Automatic pool cleaning device, control method and computer storage medium

Abstract

The invention provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device comprises an image acquisition assembly, a cleaning assembly and a control system, the image acquisition assembly comprises a lens, and the image acquisition assembly is used for acquiring at least one frame of environment image; the control system is configured to judge whether the image definition of the at least one frame of environment image meets a preset condition or not, and if it is judged that the image definition of the at least one frame of environment image does not meet the preset condition, the control system is further configured to control the cleaning assembly to perform cleaning operation on the lens.

Description

Technical Field

[0001] This application relates to the field of cleaning device technology, and in particular to an automatic pool cleaning device, control method, and computer storage medium. Background Technology

[0002] With the increasing popularity of swimming pools and the significant advancements in robotics technology, more and more consumers are opting for automated pool cleaning robots to perform pool cleaning tasks. Pool robots typically rely on cameras for environmental perception, target recognition, and navigation. However, during cleaning operations, the complexity and variability of the aquatic environment make it easy for suspended or sticky contaminants such as mud, algae, air bubbles, scale, and oil to adhere to the camera lens surface, resulting in blurred images and reduced contrast, severely impacting the robot's ability to perform cleaning tasks.

[0003] Currently, camera lenses are mainly cleaned by manual wiping or mechanical scraping, but both methods have significant drawbacks. For example, manual wiping requires pausing operations, is costly and inefficient, and cannot clean the camera lens "in the immediate aftermath of contamination." Existing mechanical scrapers are bulky, have simple control logic, and short lifespans, making them difficult to integrate into miniaturized pool robots. Therefore, there is an urgent need for a pool robot capable of real-time detection of contamination in camera lenses and adaptive cleaning to ensure smooth operation. Summary of the Invention

[0004] This application addresses the shortcomings of the prior art by providing an automatic pool cleaning device. The automatic pool cleaning device includes an image acquisition component, a cleaning component, and a control system. The image acquisition component includes a lens and is used to acquire at least one frame of environmental image. The control system is configured to determine whether the image clarity of the at least one frame of environmental image meets a predetermined condition. If it is determined that the image clarity of the at least one frame of environmental image does not meet the predetermined condition, the control system is further configured to control the cleaning component to perform a cleaning operation on the lens.

[0005] Furthermore, the cleaning component includes a scraper and a drive unit, wherein the scraper is disposed at a predetermined distance from the lens, and the drive unit is used to drive the scraper to reciprocate.

[0006] Furthermore, the scraping element is made of a flexible material.

[0007] Furthermore, the cleaning operation includes wiping the lens with the swiping element at predetermined time intervals.

[0008] Furthermore, the control system can adjust the scraping force and scraping frequency of the scraping component according to the degree of dirt on the lens surface.

[0009] This application also discloses a control method for an automatic water tank cleaning device, the automatic water tank cleaning device including an image acquisition component and a cleaning component, the control method including: acquiring at least one frame of environmental image through the image acquisition component; determining whether the image clarity of the at least one frame of environmental image meets a predetermined condition, wherein, if it is determined that the image clarity of the at least one frame of environmental image does not meet the predetermined condition, then controlling the cleaning component to perform a cleaning operation on the lens of the image acquisition component.

[0010] Furthermore, the image clarity of the at least one frame of the environmental image does not meet the predetermined condition, including: within a predetermined time period, the image clarity of multiple consecutive frames of the environmental image is less than a predetermined clarity threshold.

[0011] Furthermore, after the cleaning operation is performed on the lens by the cleaning component, the control method further includes: acquiring at least one frame of environmental image again by the image acquisition component; and performing the judgment step based on the re-acquired at least one frame of environmental image.

[0012] Furthermore, after performing the judgment step based on at least one re-acquired frame of the environmental image, the control method further includes: if the clarity of the re-acquired at least one frame of the image does not meet the predetermined condition, then the cleaning operation is repeatedly performed on the lens by the cleaning component and / or an alarm signal is generated.

