Pool cleaning device, control method and computer storage medium

Abstract

The embodiment of the invention provides a pool cleaning device, a control method and a computer storage medium. The control method comprises the following steps: when the automatic pool cleaning device is in a first working state, acquiring an image of an area where at least one part of the automatic pool cleaning device is located; based on the image, identifying an operation type of the user operating the automatic pool cleaning device; and switching the first working state into a second working state based on the operation type.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a pool cleaning device, a control method and a computer storage medium. Background Art

[0002] The automatic pool cleaning device can be used to automatically clean or assist in cleaning pool facilities such as swimming pools. For example, the automatic pool cleaning device can filter pool water and / or absorb dirt through the automatic pool cleaning components while moving along the bottom, walls, and / or surface of the pool.

[0003] During the cleaning process, the cleaning and / or travel components of an automatic pool cleaning device remain in continuous operation. When a user removes the device from the water and attempts to manually take over, the device often remains in the cleaning state, and the continued movement of the cleaning and / or travel components can negatively impact the user experience and pose a risk. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a pool cleaning device, a control method, and a computer storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a control method for an automatic pool cleaning device is proposed, wherein the method comprises:

[0006] While the automatic pool cleaning device is in the first working state, acquiring an image of an area where at least a portion of the automatic pool cleaning device is located;

[0007] Based on the image, identifying the type of operation of the automatic pool cleaning device by the user;

[0008] Based on the operation type, the first working state is switched to a second working state.

[0009] In some embodiments, the at least one portion includes a head, a handle, a button, an upper cover, or a waste basket handle of the automatic pool cleaning device.

[0010] In some embodiments, the operation type of operating the automatic pool cleaning device includes at least one of the following: causing at least a portion of water to flow out, gesture recall, holding a handle, pressing a button, opening a top cover, or lifting a trash basket.

[0011] In some embodiments, the first working state includes at least one of the following: the automatic pool cleaning device is in a first orientation, the automatic pool cleaning device is in a first position, the water pump of the automatic pool cleaning device is in a working state, the driving device of the automatic pool cleaning device is in a working state, the automatic pool cleaning device is in a state of activating an alarm, and the automatic pool cleaning device is in a state of being charged;

[0012] The second working state includes at least one of the following: the automatic pool cleaning device is in the second orientation, the automatic pool cleaning device is in the second position, the water pump of the automatic pool cleaning device is turned off, the driving device is turned off, the automatic pool cleaning device is in a closed alarm state, and the automatic pool cleaning device is in a stopped charging state.

[0013] In some embodiments, the image includes multiple frames of images.

[0014] In some embodiments, identifying the type of operation of the automatic pool cleaning device by the user based on the image includes identifying the type of operation of the automatic pool cleaning device by the user based on the image and the detection results of the sensor of the automatic pool cleaning device.

[0015] In some embodiments, the image is acquired by a monocular camera or a binocular camera on the cleaning device.

[0016] According to a second aspect of the embodiments of the present disclosure, a control device for an automatic pool cleaning device is provided, wherein the control device comprises: a processing module,

[0017] The processing module is used to:

[0018] While the automatic pool cleaning device is in the first working state, acquiring an image of an area where at least a portion of the automatic pool cleaning device is located;

[0019] Based on the image, identifying the type of operation of the automatic pool cleaning device by the user;

[0020] Based on the operation type, the first working state is switched to a second working state.

[0021] In some embodiments, the at least one portion includes a head, a handle, a button, an upper cover, or a waste basket handle of the automatic pool cleaning device.

[0022] In some embodiments, the operation type of operating the automatic pool cleaning device includes at least one of the following: causing at least a portion of water to flow out, gesture recall, holding a handle, pressing a button, opening a top cover, or lifting a trash basket.

