Control method of window cleaning machine

Abstract

The invention discloses a control method of a window cleaning machine. The method comprises the following steps: acquiring external real-time image data; detecting whether a preset gesture exists in the real-time image data or not; when the preset gesture exists in the real-time image data, the window cleaning machine is controlled to operate according to the real-time image data. According to the window cleaning machine, external real-time image data can be obtained; detecting whether a preset gesture exists in the real-time image data or not; when the preset gesture exists in the real-time image data, the window cleaning machine is controlled to operate according to the real-time image data; therefore, the user can flexibly control the window-cleaning machine through gestures, a walking path does not need to be set in advance, restriction of remote control equipment on use of the window-cleaning machine is avoided, and the efficiency and convenience of the window-cleaning machine during use are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly to a control method for a window cleaning machine. Background Art

[0002] With the development of technology and the improvement of living standards, people's requirements for the quality of life are getting higher and higher, and intelligent and efficient window cleaning machines are becoming more and more popular among users. Window cleaning machines are mainly used to clean the surfaces of windows and doors made of glass. The working principle of a window cleaning machine is to adsorb on the glass surface through an adsorption component, and during the walking process of the window cleaning machine, the cleaning cloth of the window cleaning machine cleans the glass surface.

[0003] However, when the existing window cleaning machine cleans the glass surface, it generally controls the operation of the window cleaning machine on the glass surface through a pre-set walking path or uses a remote control. The control method is relatively single, reducing the convenience of using the window cleaning machine. Summary of the Invention

[0004] The main object of the present invention is to propose a control method for a window cleaning machine, aiming to improve the efficiency and convenience of the window cleaning machine during use.

[0005] To achieve the above object, the present invention proposes a control method for a window cleaning machine, and the control method includes:

[0006] Obtain real-time image data of the outside world;

[0007] Detect whether there is a preset gesture in the real-time image data;

[0008] When the preset gesture exists in the real-time image data, control the operation of the window cleaning machine according to the real-time image data.

[0009] In some embodiments, the obtaining of the real-time image data of the outside world includes:

[0010] Obtain real-time image data of the outside world and obtain the relative position information between the window cleaning machine and the user's gesture;

[0011] The controlling of the operation of the window cleaning machine according to the real-time image data includes:

[0012] When the preset gesture exists in the real-time image data and the relative position information between the window cleaning machine and the user's gesture is within the preset position information, control the operation of the window cleaning machine according to the real-time image data.

[0013] In some embodiments, the relative position information between the window cleaning machine and the user's gesture includes: the current distance between the window cleaning machine and the user's gesture;

[0014] Said controlling the operation of the window cleaning machine according to the real-time image data includes:

[0015] When the current distance is within a preset distance range, controlling the window cleaning machine to operate according to the real-time image data.

[0016] In some embodiments, the relative position information between the window cleaning machine and the user gesture includes: the window cleaning machine facing the user gesture and the window cleaning machine facing away from the user gesture;

[0017] Said controlling the operation of the window cleaning machine according to the real-time image data includes:

[0018] When the window cleaning machine faces the user gesture, controlling the window cleaning machine to operate according to the real-time image data;

[0019] When the window cleaning machine faces away from the user gesture, correcting the real-time image data, and controlling the window cleaning machine to operate according to the corrected real-time image data.

[0020] In some embodiments, said correcting the real-time image data includes: performing mirror symmetry on the real-time image to obtain corrected real-time image data.

[0021] In some embodiments, said detecting whether there is a preset gesture in the real-time image data includes:

[0022] Obtaining the user gesture image in the real-time image data;

[0023] Extracting the gesture feature data of the user gesture image;

[0024] Retrieving a preset gesture library according to the gesture feature data;

[0025] If it is determined that the gesture feature data exists in the preset gesture library, it is determined that the preset gesture exists in the real-time image data.

[0026] In some embodiments, the preset gesture includes: a starting gesture;

[0027] The control method includes: after detecting that there is a starting gesture in the real-time image data, starting gesture control.