[0013] This application also discloses a non-volatile computer storage medium storing a computer program, which, when executed by a processor, implements the control method described in any embodiment of this application.

[0014] The embodiments described in this application have the following beneficial effects:

[0015] The automatic water tank cleaning device of this application acquires environmental images through an image acquisition component. The control system detects the image clarity based on the acquired environmental images. When the control system determines that the image clarity does not meet the predetermined conditions, it controls the cleaning component to clean the lens of the image acquisition component, thereby removing dirt (such as water droplets, floating mud or algae) from the lens surface and ensuring the image clarity of the environmental images acquired by the automatic water tank cleaning device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The drawings in the following description are merely exemplary embodiments of this application.

[0017] Figure 1 A schematic diagram of the structure of an automatic water tank cleaning device according to an embodiment of this application is shown;

[0018] Figure 2 A flowchart illustrating a control method for an automatic water tank cleaning device according to an embodiment of this application is shown; and

[0019] Figure 3 A schematic diagram of a non-volatile computer storage medium according to an embodiment of this application is shown.

[0020] Explanation of reference numerals in the attached figures

[0021] 100-Automatic pool cleaning device, 110-Image acquisition component, 120-Cleaning component, 1201-Scraping component, 1202-Drive unit, 130-Control system. Detailed Implementation

[0022] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0023] This application provides an automatic pool cleaning device, a control method, and a computer storage medium. The automatic pool cleaning device of this application is used to clean a pool, which includes a pool bottom, pool walls, and a transition area between the pool bottom and the pool walls. The pool is, for example, a pool-shaped structure. The pool-shaped structure can be a swimming pool, a water storage tank, a spa pool, a water storage tank, a water storage trough, etc. The automatic pool cleaning device can be a device such as an automatic cleaning device or a pool cleaning robot, capable of cleaning the pool-shaped structure. This application does not limit the specific presentation of the automatic pool cleaning device or the pool-shaped structure, as long as the principle of this application is achieved. In the following description, unless otherwise specified, a robot will be used as an example of the automatic pool cleaning device, and a swimming pool will be used as an example of a pool or pool-shaped structure. In the following description, unless otherwise specified, the terms "pool bottom," "pool bottom surface," and "pool base" all refer to the bottom surface of the swimming pool.

[0024] The automatic water tank cleaning device and its control method of this application will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 A schematic diagram of the structure of an automatic water tank cleaning device according to an embodiment of this application is shown. Figure 2A flowchart illustrating a control method for an automatic water tank cleaning device according to an embodiment of this application is shown. First, refer to… Figure 1 The automatic pool cleaning device 100 may include an image acquisition component 110, a cleaning component 120, and a control system 130. The image acquisition component 110 includes a lens and is used to acquire at least one frame of environmental image. The control system 130 is configured to determine whether the image clarity of the at least one frame of environmental image meets a predetermined condition. If it is determined that the image clarity of the at least one frame of environmental image does not meet the predetermined condition, the control system 130 is further configured to control the cleaning component 120 to perform a cleaning operation on the lens.

[0026] For example, such as Figure 1 As shown, the automatic pool cleaning device 100 may include an image acquisition component 110, a cleaning component 120, and a control system 130. The image acquisition component 110 may include optical devices such as a camera or lens. In this application, unless otherwise specified, "lens" will be used as an example. The image acquisition component 110 may be located at the front of the robot (e.g., the front of the robot body, the left front, or the right front). During the automatic pool cleaning process, images of the environment surrounding the automatic pool cleaning device 100 can be acquired through the lens of the image acquisition component 110.