[0023] In some embodiments, the first working state includes at least one of the following: the automatic pool cleaning device is in a first orientation, the automatic pool cleaning device is in a first position, the water pump of the automatic pool cleaning device is in a working state, the driving device of the automatic pool cleaning device is in a working state, the automatic pool cleaning device is in a state of activating an alarm, and the automatic pool cleaning device is in a state of being charged;

[0024] The second working state includes at least one of the following: the automatic pool cleaning device is in the second orientation, the automatic pool cleaning device is in the second position, the water pump of the automatic pool cleaning device is turned off, the driving device is turned off, the automatic pool cleaning device is in a closed alarm state, and the automatic pool cleaning device is in a stopped charging state.

[0025] In some embodiments, the image includes multiple frames of images.

[0026] In some embodiments, the processing module is specifically configured to: identify a type of operation performed by the user on the automatic pool cleaning device based on the image and a detection result of a sensor of the automatic pool cleaning device.

[0027] In some embodiments, the image is acquired by a monocular camera or a binocular camera on the cleaning device.

[0028] According to a third aspect of an embodiment of the present disclosure, an electronic device is proposed, comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, wherein the processor performs the steps of the control method of the automatic pool cleaning device as described in the first aspect when running the executable program.

[0029] According to a fourth aspect of an embodiment of the present disclosure, a storage medium is proposed, on which an executable program is stored, characterized in that when the executable program is executed by a processor, the steps of the control method of the automatic pool cleaning device as described in the first aspect are implemented.

[0030] The beneficial effects of the technical solution provided by this application include at least:

[0031] When the automatic pool cleaning device is in the first operating state, the type of user operation is determined based on an image of at least one portion of the device, and the device switches to the second operating state based on the type of operation. The second operating state can adapt to the user's needs, thereby improving user convenience and reducing safety risks posed by the first operating state, thereby enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of an automatic pool cleaning device according to an embodiment;

[0033] Figure 2 This is one of the flow charts of a control method of an automatic pool cleaning device according to an embodiment;

[0034] Figure 3 This is a schematic diagram showing the operation of an automatic pool cleaning device according to an embodiment;

[0035] Figure 4 This is a second flow chart of a control method of an automatic pool cleaning device according to an embodiment;

[0036] Figure 5 The figure is a schematic diagram showing the structure of a control device of an automatic pool cleaning device according to an embodiment. DETAILED DESCRIPTION

[0037] To make the technical solutions and beneficial effects of the present invention more clearly understood, the following detailed description is given by way of specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly illustrate the details of the local features. Unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0038] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0039] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0040] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0041] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0042] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0043] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple" and the like can be used interchangeably.

[0044] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "in one case A, in another case B," or "in one case A, in another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The same applies when there are more branches such as A, B, and C.

[0045] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0046] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, value or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the value of the description object is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0047] In some embodiments, terms such as "...", "determine...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0048] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0049] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0050] This specification provides an automatic pool cleaning device. Figure 1 shown.

[0051] The automatic pool cleaning device can move autonomously within the pool area and complete cleaning tasks without external human input or control. The pool area can include: the pool bottom, pool sidewalls, water surface, etc.

[0052] For details, see Figure 1 As shown, the automatic pool cleaning device 100 at least includes a body 110, a controller (not shown), one or more cleaning components 120, a driving device 130 and a sensing component (not shown).

[0053] The cleaning components may specifically include one or more of the following: a roller brush, a water filter device, etc. The water filter device may include a water inlet, a water outlet, a water pump, a filter device, etc.

[0054] The shape of the fuselage can be circular, square or other shapes. For example, a part of the fuselage can be circular and another part can be square.

[0055] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0056] In one possible implementation, the roller brush can gather foreign matter and move it toward the water inlet at the bottom of the automatic pool cleaning device. The roller brush can scrape foreign matter off the bottom of the pool and gather it toward the water inlet.

[0057] refer to Figure 1 The driving device is arranged on the fuselage, and is used to drive the fuselage to walk on the bottom of the pool and / or move in the water. The driving device may include: a driving wheel, a crawler wheel, and a water spraying device.

[0058] In one possible implementation, the water spraying device is used to spray water in the opposite direction of the automatic pool cleaning device to drive the automatic pool cleaning device forward. The water spraying device may include a water outlet of the water filtration device or may be independent of the water filtration device.