[0028] In some embodiments, it further includes:

[0029] Outputting corresponding expression icons according to the real-time image data.

[0030] In some embodiments, the window cleaning machine is provided with a movable camera module; after detecting whether there is a preset gesture in the real-time image data, it further includes:

[0031] If it is determined that the preset gesture does not exist in the real-time image data, the movable camera module is controlled to rotate, and the movable camera module is controlled to stop rotating after the preset gesture is detected.

[0032] In some embodiments, the window cleaning machine at least includes: a first camera module and a second camera module;

[0033] The first camera module and the second camera module cooperate together to obtain real-time image data of the outside world and obtain the relative position information between the window cleaning machine and the user gesture.

[0034] The present invention also provides a window cleaning machine, which is used to configure the control device of the window cleaning machine. The control device of the window cleaning machine includes:

[0035] At least one processor; and,

[0036] A memory communicatively connected to the at least one processor; wherein,

[0037] The memory stores instructions executed by the at least one processor, and the instructions are executed by the at least one processor to execute the control method of the window cleaning machine described in any one of the above;

[0038] Or,

[0039] The control device of the window cleaning machine includes:

[0040] A memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the control method of the window cleaning machine described in any one of the above.

[0041] The window cleaning machine of the present invention can obtain real-time image data of the outside world, determine whether a preset gesture exists in the real-time image data, and if a preset gesture exists, control the window cleaning machine according to the control instruction corresponding to the preset gesture. The user can flexibly control the window cleaning machine through gestures, without the need to pre-set a walking path in advance, and avoids the restriction of the remote control device on the use of the window cleaning machine, improving the efficiency and convenience of the window cleaning machine during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic flow chart of the control method of the window cleaning machine in the embodiment of the present invention;

[0043] Figure 2 It is another schematic flow chart of the control method of the window cleaning machine in the embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the preset gesture in the embodiment of the present invention;

[0045] Figure 4Schematic diagram of the scenario of the control method of the window cleaning machine in the embodiment of the present invention;

[0046] Figure 5 Another schematic diagram of the preset gesture in the embodiment of the present invention;

[0047] Figure 6 Schematic diagram of the emoticon icon in the embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the window cleaning machine in the embodiment of the present invention;

[0049] Figure 8 Schematic diagram of the structure of the control device of the window cleaning machine involved in the embodiment solution of the present invention.

[0050] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0051] Next, the solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0052] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0053] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0054] In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions appears to be contradictory or unable to be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] To achieve the above object, the present invention provides a control method for a window cleaning machine, and the control method includes:

[0056] Step S110: Obtain real-time image data of the outside world;

[0057] Step S120: Detect whether a preset gesture exists in the real-time image data;

[0058] Step S130: When a preset gesture exists in the real-time image data, control the window cleaning machine to operate according to the real-time image data.

[0059] In this embodiment, referring to Figure 1 and Figure 3 , the control method of the window cleaning machine is applied to the window cleaning machine, and the window cleaning machine is used to clean the surface of the glass window. The control method of the window cleaning machine enables the user to control the window cleaning machine through a preset gesture when the window cleaning machine cleans the surface of the glass window, so that the window cleaning machine cleans the surface of the glass window according to the preset gesture. The preset gesture can be customized according to the user's needs or usage habits, etc. In this embodiment, the execution subject of the method steps is the control module that controls the window cleaning machine; the control module can be built into the window cleaning machine or set outside the window cleaning machine.

[0060] It can be understood that the window cleaning machine can be provided with a camera module. The camera module can photograph or monitor (record video) the outside world to obtain real-time image data of the outside world. Among them, Figure 3 is a schematic diagram of the preset gesture in this embodiment. It should be noted that Figure 3 the schematic diagram of the preset gesture in Figure 3 does not limit the preset gesture and is only used as an example for illustration. The preset gesture can include a pause gesture, a start gesture, a left-running gesture, a right-running gesture, an up-running gesture, and a down-running gesture. Among them, taking

[0061] as an example, a is the pause gesture, b is the start gesture, c is the left-running gesture, d is the right-running gesture, e is the up-running gesture, and f is the down-running gesture.

