table is called to drain the target water tank according to the ratio of the current cleaned area to the target water tank area.

[0062] In this embodiment, the set drainage rate can be understood as a preset water tank drainage speed, which corresponds to the cleaning operation speed of the water tank management robot. When the cleaning operation speed is high, the set drainage rate is also high, and vice versa. The set drainage rate can be an empirical value calculated based on actual conditions. The drainage comparison table can be understood as a table comparing the cleaned proportion of the water tank and the drainage volume.

[0063] Specifically, when the cleaning of the target water tank begins, the water tank management robot reports the cleaning start information to the server, and the server opens the drain. That is, the cleaning of the target water tank is to drain water while cleaning.

[0064] Specifically, the server opens the drain outlet by: opening the drain outlet according to the valve opening corresponding to the set drainage rate; or, combining the current cleaning area and the historical cleaning area, determining the ratio of the area of ​​the area that has completed cleaning to the area of ​​the entire target water tank (the ratio of the number of areas that have completed cleaning to the total number of areas included in the cleaning path of the water tank), determining the drainage rate or drainage volume corresponding to the ratio value in the drainage comparison table, and then determining the valve opening corresponding to the drainage rate or drainage volume, and opening the drain outlet according to the valve opening.

[0065] Embodiment 2

[0066] Figure 2 It is a flow chart of a water tank management method provided in the second embodiment of the present invention. This embodiment is a further optimization of any of the above embodiments and can be applied to the situation of cleaning the target water tank. The method can be executed by a water tank management device, which can be implemented in the form of hardware and / or software and executed by a water tank management robot. The water tank management robot includes a first camera, a second camera and at least one roller brush.

[0067] like Figure 2 As shown, the method includes:

[0068] S201. Determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area.

[0069] S202: Acquire an image of the environment inside the target water tank through a first camera, perform image processing on the image of the environment inside the tank, and determine the degree of dirtiness of the water tank.

[0070] In this embodiment, the degree of contamination of the water tank can be understood as information characterizing the contamination of the target water tank, including at least the degree of water turbidity, the contamination area of ​​the tank wall, and the contamination thickness of the tank wall.

[0071] Specifically, at least one image of the environment inside the target water tank is acquired through the first camera, and the image is processed to identify the water transparency (water turbidity), the dirty area of ​​the tank wall, and the thickness of the dirty tank wall. The water transparency reflects the amount of suspended particles. When the turbidity is high, it indicates that the water pollution is serious. When the dirty area of ​​the tank wall is large and the thickness of the dirty tank wall is high, it indicates that the tank wall is seriously dirty.

[0072] S203, calling a preset cleaning comparison table to determine the cleaning intensity and cleaning time corresponding to the degree of dirtiness of the water tank.

[0073] In this embodiment, the cleaning comparison table can be understood as a table representing the comparison between the degree of dirtiness and the degree of cleanliness of the water tank. The greater the degree of dirtiness of the water tank, the greater the corresponding cleaning intensity and / or the longer the cleaning time.

[0074] Specifically, the cleaning comparison table contains at least two cleaning modes, namely quick cleaning and deep cleaning. When the water quality is good and the dirt on the box wall is light, the quick cleaning mode is used. The quick cleaning mode takes a short time and can quickly clean up light dirt and suspended matter. When the water quality is poor, or the dirt on the box wall is thicker and larger, the deep cleaning mode is used, using a strong detergent and longer mechanical cleaning to ensure that dirt and microorganisms are thoroughly removed. It can be understood that only two modes are used as examples here, and the cleaning comparison table can also include several different degrees of dirt-cleaning correspondence, that is, there are multiple cleaning intensities and cleaning times to achieve cleaning corresponding to the degree of dirt.

[0075] S204: When the water tank cleaning conditions are met, the current cleaning area is cleaned based on the cleaning intensity and cleaning time.

[0076] In this embodiment, the water tank cleaning condition can be understood as a condition for starting to clean the target water tank.

[0077] Specifically, before cleaning the target water tank, it is first necessary to detect whether the water tank is in working condition (such as water inlet, water outlet, etc.) to avoid affecting the normal use of the water tank during the cleaning process. When the water tank is not working, it is determined that the current water tank cleaning conditions are met, the cleaning mode is started, and the current cleaning area is polished and cleaned based on the cleaning intensity and cleaning time corresponding to the degree of dirtiness of the water tank.

[0078] S205 . Acquire a current inspection image of the current cleaning area through the second camera, and compare the current inspection image with a preset reference inspection image to obtain a comparison result.

[0079] In this embodiment, the reference inspection image can be understood as an image when the water tank wall is clean. The comparison result is that the consistency degree is greater than the set threshold or less than the set threshold.