[0059] The sensing component can obtain obstacle information, and the automatic pool cleaning device can detect and identify obstacles based on the obstacle information obtained by the sensing component. Furthermore, the controller can control the automatic pool cleaning device accordingly based on the detected and identified obstacles.

[0060] The sensing components may include laser radar, line laser sensor, vision (image) sensor 140, and may also include edge sensors located on the side walls of the fuselage, speed measurement units, odometers and other sensing devices.

[0061] It is understandable that the above-mentioned automatic pool cleaning device is only an example and does not constitute a limitation of the embodiments of this specification.

[0062] During the cleaning process of the automatic pool cleaning device, the cleaning components and / or the moving components are always in working condition. When the user takes the automatic pool cleaning device out of the water and wants to take over the machine manually, the automatic pool cleaning device is often still in the cleaning state. The continuous movement of moving parts such as the cleaning components and / or the moving components affects the user experience and is also prone to bring certain risks. Therefore, when the user wants to take over the machine by contact with the automatic pool cleaning device, how to stop the movement of the cleaning components and / or the moving components in time, reduce the safety risks posed by the moving components to the human body, and reduce the vibration of the machine body caused by the moving components, thereby improving the user experience, is an urgent problem to be solved.

[0063] Accordingly, the present disclosure provides a method for controlling an automatic pool cleaning device, such as Figure 2 , control methods include:

[0064] Step 201: While the automatic pool cleaning device is in a first working state, acquiring an image of an area where at least a portion of the automatic pool cleaning device is located;

[0065] Step 202: Identifying the type of operation performed by the user on the automatic pool cleaning device based on the image;

[0066] Step 203: Based on the operation type, switch the first working state to the second working state.

[0067] The control method of the automatic pool cleaning device may be executed by a controller of the automatic pool cleaning device.

[0068] Images can be captured by a visual (image) sensor, such as a camera, of the automatic pool cleaning device, and the controller can obtain and identify the images from the visual sensor. The controller can obtain and identify images when the automatic pool cleaning device is in a first operating state. Images captured by the visual (image) sensor can include images that can be operated and identified by a user, including but not limited to at least one of the following: visible light images, infrared images, and laser point cloud images.

[0069] In some embodiments, images are captured by a monocular camera or a binocular camera on the cleaning device. Using a monocular camera can reduce costs. Using a binocular camera can achieve depth perception and three-dimensional reconstruction of user operations, thereby improving the accuracy of user operation judgment.

[0070] In one possible implementation, the image of the area where at least a portion of the automatic pool cleaning device is located includes at least one of the following: an image acquired by a visual sensor toward the at least portion; and image information in the image including the at least portion.

[0071] For example, at least a portion of the automatic pool cleaning device may include the front portion of the automatic pool cleaning device in its forward direction. The image of the area where the front portion of the automatic pool cleaning device is located may include an image captured by the visual sensor toward the front portion (the image may or may not include the front portion of the automatic pool cleaning device).

[0072] In one possible implementation, the operation of the automatic pool cleaning device can be identified when the target object is included in the image and / or the target object performs an operation. The image containing the target object can include at least one of the following: the image contains the entire body of the user; the image contains a portion of the user's body (such as a palm or arm); or the image contains an operating tool used to operate the automatic pool cleaning device.

[0073] When the automatic pool cleaning device is in the first working state, if it is determined based on the image that the user operates the automatic pool cleaning device, it can be determined that the user needs to change the first working state currently in which the automatic pool cleaning device is located. Therefore, the controller can control the automatic pool cleaning device to enter the second working state.

[0074] In one possible implementation, there may be only one type of operation. When it is determined based on the image that a user is operating the automatic pool cleaning device, the user's operation may be determined to be a default operation. For example, if a user is present in the image, the user may be determined to have performed an operation of removing the automatic pool cleaning device from the water.

[0075] In a possible implementation, there may be multiple types of operations. When it is determined based on the image that the user operates the automatic pool cleaning device, the user's operation is identified to determine the specific operation type of the user.