[0062] The control module can obtain real-time image data of the outside world through the camera module. It can be that the control module first controls the camera module to start working, enabling the camera module to start obtaining real-time image data of the outside world. After the camera module obtains the real-time image data of the outside world, it can send the real-time image data of the outside world to the control module. At this time, the control module can obtain the real-time image data of the outside world.

[0063] After the control module obtains the real-time image data of the outside world, it can detect the real-time image data to check if there is a preset gesture. Among them, the control module can pre-configure the preset gesture. After the control module obtains the real-time image data, it can analyze and extract the real-time image data to obtain the user gesture from the real-time image data, and then compare the user gesture with the pre-configured preset gesture. When the user gesture in the real-time image data is the same as a certain gesture in the preset gesture, it can be determined that there is a preset gesture in the real-time image data. When the user gesture in the real-time image data is not the same as all the gestures in the preset gesture, it can be determined that there is no preset gesture in the real-time image data. In a special case, there may be no user gesture in the real-time image data. At this time, it can also be determined that there is no preset gesture in the real-time image data.

[0064] After the control module determines that there is a preset gesture in the real-time image data, the control module will control the window cleaner to run according to the real-time image data, that is, the control module will control the window cleaner to run according to the preset gesture in the real-time image data. For example: when the gesture in the real-time image data is an upward running gesture, the control module will control the window cleaner to run upward.

[0065] Through the window cleaner of this embodiment, it can obtain the real-time image data of the outside world, determine whether there is a preset gesture in the real-time image data, and if there is a preset gesture, control the window cleaner according to the control instruction corresponding to the preset gesture. The user can flexibly control the window cleaner through gestures, without having to pre-set the walking path in advance, and avoid the restriction of the remote control device on the use of the window cleaner, improving the efficiency and convenience of the window cleaner during use.

[0066] In some embodiments, obtaining the real-time image data of the outside world as described above includes:

[0067] Obtaining the real-time image data of the outside world and obtaining the relative position information between the window cleaner and the user gesture;

[0068] Controlling the window cleaner to run according to the real-time image data as described above includes:

[0069] When there is a preset gesture in the real-time image data and the relative position information between the window cleaner and the user gesture is within the preset position information, controlling the window cleaner to run according to the real-time image data.

[0070] In this embodiment, when the control module executes step S110, it will also obtain the relative position information between the window cleaning machine and the user gesture. When the control module obtains the real-time image data of the outside world, it will also obtain the relative position information between the window cleaning machine and the user gesture. The control module can obtain the real-time image data while obtaining the relative position information between the window cleaning machine and the user gesture. At this time, the control module can detect whether there is a preset gesture in the real-time image data while detecting whether the relative position information between the window cleaning machine and the user gesture is within the preset position information. When there is a user gesture in the real-time image data obtained by the control module, the control module can detect whether the user gesture is a preset gesture; and can obtain the position information of the user gesture, then obtain the relative position information between the window cleaning machine and the user gesture based on the position information of the window cleaning machine and the position information of the user gesture, and then detect whether the relative position information between the window cleaning machine and the user gesture is within the preset position information. When the user gesture is a preset gesture and the relative position information between the window cleaning machine and the user gesture is within the preset position information, the control module will control the operation of the window cleaning machine according to the real-time image data.

[0071] Among them, the camera module can have the functions of object recognition and ranging. When the camera module obtains the real-time image data of the outside world, it can also recognize the user gesture and determine the position information of the user gesture (generally understood as the camera module can take pictures of the real-time image data of the outside world by pressing the shutter; however, before pressing the shutter, when focusing, it can recognize the items outside to determine the focusing target. Therefore, specifically, it can be set to only recognize the user gesture). At the same time, the control module can also determine the position information of the window cleaning machine. The relative position information between the two can be determined based on the position information of the user gesture and the position information of the window cleaning machine.