[0080] Specifically, the current inspection image of the current cleaning area is obtained through the second camera, and the current inspection image is compared with a preset reference inspection image to determine the consistency of information such as brightness, contrast, and pixel position between the current inspection image and the reference inspection image, and the consistency result is determined as the comparison result.

[0081] S206: If the comparison result indicates that the current cleaning area is dirty, it is determined that the repeated cleaning condition is currently met.

[0082] In this embodiment, if the consistency is less than the set threshold, the comparison result is poor consistency, indicating that there is dirt in the current cleaning area, and it is determined that the repeated cleaning condition is currently met and the current cleaning area needs to be cleaned again.

[0083] S207: If the comparison result indicates that the current cleaning area is clean, it is determined that the repeated cleaning condition is not met at present.

[0084] In this embodiment, if the consistency is greater than the set threshold, the comparison result is a good consistency, indicating that the current cleaning area is clean, and it is determined that the repeated cleaning condition is not met at present, that is, the area cleaning end condition for the current area is met, and the cleaning of the current cleaning area can be ended and the cleaning of the next cleaning area can be executed.

[0085] S208. If the repeated cleaning condition is currently met, the current inspection image is determined as a historical inspection image, and the current cleaning area is returned to be cleaned again, and the current inspection image of the current cleaning area is obtained through the second camera until the area cleaning end condition is met.

[0086] In this embodiment, the area cleaning end condition is any of the following:

[0087] 1. The comparison result indicates that the current cleaning area is clean; 2. The number of cleaning processes on the current cleaning area reaches a set threshold, and the comparison result indicates that the current cleaning area is dirty.

[0088] When the comparison result indicates that the current cleaning area is clean, there is naturally no need to repeat the cleaning of the current cleaning area, and it is determined that the current area cleaning end condition is met.

[0089] In addition, if the current cleaning area has been cleaned for a set threshold number of times, and after the set threshold number of cleanings, the comparison result of the collected current inspection image still indicates that there is dirt in the current cleaning area, then the dirt in the area is characterized as stubborn stains. In order to avoid unnecessary waste of time and electricity and improve cleaning efficiency, the repeated cleaning of the current cleaning area is stopped, and it is determined that the current cleaning end conditions are met. In this case, the location coordinates of the current cleaning area are added with a cleaning abnormality mark, and the water tank management robot uploads the coordinates and mark to the corresponding communication connected server to facilitate staff to check, handle and clean.

[0090] S209: Determine the current cleaning area as the historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met.

[0091] A water tank management method provided by an embodiment of the present invention includes determining a water tank cleaning path and an initial cleaning area for a target water tank, and determining the initial cleaning area as a current cleaning area; acquiring an internal environment image of the target water tank through a first camera, performing image processing on the internal environment image, and determining the degree of dirtiness of the water tank; calling a preset cleaning comparison table to determine the cleaning intensity and cleaning time corresponding to the degree of dirtiness of the water tank; when the water tank cleaning conditions are met, performing cleaning processing on the current cleaning area based on the cleaning intensity and cleaning time; acquiring a current inspection image of the current cleaning area through a second camera, and comparing the current inspection image with a preset reference inspection image to obtain a comparison comparison table. Result; if the comparison result indicates that the current cleaning area is dirty, it is determined that the repeated cleaning condition is currently met; if the comparison result indicates that the current cleaning area is clean, it is determined that the repeated cleaning condition is not currently met; if the repeated cleaning condition is currently met, the current inspection image is determined as a historical inspection image, and the current cleaning area is returned to be re-cleaned, and the current inspection image of the current cleaning area is obtained through the second camera until the area cleaning end condition is met; the current cleaning area is determined as a historical cleaning area, the current cleaning area is determined according to the water tank cleaning path and the historical cleaning area, and the current cleaning area is returned to be re-cleaned until the water tank cleaning end condition is met. In the above technical solution, when the operation starts, first, when the surface of the tank has not been polished, that is, when the water is not turbid, the water tank management robot takes pictures in the water, and uses the image recognition method to compare the cleanliness with the archive pictures previously stored in the server to preliminarily determine the polishing intensity and polishing time; different degrees of dirtiness determine whether the robot works in deep cleaning or fast cleaning mode; when the robot moves by adsorption on the side wall, the camera exposed to the water surface takes pictures of the upper area of ​​the water line for comparison, and the camera immersed below the water line is responsible for taking pictures of the corresponding area below; when the operation starts along the side wall polishing, the underwater camera will be difficult to make accurate judgments due to the turbidity of the water. At this time, it depends more on The camera above the water surface captures the area where the water line gradually drops along the surrounding walls, that is, the area that has just been horizontally polished and cleaned. As the water level drops, the camera above the water surface of the robot detects this area in real time. If it is found that there are still stains that have not been cleaned, or the cleanliness is not enough, the roller brush above the robot is started to continue to repeat the secondary cleaning task. At this time, the roller brush above the water surface is still rotating and a small part of it will be immersed in the water; if the detection effect of the repeated cleaning operation meets the requirements, the procedure of cleaning while the water level drops will continue; if the detection effect of the repeated cleaning operation does not meet the requirements, the current polishing task will be repeated until it meets the standards. Real-time monitoring of water tank cleaning is achieved, and the cleaning effect of the target water tank is improved.