[0076] In one possible implementation, identifying the type of operation of the automatic pool cleaning device by the user based on the image may include:

[0077] Using a recognition model to identify the type of operation performed by the user on the automatic pool cleaning device in the image;

[0078] A recognition model is used to predict the type of operation performed by the user on the automatic pool cleaning device in the image.

[0079] Here, the recognition model may include an artificial intelligence model such as a machine learning model or a neural network. The recognition model may determine the operation type by combining at least one of the following in the image: a user's body movement (e.g., a gesture), a body part of the user, an action, a positional relationship between a portion of the automatic pool cleaning device and a body part of the user, an operating tool, and a positional relationship between a portion of the automatic pool cleaning device and the operating tool.

[0080] For example, when a hand in a holding gesture or a hook-shaped operating tool (used to take the automatic pool cleaning device out of water) is present in the image, the operation type may be identified as the user needing to lift the automatic pool cleaning device.

[0081] In a possible implementation, the second working state may be a fixed working state. For example, the first working state may be a state in which the cleaning component and the driving device stop operating.

[0082] In one possible implementation, the second working state corresponds to the operation type. There may be multiple second working states, and the controller may select different second working states based on the identified operation type.

[0083] For example, the first working state of the automatic pool cleaning device is a state in which both the cleaning components and the driving device are running. If the identified operation type is that the user lifts the automatic pool cleaning device, then the second working state can be a state in which the cleaning components and the driving device are stopped, so as to reduce the safety risks caused by the cleaning components and the driving device being still running when the user lifts the automatic pool cleaning device, and reduce the difficulty of lifting the automatic pool cleaning device.

[0084] For another example, the first working state of the automatic pool cleaning device is the state in which the water pump pumps water for filtering. If the recognized operation type is that the user cleans the trash basket of the automatic pool cleaning device, then the second working state can be to stop the water filtering device to reduce problems such as water splashing caused by the water pump still remaining in working state when the user cleans the trash basket.

[0085] When the automatic pool cleaning device is in the first operating state, the type of user operation is determined based on an image of at least one portion of the device, and the device switches to the second operating state based on the type of operation. The second operating state can adapt to the user's needs, thereby improving user convenience and reducing safety risks posed by the first operating state, thereby enhancing the user experience.

[0086] In some embodiments, the image comprises multiple frames of images.

[0087] The image may include a captured single-frame image. The controller may determine the operation type based on the single-frame image.

[0088] Images may also include multiple frames. A multi-frame image can be a series of images captured continuously, for example, a series of images captured from a video. A multi-frame image can also be a series of images captured discontinuously, for example, a series of images extracted from a video, with other images interspersed between adjacent images.

[0089] Operation actions usually need to cover a certain duration. Multiple frames of images can represent the changes in the target object's operation actions (such as continuous actions) or the trends of the operation actions (such as the trend of the user's hand reaching for the handle), so that the controller can make a more accurate judgment on the operation type and improve the accuracy of operation type recognition.

[0090] In some embodiments, the at least one portion includes a head, a handle, a button, a top cover, or a waste basket handle of an automatic pool cleaning device.

[0091] Here, the head portion of the automatic pool cleaning device may include the front portion of the automatic pool cleaning device in the forward direction. A visual sensor may be disposed on the head portion to capture images in the forward direction of the automatic pool cleaning device. Users typically operate the automatic pool cleaning device facing the device, so the visual sensor can immediately capture the user's operation, thereby enabling earlier determination of the operation type.

[0092] In one possible implementation, the image may overlay components of the automatic pool cleaning device, such as a head, handles, buttons, a top cover, and / or a waste basket handle. The controller may identify the type of operation based on the positional relationship between the user and the components of the automatic pool cleaning device, or the positional relationship between the operating tool and the components of the automatic pool cleaning device, as shown in the image.