[0072] In a preferred embodiment, obtain the real-time image data of the outside world; detect whether there is a preset gesture in the real-time image data; when there is a preset gesture in the real-time image data, obtain the relative position information between the window cleaning machine and the preset gesture in the real-time image data; when the relative position information between the window cleaning machine and the preset gesture in the real-time image data is within the preset position information, control the operation of the window cleaning machine according to the preset gesture.

[0073] In this embodiment, the control module can first determine that there is a preset gesture in the real-time image data, and then obtain the relative position information between the window cleaning machine and the preset gesture.

[0074] In some embodiments, the aforementioned relative position information between the window cleaning machine and the user gesture includes: the current distance between the window cleaning machine and the user gesture;

[0075] The aforementioned controlling the operation of the window cleaning machine according to the real-time image data includes:

[0076] When the current distance is within the preset distance range, control the window cleaning machine to operate according to the real-time image data.

[0077] In this embodiment, when the control module executes the relative position information between the window cleaning machine and the user gesture, it obtains the current distance between the window cleaning machine and the user gesture. Among them, the camera module can have a ranging function; or the window cleaning machine can also be provided with other modules for ranging, such as an infrared ranging module. When the control module determines that there is a user gesture (wherein, the control module can determine whether there is a user gesture by detecting real-time image data, or can also determine whether there is a user gesture by recognizing the outside world), and the user gesture is a preset gesture, it can obtain the distance between the user gesture (preset gesture) and the window cleaning machine through the camera module or other modules for ranging, that is, the current distance between the window cleaning machine and the user gesture (preset gesture).

[0078] After the control module obtains the current distance between the window cleaning machine and the user gesture (preset gesture), it can compare the current distance with the preset distance range to determine whether the current distance is within the preset distance range. When the current distance is within the preset distance range, the control module will control the window cleaning machine to run according to the real-time image data, that is, control the window cleaning machine to run according to the user gesture (preset gesture) in the real-time image data.

[0079] For example: The preset distance can be set to 5 meters, so that only the user gestures (preset gestures) within 5 meters can control the window cleaning machine. The user gestures (preset gestures) outside the 5-meter range cannot control the window cleaning machine.

[0080] By setting a preset distance range for the user gesture (preset gesture), it can be ensured that the user gestures (preset gestures) outside the preset distance range cannot control the window cleaning machine, which can reduce the interference of the outside world on the window cleaning machine. Only when the user gesture (preset gesture) is within the preset distance range can it control the window cleaning machine.

[0081] In some embodiments, the relative position information between the window cleaning machine and the user gesture described above includes: the window cleaning machine facing the user gesture and the window cleaning machine facing away from the user gesture;

[0082] The control of the window cleaning machine to run according to the real-time image data described above includes:

[0083] When the window cleaning machine faces the user gesture, control the window cleaning machine to run according to the real-time image data;

[0084] When the window cleaning machine faces away from the user gesture, correct the real-time image data and control the window cleaning machine to run according to the corrected real-time image data.

[0085] In this embodiment, refer to Figure 4, when the control module executes the relative position information between the window cleaning machine and the user gesture, it determines whether the window cleaning machine is facing the user gesture or facing away from the user gesture. Among them, the window cleaning machine is used to clean the surface of the glass window, and can be used to clean the surface of the transparent glass window. It can be set that when the window cleaning machine and the user gesture are on the same side of the transparent glass window, the window cleaning machine faces the user gesture. It can also be set that when the window cleaning machine and the user gesture are not on the same side of the transparent glass window (that is, when the window cleaning machine and the user gesture are on the opposite sides of the transparent glass window), the window cleaning machine faces away from the user gesture. Among them, when configuring the preset gesture, it is configured according to when the window cleaning machine faces the preset gesture; that is, when the window cleaning machine faces the user gesture, the direction of the window cleaning machine is the same as the direction of the preset gesture.