[0092] Embodiment 3

[0093] Figure 3 Schematic diagram of the structure of a water tank management device provided by the third embodiment of the present invention. Figure 3 As shown, the device comprises:

[0094] A cleaning area determination module 31 is used to determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area;

[0095] An initial cleaning module 32 is used to obtain an internal environment image of the target water tank through a first camera, and perform cleaning processing on the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank;

[0096] A cleaning inspection module 33, used to obtain a current inspection image of the current cleaning area through a second camera, and determine whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above the horizontal plane in the target water tank;

[0097] A repeated cleaning module 34 is used to determine the current inspection image as a historical inspection image if the repeated cleaning condition is currently met, return to re-clean the current cleaning area, and obtain the current inspection image of the current cleaning area through the second camera until the area cleaning end condition is met;

[0098] The continuing cleaning module 35 is used to determine the current cleaning area as the historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met.

[0099] The water tank management device adopted in this technical solution realizes real-time monitoring of water tank cleaning and improves the cleaning effect on the target water tank.

[0100] Optionally, the initial cleaning module 32 is specifically used for:

[0101] Performing image processing on the image of the environment inside the water tank to determine the degree of dirtiness of the water tank;

[0102] Calling a preset cleaning comparison table to determine the cleaning intensity and cleaning time corresponding to the degree of dirtiness of the water tank;

[0103] When the water tank cleaning condition is met, the current cleaning area is cleaned based on the cleaning intensity and cleaning time.

[0104] Optionally, the cleaning inspection module 33 is specifically used for:

[0105] Comparing the current inspection image with a preset reference inspection image to obtain a comparison result;

[0106] If the comparison result indicates that the current cleaning area is dirty, it is determined that the repeated cleaning condition is currently met;

[0107] If the comparison result indicates that the current cleaning area is clean, it is determined that the repeated cleaning condition is not met currently.

[0108] Optionally, the area cleaning end condition is any one of the following:

[0109] The comparison result indicates that the current cleaning area is clean;

[0110] The number of cleaning processes performed on the current cleaning area reaches a set threshold, and the comparison result indicates that dirt exists in the current cleaning area.

[0111] Optionally, the initial cleaning module 32, the repeated cleaning module 34 and the continued cleaning module 35 are further used to:

[0112] The current cleaning area is cleaned by a first roller brush, wherein the portion of the first roller brush below the target water tank level occupies at least one third of the roller brush body; or

[0113] The current cleaning area is cleaned by a second roller brush and a water suction device, wherein the second roller brush is located above the horizontal plane of the target water tank, the water suction device comprises at least a water suction pipe and a water spray port, the pipe port of the water suction pipe is located below the horizontal plane of the target water tank, and the water spray port is located above the horizontal plane of the target water tank.

[0114] Optionally, the device further comprises a drainage processing module, which is used to:

[0115] Drain the target water tank at a set drainage rate; or,

[0116] The drainage comparison table is called to drain the target water tank according to the ratio of the current cleaned area to the target water tank area.

[0117] The water tank management device provided in the embodiment of the present invention can execute the water tank management method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0118] Embodiment 4

[0119] Figure 41 is a schematic diagram of the structure of a water tank management robot provided in Embodiment 4 of the present invention. The water tank management robot is intended to represent various forms of digital computers, preferably mobile devices of the mobile robot type. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein. The water tank management robot 40 is connected to the server in communication, and can obtain information such as the water tank cleaning path transmitted by the server, and can also upload information such as location coordinates and identification to the server.

[0120] like Figure 4 As shown, the water tank management robot 40 includes at least one processor 41, a memory, a collection device 50 and a cleaning device 51 that are communicatively connected to the at least one processor 41, the collection device 50 includes a first camera and a second camera, and the cleaning device 51 includes at least one roller brush; wherein the memory is such as a read-only memory (ROM) 42, a random access memory (RAM) 43, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 41 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 42 or the computer program loaded from the storage unit 48 to the random access memory (RAM) 43. In RAM 43, various programs and data required for the operation of the water tank management robot 40 can also be stored. The processor 41, ROM 42 and RAM 43 are connected to each other through a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0121] Multiple components in the water tank management robot 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, a mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, an optical disk, etc.; and a communication unit 49, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 49 allows the water tank management robot 40 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0122] The processor 41 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 41 executes the various methods and processes described above, such as the water tank management method.