[0093] In one possible implementation, the image may not cover the components of the automatic pool cleaning device. That is, the image may not contain any components of the automatic pool cleaning device that are operated by the user. In this case, the type of operation can be determined based on the position of the components of the automatic pool cleaning device relative to the image. For example, a visual sensor may be positioned on the head to capture an image of the automatic pool cleaning device's forward direction. A handle may be located outside the visual sensor's field of view and above the sensor. If the image shows that the user's hand is extending toward the position above the image, it can be determined that the user is grasping the handle.

[0094] By acquiring images of the area where a specific part of the automatic pool cleaning device is located, the accuracy of the user's judgment of the operation type when operating the part can be improved, and misjudgment can be reduced, so that the second working state can adapt to the user's needs for performing operations, thereby improving the convenience of the user's operation, reducing the safety risks caused by the first working state to the user's operation, etc., and improving the user experience.

[0095] In some embodiments, the operation type of operating the automatic pool cleaning device includes at least one of the following: discharging at least a portion of water, recalling with a gesture, holding a handle, pressing a button, opening a top cover, or lifting a trash basket.

[0096] The controller can identify that at least a portion of the automatic pool cleaning device is emerging from water by differences in the surroundings in the image. For example, when the automatic pool cleaning device is underwater, the image may be entirely or mostly of the pool wall. However, when at least a portion of the automatic pool cleaning device is emerging from water, the pool wall may appear smaller in the image, and other surrounding objects outside the pool may appear.

[0097] The controller can also determine and identify that at least a portion of the automatic pool cleaning device is out of water based on image parameters of the image. The image parameters may include clarity, contrast, and / or hue. The image parameters of the image when the automatic pool cleaning device is underwater and when at least a portion of the automatic pool cleaning device is out of water are different. For example, the contrast of the image is smaller when the automatic pool cleaning device is underwater, and the contrast of the image is larger when the automatic pool cleaning device is underwater.

[0098] The controller can identify whether the user recalls the automatic pool cleaning device through the user's gesture in the image.

[0099] The controller can determine the operation type as holding the handle, pressing the button, opening the top cover or lifting the trash basket based on the user's movement trends in the image, or the positional relationship between the user's hand and the components of the automatic pool cleaning device (handle, button, top cover, trash basket).

[0100] For example, if the image shows the user's hand reaching toward a handle or gripping a handle, the operation type can be determined to be gripping the handle. If the image shows the user's hand reaching toward a button or touching a button, the operation type can be determined to be pressing a button. If the image shows the user's hand reaching toward the top cover or touching the top cover, the operation type can be determined to be opening the top cover. If the image shows the user's hand reaching toward a trash basket or touching the trash basket, the operation type can be determined to be lifting the trash basket.

[0101] The controller can determine the user's purpose based on the operation type. For example, if the operation type is gripping the handle, the controller can determine that the user wants to lift the automatic pool cleaning device. If the operation type is opening the top cover or lifting the trash basket, the controller can determine that the user's purpose is to clean the trash basket.

[0102] Here, the second working state may be determined in combination with multiple operation types.

[0103] For example, when the operation type is at least partial water discharge and the handle is gripped, the device switches to the second operating state, such as shutting down the water pump and the drive unit. When the operation type is at least partial water discharge and the handle is gripped, it indicates that the user needs to lift the automatic pool cleaning device out of the water. If the water pump remains operating, the water pump motor may idle, and the operation of the drive unit may also pose a safety risk to the user. Therefore, the water pump and the drive unit can be shut down to meet the user's need to lift the automatic pool cleaning device to operate.

[0104] By determining the type of operation performed by the user and switching to the second operating state, the situation of switching to the second operating state for invalid operations can be reduced. Switching to the second operating state for valid operation types can adapt the operating state of the automatic pool cleaning device to the needs of the user's operation, thereby improving the convenience of user operation, reducing the safety risks of the first operating state to the user's operation, and improving the user experience.