[0086] When the user gesture is a preset gesture, if the control module determines that the window cleaning machine faces the user gesture, the control module will control the window cleaning machine to run according to the real-time image data. If the control module determines that the window cleaning machine faces away from the user gesture, the control module also needs to first correct the real-time image data before controlling the window cleaning machine to run according to the corrected real-time image data.

[0087] When the glass window is installed on the outer wall of a building, one side of the surface of the glass window is indoors and the other side is outdoors. When the user uses the window cleaning machine to clean the surface of the glass window on the outdoor side, since there is generally no place for the user to move outdoors, the user generally controls the window cleaning machine on both the inside and outside of the glass window indoors. When the user controls the window cleaning machine to clean the outside of the glass window indoors, the window cleaning machine faces away from the user gesture, and the direction of the window cleaning machine is inconsistent with the direction of the user gesture. Therefore, the control module needs to first correct the real-time image data and then control the window cleaning machine to run according to the corrected real-time image data; that is, control the window cleaning machine to run according to the corrected user gesture.

[0088] In some embodiments, the correction of the real-time image data described above includes: performing mirror symmetry on the real-time image to obtain the corrected real-time image data.

[0089] In this embodiment, when the control module corrects the real-time image data, it is a mirror symmetry correction. Since the real-time image data obtained when the window cleaner turns its back to the user's gesture is mirror symmetric to the real-time image data obtained when the window cleaner faces the user's gesture; therefore, when the window cleaner turns its back to the user's gesture, performing mirror symmetry processing on the real-time image data obtained by the window cleaner can make the direction of the window cleaner consistent with the direction of the preset gesture. At this time, the control module can control the operation of the window cleaner according to the corrected real-time image data. Specifically, when the window cleaner faces the user's gesture, for example, when the user wants the window cleaner to move left, at this time, the leftward movement gesture corresponds to the control instruction for controlling the window cleaner to move left. In this way, the user can see that the running direction of the window cleaner is left; when the window cleaner turns its back to the user, the leftward movement gesture corresponds to the control instruction for controlling the window cleaner to move left. The user indoors can see that the window cleaner is moving right, and only the user outdoors can see that the window cleaner is moving left. The running directions seen by the indoor and outdoor users are mirror symmetric. Therefore, when the window cleaner turns its back to the user's gesture, performing mirror symmetry processing on the real-time image data obtained by the window cleaner can make the direction of the window cleaner consistent with the direction of the preset gesture.

[0090] In some embodiments, for the window cleaner facing the user's gesture and the window cleaner turning its back to the user's gesture, two different sets of control instructions can be adopted. For example, when the window cleaner faces the user's gesture, the first set of control instructions is selected: the leftward movement gesture corresponds to the control instruction for controlling the window cleaner to move left; when the window cleaner turns its back to the user's gesture, the second set of control instructions is selected: the leftward movement gesture corresponds to the control instruction for controlling the window cleaner to move right; in the same way, the direction of the window cleaner can be made consistent with the direction of the preset gesture.

[0091] In some embodiments, detecting whether there is a preset gesture in the real-time image data as described above includes:

[0092] Step S140, obtaining the user gesture image in the real-time image data;

[0093] Step S141, extracting the gesture feature data of the user gesture image;

[0094] Step S142, retrieving the preset gesture library according to the gesture feature data;

[0095] Step S143, if it is determined that there is gesture feature data in the preset gesture library, it is determined that there is a preset gesture in the real-time image data.

[0096] In this embodiment, referring to Figure 2When the control module executes step S120, it searches in the preset gesture library. After obtaining the real-time image data, the control module analyzes and extracts the real-time image data to obtain the user gesture image in the real-time image data. Among them, the user gesture image is the image corresponding to the user gesture. After the control module obtains the user gesture image, it extracts the user gesture image to extract the gesture feature data of the user gesture image. Among them, the control module can pre-configure and train a gesture feature extraction model. The gesture feature extraction model is used to extract the user gesture image to obtain the gesture feature data.