[0027] The cleaning component 120 is used to clean dirt from the lens of the image acquisition component 110. In one scenario, the cleaning component 120 can be mounted on the housing of the automatic water cleaning device 100 and positioned corresponding to the lens of the image acquisition component 110, thus facilitating the removal of dirt from the lens. In another scenario, the cleaning component 120 can also be housed within the housing of the automatic water cleaning device 100, ensuring that it does not occupy additional space or obstruct the field of view. It is understood that if the image acquisition component 110 is located at the front of the robot body, the cleaning component 120 is also located at the front of the robot body, maintaining a predetermined distance from the image acquisition component 110, so that when the cleaning component 120 cleans the lens, its cleaning range can completely cover the lens.

[0028] The control system 130 is configured to detect the image sharpness of the environment image after receiving at least one frame of the environment image acquired by the image acquisition component 110. If the image sharpness does not meet a predetermined condition, the control system 130 controls the cleaning component 120 to clean the lens of the image acquisition component 110.

[0029] For example, during the mobile cleaning process of the automatic pool cleaning device 100, if the image clarity of at least one frame of the environmental image acquired by the image acquisition component 110 does not meet a predetermined condition, it indicates that the lens of the image acquisition component 110 is dirty and needs to be cleaned. Therefore, the control system 130 controls the cleaning component 120 to clean the lens of the image acquisition component 110, so that the environmental image acquired by the image acquisition component 110 becomes clearer. The predetermined conditions will be explained below with reference to specific examples.

[0030] It is understood that the above description of the image acquisition component 110, the cleaning component 120, and the control system 130 is merely exemplary. In practical applications, those skilled in the art can selectively configure the image acquisition component 110, the cleaning component 120, and the control system 130 according to the actual application, as long as the technical principles of this application can be achieved.

[0031] For example, the cleaning component 120 may include a scraper 1201 and a drive unit 1202, wherein the scraper 1201 is disposed at a predetermined distance from the lens, and the drive unit 1202 is used to drive the scraper 1201 to reciprocate.

[0032] Continue to refer to Figure 1 The cleaning component 120 may include a scraper 1201 and a drive unit 1202. The scraper 1201 is disposed at a predetermined distance (e.g., a predetermined distance of 1-10 mm) from the lens of the image acquisition component 110. In other words, in the initial state or the non-operating state of the scraper 1201, there is a predetermined distance between the scraper 1201 and the lens (e.g., the scraper 1201 is disposed at a predetermined distance to the left or right of the lens), so that the scraper 1201 does not obstruct or affect the image acquisition of the image acquisition component 110. In the operating state of the scraper 1201, the scraper 1201 moves the predetermined distance or moves greater than the predetermined distance, thereby approaching the lens and adhering to the lens surface, thereby cleaning the lens.

[0033] A drive unit 1202 (e.g., a miniature motor) is connected to and drives the scraper 1201. When lens blur is detected, the drive unit 1202 can be activated by the control system 130, causing the drive unit 1202 to move the scraper 1201 back and forth to scrape the lens surface, thereby removing dirt from the lens. After cleaning is completed, the control system 130 can return the scraper 1201 to its original position.

[0034] The scraper 1201 can be made of a flexible material. For example, the scraper 1201 can be made of flexible materials such as silicone, rubber, or polyurethane. The flexible material can deform when it adheres to the lens surface, forming a physical contact similar to "wiping," which can effectively remove dirt adhering to the lens while avoiding damage. At the same time, the flexible material has a certain degree of elastic recovery, which can adapt to the microscopic unevenness of the lens surface, improving the cleaning effect of the scraper 1201 on the lens.

[0035] Furthermore, the cleaning operation may include: wiping the lens with the swiping member 1201 at predetermined time intervals.

[0036] For example, the control system 130 can activate the drive unit 1202 at predetermined time intervals (e.g., every 3 or 5 seconds), which in turn drives the scraper 1201 to move, thus cleaning the lens. This not only ensures the cleaning effect of the lens but also extends the service life of the scraper 1201 by setting the time interval reasonably, and saves the power of the automatic water tank cleaning device.

[0037] Furthermore, the control system 130 can adjust the scraping force and scraping frequency of the scraping member 1201 according to the degree of dirt on the lens surface.