[0105] In some embodiments, the first working state includes at least one of the following: the automatic pool cleaning device is in a first orientation, the automatic pool cleaning device is in a first position, the water pump of the automatic pool cleaning device is in an operating state, the driving device of the automatic pool cleaning device is in an operating state, the automatic pool cleaning device is in an alarm-activated state, and the automatic pool cleaning device is in a charging state;

[0106] The second working state includes at least one of the following: the automatic pool cleaning device is in the second orientation, the automatic pool cleaning device is in the second position, the water pump of the automatic pool cleaning device is turned off, the drive device is turned off, the automatic pool cleaning device is in a closed alarm state, and the automatic pool cleaning device is in a stopped charging state.

[0107] For example, when the automatic pool cleaning device is moving in a first direction, if the image recognition indicates that the operation type is gesture recall and the recall destination is the second direction, the automatic pool cleaning device can switch to the second direction. Similarly, when the automatic pool cleaning device is in a first position, if the image recognition indicates that the operation type is gesture recall and the recall destination is the second position, the automatic pool cleaning device can move to the second position. This improves the convenience of operating the automatic pool cleaning device, eliminating the need for the user to adjust the direction of travel of the automatic pool cleaning device, and enhancing the user experience.

[0108] For example, when the automatic pool cleaning device is in a first working state (such as cleaning mode: the water pump is in working state, and / or the driving device is in working state), if the operation type is identified based on the image as one of holding the handle (that is, the user needs to lift the automatic pool cleaning device), pressing a button, opening the upper cover, and lifting the trash basket, then the automatic pool cleaning device can switch to a second working state (such as stop mode: the water pump is in a turned-off state, and / or the driving device is in a turned-off state). In this way, the second working state can adapt to the needs of the operation type, thereby improving the convenience of the user's operation, reducing the safety risks of the first working state to the user's operation, and improving the user experience.

[0109] In one possible implementation, the alarm activated by the automatic pool cleaning device may be used to indicate events including: the trash basket is full, the battery charge is below a threshold, and / or the automatic pool cleaning device is unable to escape. The alarm activated by the automatic pool cleaning device may be notified to the user via a user terminal (e.g., a mobile phone).

[0110] For example, when the automatic pool cleaning device is in an alarm state (indicating that the trash basket is full), if the controller processes the alarm time for the user based on the operation type recognized by the image, such as opening the top cover or lifting the trash basket (that is, the user is cleaning the trash basket), the automatic pool cleaning device can switch to a state where the alarm is turned off. In this way, the automatic pool cleaning device can automatically predict user operations and switch to a state corresponding to the user's operation, thereby improving the user experience.

[0111] For example, when the automatic pool cleaning device is in a first working state (such as cleaning mode: the water pump is in working state, and / or the driving device is in working state), if the operation type is identified based on the image as one of holding the handle (that is, the user needs to lift the automatic pool cleaning device), pressing a button, opening the upper cover, and lifting the trash basket, then the automatic pool cleaning device can switch to a second working state (such as stop mode: the water pump is in a turned-off state, and / or the driving device is in a turned-off state). In this way, the second working state can adapt to the needs of the operation type, thereby improving the convenience of the user's operation, reducing the safety risks of the first working state to the user's operation, and improving the user experience.

[0112] For example, when the automatic pool cleaning device is charging, if the image recognition indicates that the operation type is to hold the handle (i.e., the user needs to lift the automatic pool cleaning device to clean the pool), the automatic pool cleaning device can switch to a state where charging is stopped. In this way, by predicting the user's operation type and executing the operation associated with the operation type, the occurrence of abnormal situations (such as disconnecting from the external power supply while charging, thereby causing circuit abnormalities, etc.) is reduced, the safety risks posed by the first working state to the user's operation are reduced, and the user experience is improved.

[0113] In some embodiments, identifying the type of user operation on the automatic pool cleaning device based on the image includes identifying the type of user operation on the automatic pool cleaning device based on the image and detection results of a sensor of the automatic pool cleaning device.

[0114] The detection results of the sensors of the automatic pool cleaning device may include sensors other than visual sensors, such as radar, ultrasonic, and air pressure sensors.

[0115] In one possible implementation, the detection result may be used to determine the operation type or to assist in determining the operation type.