[0097] Among them, the control module can also be configured with a preset gesture library. The above pause gesture, start gesture, left-running gesture, right-running gesture, up-running gesture, and down-running gesture are all stored in the preset gesture library. The preset gesture library is also set with preset gesture feature data corresponding to the preset gestures. According to the preset gesture feature data, the corresponding preset gesture can be found. The control module can retrieve the preset gesture library according to the gesture feature data to determine whether there is preset gesture feature data consistent with the gesture feature data in the preset gesture library. If there is preset gesture feature data consistent with the gesture feature data in the preset gesture library, it can be determined that there is gesture feature data in the preset gesture library. If there is no preset gesture feature data consistent with the gesture feature data in the preset gesture library, it can be determined that there is no gesture feature data in the preset gesture library.

[0098] If it is determined that there is gesture feature data in the preset gesture library, the control module can determine that there is a preset gesture in the real-time image data.

[0099] If it is determined that there is no gesture feature data in the preset gesture library, the control module can determine that there is no preset gesture in the real-time image data.

[0100] In some embodiments, the aforementioned preset gestures include: a starting gesture;

[0101] The aforementioned control method includes: after detecting the presence of a starting gesture in the real-time image data, starting gesture control.

[0102] In this embodiment, referring to Figure 5 , the preset gesture can also include a starting gesture. Among them, Figure 5 The schematic diagram of the preset gesture in does not limit the preset gesture and is only used as an example for illustration. The preset gesture can include a starting gesture, a pause gesture, a start gesture, a left-running gesture, a right-running gesture, an up-running gesture, and a down-running gesture. Among them, taking Figure 5 as an example, a is the starting gesture, b is the pause gesture, c is the start gesture, d is the left-running gesture, e is the right-running gesture, f is the up-running gesture, and g is the down-running gesture.

[0103] The control module first detects the starting gesture, that is, only after detecting the starting gesture in the real-time image data will it start gesture control. The control module will only start gesture control after first detecting the starting gesture, and then it can execute other gestures (pause gesture, start gesture, left-running gesture, right-running gesture, up-running gesture, and down-running gesture). When the control module does not detect the starting gesture, the control module will not start gesture control. At this time, if the user uses other gestures (pause gesture, start gesture, left-running gesture, right-running gesture, up-running gesture, and down-running gesture) to control the window cleaner, it will not be executed by the control module.

[0104] Through this embodiment, the safety of the window cleaner during cleaning can be improved to prevent the problem that when the window cleaner is working (when gesture control is not started), the gestures inadvertently made by the user conforming to the preset gestures affect the cleaning work of the window cleaner. Seriously, it may cause the window cleaner to run outside the glass window, resulting in the problem of the window cleaner falling off. It can also prevent children from randomly controlling the window cleaner for fun, and can play the role of a child lock.

[0105] In some embodiments, the control method of the window cleaner further includes:

[0106] Output corresponding expression icons according to the real-time image data.

[0107] In this embodiment, referring to Figure 6 and Figure 7 , the control module will also output expression icons. When the control module controls the window cleaner to run according to the real-time image data, the control module will also output corresponding expression icons according to the real-time image data. For example: when the control module controls the window cleaner to run according to the left-running gesture, it will output an expression icon of running to the left. When the control module controls the window cleaner to run according to the right-running gesture, it will output an expression icon of running to the right. When the control module controls the window cleaner to run according to the up-running gesture, it will output an expression icon of running up. When the control module controls the window cleaner to run according to the down-running gesture, it will output an expression icon of running down. When the control module controls the window cleaner to run according to the pause gesture, it will output an expression icon of standby. When the control module controls the window cleaner to run according to the start gesture, it will output an expression icon of gesture recognition. When an abnormal condition occurs in the window cleaner, the control module will output an abnormal expression icon.