[0038] For example, the control system 130 can detect the degree of dirt on the lens surface based on the environmental image acquired by the image acquisition component 110. Specifically, when the degree of dirt on the lens surface is detected to be light, the scraping force of the scraping component 1201 and / or the scraping frequency can be reduced to avoid unnecessary wear on the lens due to over-cleaning and to avoid excessive consumption of the power of the automatic water tank cleaning device; conversely, when the degree of dirt on the lens surface is heavy, the control system 130 increases the scraping force of the scraping component 1201 and / or increases the scraping frequency through the drive unit 1202 to improve the cleaning ability and ensure the cleaning effect of the lens. It can be seen that the cleaning effect of the lens can be guaranteed by adjusting the scraping force and scraping frequency of the scraping component 1201.

[0039] The following is combined with Figure 2 The control method 200 of the automatic water tank cleaning device of this application will be described in detail. Figure 2 A flowchart illustrating a control method 200 for an automatic pool cleaning device according to an embodiment of this application is shown. The automatic pool cleaning device 100 may include an image acquisition component 110 and a cleaning component 120. Figure 2As shown, the control method 200 includes: in step S201, acquiring at least one frame of environmental image through the image acquisition component 110; in step S202, determining whether the image clarity of the at least one frame of environmental image meets a predetermined condition, wherein, if it is determined that the image clarity of the at least one frame of environmental image does not meet the predetermined condition, then in step S203, controlling the cleaning component 120 to perform a cleaning operation on the lens of the image acquisition component 110. The following will be combined with... Figure 2 Steps S201 to S203 in the control method 200 will be described.

[0040] In step S201, at least one frame of environmental image is acquired by the image acquisition component 110.

[0041] For example, a robot performing cleaning operations in a pool can include multiple working modes, such as pool bottom cleaning mode, pool wall cleaning mode, waterline cleaning mode, and water surface cleaning mode. When the robot performs cleaning operations in any of these working modes, the image acquisition component 110 is a key component for the robot to perceive the underwater environment. For example, the image acquisition component 110 can acquire environmental images of the pool, and based on the acquired environmental images, the distribution of dirt in the pool can be detected. Based on the distribution of dirt, the robot can be controlled to clean the dirt in the pool.

[0042] However, during cleaning operations, if dirt (such as water droplets, sludge, or algae) adheres to the lens of the image acquisition component 110, the image clarity of the environmental image acquired by the image acquisition component 110 decreases, thereby affecting the robot's cleaning effect on the pool. Therefore, in this application, at least one frame of environmental image is acquired by the image acquisition component 110, and the image clarity of the acquired at least one frame of environmental image is detected to determine whether dirt adheres to the lens of the image acquisition component 110, or to determine the amount of dirt adhered to the lens. The detection of image clarity of environmental images will be described in detail below with specific examples.

[0043] Next, proceed to step S202. In step S202, determine whether the image clarity of the at least one frame of the environmental image meets a predetermined condition. If it is determined that the image clarity of the at least one frame of the environmental image does not meet the predetermined condition, proceed to step S203.

[0044] As described above, in step S201, at least one frame of environmental image can be acquired by the image acquisition component 110. In step S202, the image sharpness of the acquired at least one frame of environmental image is judged to determine whether the image sharpness meets the predetermined conditions. For example, image sharpness can be detected by image processing algorithms. Specifically, image sharpness indicators (such as gradient values, contrast, etc.) can be calculated and compared with a preset sharpness threshold. If the image sharpness indicator is lower than the sharpness threshold, it indicates that the image sharpness does not meet the predetermined conditions. In this case, it is likely that there is dirt adhering to the lens of the image acquisition component 110 or the amount of dirt adhering to the lens is large, so the lens needs to be cleaned.

[0045] Furthermore, the image clarity of the at least one frame of the environmental image does not meet the predetermined condition, including: within a predetermined time period, the image clarity of multiple consecutive frames of the environmental image is less than a predetermined clarity threshold.