[0116] For example, radar, ultrasonic and / or air pressure sensors can be used to determine the water discharge status of the automatic pool cleaning device. For example, the detection results of the air pressure sensor in the water and on the water surface can be used to determine whether the automatic pool cleaning device is in a state of at least partially discharging water.

[0117] For example, radar can be used to monitor the user's status. For example, radar can detect the distance between the user's hand and the body of the automatic pool cleaning device, and then use it in conjunction with the image to determine the type of user's hand operation. For example, by determining the distance between the user's hand and a component of the automatic pool cleaning device (such as the head, handle, button, cover, or waste basket handle), the user's operation object, such as the handle, can be predicted.

[0118] In one possible implementation, the operation types of different operations can be determined separately in combination with the image and the detection results of the sensor. For example, it can be determined by an air pressure sensor, etc. that the operation type is at least a portion of water outflow, and the operation type is held by hand through image recognition. When the operation type is at least a portion of water outflow and holding the handle, switch to the second working state, such as turning off the water pump and the drive device. When the operation type is at least a portion of water outflow and holding the handle, it means that the user needs to lift the automatic pool cleaning device to remove it from the water. If the water pump continues to work, the water pump motor may idle, and the operation of the drive device will also bring safety risks to the user. Therefore, the water pump and the drive device can be turned off to meet the user's need to lift the automatic pool cleaning device to operate. Determining two operation types at the same time can improve the efficiency of determining the operation type.

[0119] Combining the image and the sensor detection results can, on the one hand, improve the accuracy of identifying the operation type. On the other hand, judging the operation type of different operations separately through the image and the sensor detection results can improve the efficiency of determining the operation type.

[0120] In combination with the above embodiments, a specific example is provided here.

[0121] like Figure 3 As shown, the user needs to lift the automatic pool cleaning device 100 out of the water surface of the pool 200. The control method of the automatic pool cleaning device is as follows Figure 4 Shown include:

[0122] Step 401: The camera obtains continuous frame images.

[0123] Step 402: Determine whether the camera is out of water based on continuous frame images.

[0124] Step 403: If water is flowing out, continue to determine whether there is a human hand holding the handle.

[0125] Specifically, the action of a person's hand holding the handle can include two situations: 1) If the vertical field of view angle of the camera is small, it is judged whether there is a person, water and / or arm holding behavior in the entire continuous image. If so, it is determined that there is an action of a person's hand holding the handle; 2) If the vertical field of view angle of the camera is particularly large, it is determined whether there is a feature of a person's hand holding the handle.

[0126] Video judgment of handle gripping behavior can be achieved through AI video anomaly detection algorithms, or through video and image classification.

[0127] Step 404: When the judgment is successful (someone holds the handle), the automatic pool cleaning device is commanded to turn off the track and the roller brush.

[0128] The embodiments of the present disclosure further provide an automatic pool cleaning device, which includes a controller, wherein the controller is configured to execute the steps of the control method for the automatic pool cleaning device of any of the above embodiments.

[0129] In one possible implementation, the automatic pool cleaning device is used to clean the bottom of the pool, the side walls of the pool, and the water in the pool.

[0130] The disclosed embodiment also provides a control device for an automatic pool cleaning device, which can be set in the control device, such as Figure 5 As shown, the control device 50 includes: a processing module 51, which is used to:

[0131] While the automatic pool cleaning device is in the first working state, acquiring an image of an area where at least a portion of the automatic pool cleaning device is located;

[0132] Based on the image, identify the operation type of the user operating the automatic pool cleaning device;

[0133] Based on the operation type, the first working state is switched to the second working state.

[0134] In some embodiments, the at least one portion includes a head, a handle, a button, a top cover, or a waste basket handle of an automatic pool cleaning device.

[0135] In some embodiments, the operation type of operating the automatic pool cleaning device includes at least one of the following: discharging at least a portion of water, recalling with a gesture, holding a handle, pressing a button, opening a top cover, or lifting a trash basket.