[0108] Among them, the window cleaner can also be provided with a display module for displaying the expression icons. The control module can output the expression icons to the display module, and then the display module will display them.

[0109] In some embodiments, the window cleaner is provided with a movable camera module; after detecting whether there is a preset gesture in the real-time image data as described above, it further includes:

[0110] If it is determined that the preset gesture does not exist in the real-time image data, the movable camera module is controlled to rotate, and the movable camera module is controlled to stop rotating after the preset gesture is detected.

[0111] In this embodiment, the camera module provided in the window cleaning machine may be a movable camera module. Among them, the movable camera module can rotate the shooting angle, so that the movable camera module can obtain image data in different directions. If the control module determines that the preset gesture does not exist in the real-time image data, it will control the movable camera module to rotate, so as to obtain real-time image data at more angles, and control the movable camera module to stop rotating after the preset gesture is detected. For example: When the window cleaning machine is cleaning the surface of the glass window, it may run to a higher position (such as higher than the height of the user raising the hand) or a lower position (such as lower than the height of the user's thigh). At this time, if the movable camera module still shoots in the direction perpendicular to the surface of the glass window, it may result in the non-existence of the preset gesture in the obtained real-time image data. Among them, the glass window in this embodiment is perpendicular to the ground, that is, when the user stands on the ground, the plane where the glass window is located is parallel to the plane where the user is located.

[0112] In this way, the control module will control the movable camera module to rotate, obtain real-time image data from more angles, so as to detect the preset gesture; and control the movable camera module to stop rotating after the preset gesture is detected.

[0113] Among them, when the control module controls the movable camera module to stop rotating, it can also obtain the rotation angle of the movable camera module; and then correct the real-time image data according to the rotation angle.

[0114] In some embodiments, the window cleaning machine at least includes: a first camera module and a second camera module;

[0115] The first camera module and the second camera module cooperate together to obtain real-time image data of the outside world and obtain the relative position information between the window cleaning machine and the user's gesture.

[0116] In this embodiment, the camera module provided in the window cleaning machine may at least include a first camera module and a second camera module. The first camera module and the second camera module cooperate together to obtain real-time image data of the outside world and obtain the relative position information between the window cleaning machine and the user's gesture. It may also be that the first camera module is used to obtain real-time image data of the outside world, and the second camera module is used to obtain the relative position information between the window cleaning machine and the user's gesture. Or the second camera module is used to obtain real-time image data of the outside world, and the first camera module is used to obtain the relative position information between the window cleaning machine and the user's gesture.

[0117] The window cleaning machine of the present invention can acquire real-time image data from the outside world, determine whether there is a preset gesture in the real-time image data, and if there is a preset gesture, control the window cleaning machine according to the control instruction corresponding to the preset gesture. Users can flexibly control the window cleaning machine through gestures, without the need to pre-set the walking path in advance, and avoid the restriction of the remote control device on the use of the window cleaning machine, improving the efficiency and convenience of the window cleaning machine during use.

[0118] The present invention also proposes a window cleaning machine for configuring the control device of the window cleaning machine. Refer to Figure 8 , Figure 8 It is a schematic structural diagram of the control device of the window cleaning machine in the hardware operating environment related to the embodiment solution of the present invention.

[0119] The control device of the window cleaning machine in the embodiment of the present invention can be a processor capable of running the control method of the window cleaning machine; there is at least one processor. As Figure 8 shown, the control device of the window cleaning machine may include: a processor 1001 (such as a CPU), a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit, such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the foregoing processor 1001.

[0120] Those skilled in the art can understand that Figure 8 the structural diagram of the control device of the window cleaning machine shown in

[0121] does not constitute a limitation on the control device of the window cleaning machine, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0121] As Figure 8 shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a computer program.