[0123] In some embodiments, the water tank management method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on the water tank management robot 40 via the ROM 42 and / or the communication unit 49. When the computer program is loaded into the RAM 43 and executed by the processor 41, one or more steps of the water tank management method described above may be performed. Alternatively, in other embodiments, the processor 41 may be configured to perform the water tank management method in any other appropriate manner (e.g., by means of firmware).

[0124] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0126] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein may be implemented on a tank management robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user may provide input to the tank management robot. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0130] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0131] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A water tank management method, characterized in that: include: Determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area; Acquire an internal environment image of the target water tank through a first camera, and perform cleaning processing on the current cleaning area according to the internal environment image, wherein the first camera is located below the horizontal plane in the target water tank; Acquire a current inspection image of the current cleaning area through a second camera, and determine whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above a horizontal plane in the target water tank; If the repeated cleaning condition is currently met, the current inspection image is determined as a historical inspection image, the current cleaning area is returned to be cleaned again, and the current inspection image of the current cleaning area is obtained through the second camera until the area cleaning end condition is met; Determine the current cleaning area as a historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met; The step of performing cleaning on the current cleaning area includes: The current cleaning area is cleaned by a first roller brush, wherein the portion of the first roller brush below the target water tank level occupies at least one third of the roller brush body; or Cleaning the current cleaning area by means of a second rolling brush and a water absorbing device, wherein the second rolling brush is located above the horizontal plane of the target water tank; The method further includes: draining the target water tank.

2. The method according to claim 1, characterized in that The cleaning process of the current cleaning area according to the in-box environment image includes: Performing image processing on the image of the environment inside the water tank to determine the degree of dirtiness of the water tank; Calling a preset cleaning comparison table to determine the cleaning intensity and cleaning time corresponding to the degree of dirtiness of the water tank; When the water tank cleaning condition is met, the current cleaning area is cleaned based on the cleaning intensity and cleaning time.

3. The method according to claim 1, characterized in that include: Determining whether a repeated cleaning condition is currently satisfied according to the current inspection image includes: Comparing the current inspection image with a preset reference inspection image to obtain a comparison result; If the comparison result indicates that the current cleaning area is dirty, it is determined that the repeated cleaning condition is currently met; If the comparison result indicates that the current cleaning area is clean, it is determined that the repeated cleaning condition is not met currently.

4. The method according to claim 3, characterized in that The area cleaning end condition is any of the following: The comparison result indicates that the current cleaning area is clean; The number of cleaning processes performed on the current cleaning area reaches a set threshold, and the comparison result indicates that dirt exists in the current cleaning area.

5. The method according to claim 1, characterized in that The water suction device at least comprises a water suction pipe and a water spray port, the pipe port of the water suction pipe is located below the horizontal plane of the target water tank, and the water spray port is located above the horizontal plane of the target water tank.

6. The method according to claim 1, characterized in that The draining process of the target water tank includes: Drain the target water tank at a set drainage rate; or, The drainage comparison table is called to drain the target water tank according to the ratio of the current cleaned area to the target water tank area.

7. A water tank management device, characterized in that: include: A cleaning area determination module, used to determine a water tank cleaning path and an initial cleaning area for a target water tank, and determine the initial cleaning area as a current cleaning area; An initial cleaning module, used for acquiring an image of the internal environment of the target water tank through a first camera, and performing cleaning processing on the current cleaning area according to the image of the internal environment, wherein the first camera is located below the horizontal plane in the target water tank; A cleaning inspection module, used to obtain a current inspection image of the current cleaning area through a second camera, and determine whether a repeated cleaning condition is currently met according to the current inspection image, wherein the second camera is located above the horizontal plane in the target water tank; A repeated cleaning module, for determining the current inspection image as a historical inspection image if the repeated cleaning condition is currently met, returning to re-clean the current cleaning area, and obtaining the current inspection image of the current cleaning area through a second camera until the area cleaning end condition is met; A continuing cleaning module, used to determine the current cleaning area as a historical cleaning area, determine the current cleaning area according to the water tank cleaning path and the historical cleaning area, and return to re-clean the current cleaning area until the water tank cleaning end condition is met; Wherein, the initial cleaning module, the repeated cleaning module and the continued cleaning module are also used for: The current cleaning area is cleaned by a first roller brush, wherein the portion of the first roller brush below the target water tank level occupies at least one third of the roller brush body; or Cleaning the current cleaning area by means of a second rolling brush and a water absorbing device, wherein the second rolling brush is located above the horizontal plane of the target water tank; The device also includes a drainage processing module, which is used to perform drainage processing on the target water tank.

8. A water tank management robot, characterized in that: include: at least one processor; as well as A memory, a collection device and a cleaning device that are communicatively connected to the at least one processor, the collection device comprising a first camera and a second camera, and the cleaning device comprising at least one roller brush; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a water tank management method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a water tank management method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements a water tank management method according to any one of claims 1-6.

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