[0046] For example, during underwater cleaning operations, due to dynamic changes in water flow and the presence of various contaminants, the image clarity of a single frame of environmental image acquired by the image acquisition component 110 may not meet predetermined conditions. This could be caused by various factors, such as low ambient brightness causing low image clarity. To more accurately determine whether the lens needs cleaning, multiple frames of environmental images can be continuously acquired within a predetermined time period (e.g., 5 or 10 seconds). Then, an image processing algorithm can be used to detect the image clarity of each frame, calculate the image clarity index, and compare it with a pre-set clarity threshold. If the image clarity index of multiple consecutive environmental images within the predetermined time period is lower than the clarity threshold, it is confirmed that contaminants adhere to the lens of the image acquisition component 110, or that the amount of contaminants adhering to the lens is large, resulting in decreased image clarity.

[0047] It is understood that the above description of the resolution threshold and the predetermined duration is merely an example. Those skilled in the art can set the resolution threshold and the predetermined duration according to the actual situation, as long as the technical principles of this application can be achieved.

[0048] Next, proceed to step S203. In step S203, control the cleaning component 120 to perform a cleaning operation on the lens of the image acquisition component 110.

[0049] For example, if it is determined in step S202 that dirt adheres to the lens of the image acquisition component 110, the cleaning component 120 can be controlled to perform a cleaning operation on the lens of the image acquisition component 110. Specifically, after the control system 130 determines that the image clarity does not meet the predetermined conditions, it will activate the cleaning component 120. The drive unit 1202 of the cleaning component 120 moves and drives the scraper 1201 to reciprocate, thereby cleaning the dirt on the surface of the lens of the image acquisition component 110.

[0050] It is understood that the above description of controlling the cleaning component 120 to perform cleaning operations on the lens of the image acquisition component 110 is merely exemplary. Those skilled in the art can select and set the cleaning component 120 to perform cleaning operations on the lens of the image acquisition component 110 according to the actual situation, as long as the technical principles of this application can be realized.

[0051] Furthermore, after the cleaning operation is performed on the lens by the cleaning component 120, the control method further includes: acquiring at least one frame of environmental image again by the image acquisition component 110; and performing the judgment step based on the re-acquired at least one frame of environmental image.

[0052] For example, after cleaning the lens using the cleaning component 120, at least one frame of the environment image is acquired again using the image acquisition component 110. Based on the re-acquired environment image, the control system 130 re-executes the judgment step (as in step S202). If the image clarity of the newly acquired environment image meets a predetermined condition (e.g., the image clarity of the newly acquired environment image is greater than a predetermined clarity threshold), it indicates that the lens has been cleaned, and the control system 130 can control the robot to continue performing the cleaning operation. Conversely, if the image clarity still does not meet the predetermined condition, it indicates that there is still dirt on the lens, or the amount of dirt on the lens is still large, or new dirt has adhered during the cleaning process. In this case, the control system 130 can trigger the cleaning component 120 again to perform a second cleaning.

[0053] Furthermore, after performing the judgment step based on at least one re-acquired frame of the environmental image, the control method further includes: if the clarity of the at least one re-acquired frame of the image does not meet the predetermined condition, then the cleaning component 120 repeatedly performs the cleaning operation on the lens and / or generates an alarm signal.

[0054] For example, if at least one frame of the re-acquired environmental image does not meet the predetermined conditions, the cleaning component can be controlled by the control system 130 to repeatedly perform the cleaning operation on the lens until the lens surface is free of dirt or the clarity of the re-acquired environmental image meets the predetermined conditions. Simultaneously, the motion parameters of the scraping component 1201 can be adjusted by the drive unit 1202, such as increasing the scraping force or increasing the frequency of reciprocating motion, thereby removing stubborn dirt. Furthermore, the control system 130 can also generate an alarm signal to remind the user or operator to intervene (e.g., remind the user to manually clean the lens). The alarm signal can be, for example, a visual, auditory, or other form of prompting, reminding relevant personnel of the current status of the equipment so that timely measures can be taken.