[0122] In Figure 8In the control device of the window cleaning machine shown, the network interface 1004 is mainly used to connect to the background server and conduct data communication with the background server; the user interface 1003 is mainly used to connect to the client (user side) and conduct data communication with the client; and the processor 1001 can be used to call the computer program stored in the memory 1005. When the computer program is called and executed by the processor 1001, the steps of the control method of the window cleaning machine described above are implemented.

[0123] Based on the computer program proposed in the foregoing embodiments, the present invention also proposes a storage medium. The storage medium stores a computer program. When the computer program is executed by a controller, the control method of the window cleaning machine described in the foregoing embodiments is implemented.

[0124] The present invention also proposes a storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the control method of the window cleaning machine in any one of the above technical solutions are implemented.

[0125] The above are only partial or preferred embodiments of the present invention. Whether in text or drawings, the scope of protection of the present invention cannot be limited thereby. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or any direct / indirect application in other related technical fields is included in the scope of protection of the present invention.

Claims

1. A control method for a window cleaning machine, characterized in that, The control method includes: Obtain real-time image data from the outside world; Detect whether there is a preset gesture in the real-time image data; When the preset gesture exists in the real-time image data, control the window cleaning machine to operate according to the real-time image data.

2. The control method of the window cleaning machine according to claim 1, characterized in that, The obtaining of the real-time image data from the outside world includes: Obtain real-time image data from the outside world and obtain the relative position information between the window cleaning machine and the user's gesture; The controlling of the window cleaning machine to operate according to the real-time image data includes: When the preset gesture exists in the real-time image data and the relative position information between the window cleaning machine and the user's gesture is within the preset position information, control the window cleaning machine to operate according to the real-time image data.

3. The control method of the window cleaning machine according to claim 2, wherein The relative position information between the window cleaning machine and the user's gesture includes: the current distance between the window cleaning machine and the user's gesture; The controlling of the window cleaning machine to operate according to the real-time image data includes: When the current distance is within the preset distance range, control the window cleaning machine to operate according to the real-time image data.

4. The control method of the window cleaning machine according to claim 2, wherein The relative position information between the window cleaning machine and the user's gesture includes: the window cleaning machine facing the user's gesture and the window cleaning machine facing away from the user's gesture; The controlling of the window cleaning machine to operate according to the real-time image data includes: When the window cleaning machine faces the user's gesture, control the window cleaning machine to operate according to the real-time image data; When the window cleaning machine faces away from the user's gesture, correct the real-time image data and control the window cleaning machine to operate according to the corrected real-time image data.

5. The control method of the window cleaning machine according to claim 4, characterized in that, The correcting of the real-time image data includes: performing mirror symmetry on the real-time image to obtain the corrected real-time image data.

6. The control method of the window cleaning machine according to claim 1, wherein The detecting of whether there is a preset gesture in the real-time image data includes: Obtain the user gesture image in the real-time image data; Extract the gesture feature data of the user gesture image; Retrieve the preset gesture library according to the gesture feature data; If it is determined that the gesture feature data exists in the preset gesture library, it is determined that the preset gesture exists in the real-time image data.

7. The control method of the window cleaning machine according to claim 1, characterized in that, The preset gesture includes: a starting gesture; The control method includes: after detecting that the starting gesture exists in the real-time image data, start gesture control.

8. The control method of the window cleaning machine according to claim 1, characterized in that It also includes: Output a corresponding expression icon according to the real-time image data.

9. The control method of the window cleaning machine according to claim 1, characterized in that, The window cleaning machine is provided with a movable camera module; after detecting whether there is a preset gesture in the real-time image data, it also includes: If it is determined that the preset gesture does not exist in the real-time image data, control the movable camera module to rotate and stop the rotation of the movable camera module after detecting the preset gesture.

10. The control method of the window cleaning machine according to claim 1, wherein, The window cleaning machine at least includes: a first camera module and a second camera module; The first camera module and the second camera module cooperate together to obtain real-time image data from the outside world and obtain the relative position information between the window cleaning machine and the user's gesture.

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