[0136] In some embodiments, the first working state includes at least one of the following: the automatic pool cleaning device is in a first orientation, the automatic pool cleaning device is in a first position, the water pump of the automatic pool cleaning device is in an operating state, the driving device of the automatic pool cleaning device is in an operating state, the automatic pool cleaning device is in an alarm-activated state, and the automatic pool cleaning device is in a charging state;

[0137] The second working state includes at least one of the following: the automatic pool cleaning device is in the second orientation, the automatic pool cleaning device is in the second position, the water pump of the automatic pool cleaning device is turned off, the drive device is turned off, the automatic pool cleaning device is in a closed alarm state, and the automatic pool cleaning device is in a stopped charging state.

[0138] In some embodiments, the image comprises multiple frames of images.

[0139] In some embodiments, the processing module is specifically configured to: identify the type of operation performed by the user on the automatic pool cleaning device based on the image and the detection results of the sensor of the automatic pool cleaning device.

[0140] In some embodiments, the image is acquired by a monocular camera or a binocular camera on the cleaning device.

[0141] For ease of understanding, the following focuses on the terms used in this embodiment:

[0142] In the embodiments of the present disclosure, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processing circuit (DSP); in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0143] The computer-readable storage medium provided in this embodiment can execute the control method of the pool cleaning device in the above embodiment. Its implementation principle and technical effects are similar to those in the above embodiment, and will not be described in detail in this embodiment.

[0144] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0145] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0146] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0147] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0148] Throughout this specification, references to "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" mean that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, illustrative references to the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for an automatic pool cleaning device, characterized in that: The method comprises: While the automatic pool cleaning device is in the first working state, acquiring an image of an area where at least a portion of the automatic pool cleaning device is located; Based on the image, identifying the type of operation of the automatic pool cleaning device by the user; Based on the operation type, the first working state is switched to a second working state.

2. The control method according to claim 1, characterized in that: The at least one part includes the head, handle, button, upper cover or waste basket handle of the automatic pool cleaning device.

3. The control method according to claim 2, characterized in that: The operation type of operating the automatic pool cleaning device includes at least one of the following: causing at least a portion of water to flow out, gesture recall, holding a handle, pressing a button, opening a top cover, or lifting a trash basket.

4. The control method according to claim 1, wherein: The first working state includes at least one of the following: the automatic pool cleaning device is in a first orientation, the automatic pool cleaning device is in a first position, the water pump of the automatic pool cleaning device is in a working state, the driving device of the automatic pool cleaning device is in a working state, the automatic pool cleaning device is in a state of activating an alarm, and the automatic pool cleaning device is in a state of being charged; The second working state includes at least one of the following: the automatic pool cleaning device is in the second orientation, the automatic pool cleaning device is in the second position, the water pump of the automatic pool cleaning device is turned off, the driving device is turned off, the automatic pool cleaning device is in a closed alarm state, and the automatic pool cleaning device is in a stopped charging state.

5. The control method according to any one of claims 1 to 4, characterized in that: The image includes multiple frames of images.

6. The control method according to any one of claims 1 to 5, characterized in that: identifying the type of operation performed by the user on the automatic pool cleaning device based on the image, The method includes identifying the type of operation of the automatic pool cleaning device by the user based on the image and the detection result of the sensor of the automatic pool cleaning device.

7. The control method according to any one of claims 1 to 6, characterized in that: The image is acquired by a monocular camera or a binocular camera on the cleaning device.

8. An automatic pool cleaning device, characterized in that: The automatic pool cleaning device includes: a processing module, wherein: The processing module is used to execute the steps of the control method of the automatic pool cleaning device according to any one of claims 1 to 7.

9. An electronic device comprising a processor, a memory, and an executable program stored in the memory and capable of being run by the processor, characterized in that: When the processor runs the executable program, the processor performs the steps of the method for controlling the automatic pool cleaning device according to any one of claims 1 to 7.

10. A storage medium having an executable program stored thereon, characterized in that: When the executable program is executed by the processor, the steps of the control method of the automatic pool cleaning device according to any one of claims 1 to 7 are implemented.

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