[0055] The automatic pool cleaning device 100 of this application acquires environmental images through an image acquisition component 110. The control system 130 detects the image clarity based on the acquired environmental images. When the control system 130 determines that the image clarity does not meet the predetermined conditions, it controls the cleaning component 120 to clean the lens of the image acquisition component 110, thereby removing dirt (such as water droplets, floating mud or algae) from the lens surface and ensuring the image clarity of the environmental images acquired by the automatic pool cleaning device 100.

[0056] This application also discloses a non-volatile computer storage medium 300. Figure 3 A schematic diagram of a non-volatile computer storage medium according to an embodiment of this application is shown. Figure 3 As shown, the storage medium 300 stores a computer program 301, which, when executed by a processor, can implement the control method described above in this application.

[0057] It should be understood that, in this embodiment, the aforementioned computer storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the aforementioned storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0058] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments.

[0059] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] In this application, unless otherwise stated, directional terms such as "up" and "down" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" are generally used in relation to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this application.

[0062] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic water tank cleaning device (100), the automatic water tank cleaning device (100) comprising an image acquisition component (110), a cleaning component (120), and a control system (130), wherein, The image acquisition component (110) includes a lens and is used to acquire at least one frame of environmental image; The control system (130) is configured to determine whether the image clarity of the at least one frame of the environmental image meets a predetermined condition. If it is determined that the image clarity of the at least one frame of the environmental image does not meet the predetermined condition, the control system (130) is further configured to control the cleaning component (120) to perform a cleaning operation on the lens.

2. The automatic water tank cleaning device (100) according to claim 1, wherein, The cleaning assembly (120) includes a scraper (1201) and a drive unit (1202). The scraper (1201) is disposed at a predetermined distance from the lens, and the drive unit (1202) is used to drive the scraper (1201) to reciprocate.

3. The automatic water tank cleaning device (100) according to claim 2, wherein, The scraper (1201) is made of a flexible material.

4. The automatic water tank cleaning device (100) according to claim 3, wherein, The cleaning operation includes wiping the lens with the swiping element (1201) at predetermined time intervals.

5. The automatic water tank cleaning device (100) according to any one of claims 2-4, wherein, The control system (130) can adjust the scraping force and scraping frequency of the scraping element (1201) according to the degree of dirt on the lens surface.

6. A control method for an automatic water tank cleaning device (100), the automatic water tank cleaning device (100) comprising an image acquisition component (110) and a cleaning component (120), the control method comprising: At least one frame of environmental image is acquired by the image acquisition component (110); Determine whether the image sharpness of the at least one frame of the environmental image meets a predetermined condition, wherein, If it is determined that the image clarity of at least one frame of the environmental image does not meet the predetermined condition, then the cleaning component (120) is controlled to perform a cleaning operation on the lens of the image acquisition component (110).

7. The control method according to claim 6, wherein, The image clarity of at least one frame of the environment image does not meet the predetermined conditions, including: within a predetermined time period, the image clarity of multiple consecutive frames of the environment image is less than a predetermined clarity threshold.

8. The control method according to claim 7, wherein, After the cleaning operation is performed on the lens by the cleaning assembly (120), the control method further includes: At least one frame of environmental image is acquired again by the image acquisition component (110); and The determination step is performed based on at least one re-acquired frame of the environmental image.

9. The control method according to claim 8, wherein, After performing the judgment step based on at least one re-acquired frame of the environmental image, the control method further includes: If the image clarity of at least one frame acquired again does not meet the predetermined condition, the cleaning operation is repeated on the lens by the cleaning component (120) and / or an alarm signal is generated.

10. A non-volatile computer storage medium storing a computer program that, when executed by a processor, implements the control method according to any one of claims 6-9.

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