Automatic pool cleaning device, control method and computer storage medium thereof

Abstract

The embodiment of the invention relates to the technical field of automatic pool cleaning devices, and provides an automatic pool cleaning device, a control method and a computer storage medium thereof. The automatic pool cleaning device comprises image acquisition equipment and a light-emitting device, at least part of the irradiation range of the light-emitting device is located in the sensing range of the image acquisition equipment, the light-emitting device is in an on state, and the control method comprises the steps that the automatic pool cleaning device is controlled to conduct movable cleaning in a pool; and judging whether an object exists in a preset distance range in front of and / or on the side of the automatic cleaning device for the pool, and if so, reducing the power of the light-emitting device. According to the control method, the automatic pool cleaning device can autonomously complete flexible switching of the light supplementing intensity underwater, the target recognition accuracy and precision of the automatic pool cleaning device are guaranteed, and the cleaning efficiency is improved.

Description

Technical Field

[0001] This disclosure relates to the technical field of automatic water tank cleaning devices, and more particularly to an automatic water tank cleaning device, its control method, and its computer storage medium. Background Technology

[0002] With the development of computer technology, robotics technology has also developed rapidly. Currently, underwater robots are being used more and more widely in various fields, assisting people in underwater operations, including underwater cleaning, underwater exploration, and underwater tourism.

[0003] In some cases, automatic pool cleaning devices are required to operate around the clock. Because the field of view of these devices, which are equipped with cameras, is poor at night or in low-light conditions, supplemental lighting is necessary. However, when the automatic pool cleaning device gets close enough to a wall or obstruction, the reflective effect of the supplemental lighting often leads to camera overexposure. Overexposure affects the automatic pool cleaning device's ability to identify targets, causing it to be unable to accurately identify targets, perform obstacle avoidance or cleaning tasks, and ultimately impacting its cleaning efficiency. Summary of the Invention

[0004] This application addresses the shortcomings of the prior art by providing a control method for an automatic water tank cleaning device. The automatic water tank cleaning device includes an image acquisition device and a light-emitting device. The illumination range of the light-emitting device is at least partially within the sensing range of the image acquisition device. The light-emitting device is in an on state. The control method includes: controlling the automatic water tank cleaning device to move and clean within the water tank; determining whether there is an object within a predetermined distance in front of and / or to the side of the automatic water tank cleaning device; if so, reducing the power of the light-emitting device.

[0005] In one possible implementation, the automatic pool cleaning device further includes a distance sensor, and the step of determining whether there is an object within a predetermined distance range in front of and / or to the side of the automatic pool cleaning device includes: determining whether there is an object within a predetermined distance range in front of and / or to the side of the automatic pool cleaning device based on the detection data of the distance sensor.

[0006] In one possible implementation, the sensing area of ​​the distance sensor within the predetermined distance range is above the bottom or surface of the pool.

[0007] In one possible implementation, the predetermined distance range includes a preset distance value or the sensing range of the distance sensor.

[0008] In one possible implementation, the object comprises a rigid, fixed object in a pool.

[0009] In one possible implementation, determining whether there is an object within a predetermined distance in front of and / or to the side of the automatic pool cleaning device includes: determining whether the object exists within a predetermined distance in front of and / or to the side of the automatic pool cleaning device based on images acquired by the image acquisition device and / or point cloud data acquired by the lidar.

[0010] In one possible implementation, after reducing the power of the light-emitting device, the method further includes: after the power of the light-emitting device has been reduced for a predetermined period of time or after there are no objects in front of and / or to the side of the automatic pool cleaning device, controlling the power of the light-emitting device to be restored to its original power.

[0011] In one possible implementation, after reducing the power of the light-emitting device, the control method further includes: acquiring an image of the object through the image acquisition device; obtaining parameters of the object from the image of the object; and controlling the automatic water tank cleaning device to move and clean the water tank according to the parameters of the object.

[0012] In one possible implementation, the control method further includes: controlling the light-emitting device to turn on and off based on at least one of the image acquired by the image acquisition device, the weather information of the area where the automatic pool cleaning device is located, and the working time of the automatic pool cleaning device.

[0013] This application also provides an automatic water tank cleaning device, which is capable of performing any of the control methods described above.

[0014] This application also provides a computer storage medium storing a computer program that, when executed by a processor, implements any of the control methods described above.

[0015] The embodiments described in this application have the following beneficial effects:

[0016] The control method for the automatic pool cleaning device provided in this application enables the device to flexibly switch the intensity of supplementary lighting autonomously underwater. It adapts to different underwater lighting conditions without manual intervention, improving the device's intelligence and environmental adaptability. This solves the problem of excessively bright supplementary lighting causing camera overexposure and affecting cleaning efficiency when the automatic pool cleaning device is near walls or obstructions. It also ensures the accuracy and precision of the automatic pool cleaning device's target identification, thereby improving cleaning efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings in the following description are merely exemplary embodiments of this disclosure.

[0018] Figure 1 This is a flowchart illustrating the control method of the automatic water tank cleaning device provided in this application;

[0019] Figure 2 This is an example of an automatic pool cleaning device provided in this application;

[0020] Figure 3 This is a schematic diagram of a control method for an automatic water tank cleaning device, as provided in this application; and

[0021] Figure 4 This is a schematic diagram of a control method for an automatic water tank cleaning device, as provided in another example of this application. Detailed Implementation

[0022] The embodiments of this disclosure will now be described with reference to the accompanying drawings. The described embodiments are merely some, not all, of the embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0023] This application provides a control method for an automatic pool cleaning device, an automatic pool cleaning device using this control method, and a computer storage medium. The automatic pool cleaning device of this application is capable of cleaning a pool. 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 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 a swimming pool.

[0024] In this application, the robot is equipped with an image acquisition device (e.g., a camera) and a light-emitting device (e.g., a fill light). Unless otherwise specified, a camera will be used as an example of an image acquisition device, and a fill light will be used as an example of a light-emitting device.

[0025] The robot performs mobile cleaning work in a pool, capturing environmental images via a camera. To ensure high-quality images, sufficient lighting is crucial within the camera's field of view, especially in low-light conditions such as nighttime or cloudy days, requiring supplemental lighting to guarantee image quality. However, if the supplemental lighting intensity remains constant, its brightness can cause overexposure when the robot approaches walls, obstructions, or other obstacles. Overexposure directly impacts image quality, affecting the robot's accuracy and precision in target recognition. Therefore, it's essential to assess the robot's proximity to walls, obstructions, or obstacles to adjust the supplemental lighting power and intensity accordingly, ensuring optimal image quality.

[0026] The control method 100 of the automatic cleaning device for the water tank will be described in detail below with reference to the accompanying drawings.

[0027] Figure 1 This is a flowchart illustrating the control method of the automatic water tank cleaning device provided in this application. Figure 1 As shown, the control method 100 includes steps S101 to S103. Steps S101 to S103 will be described in detail below.

[0028] Step S101: Control the automatic cleaning device of the water tank to move and clean the water tank.

[0029] For example, the robot can be equipped with a drive device such as a water pump and drive wheels. The drive device enables the robot to move in water, such as moving at the bottom of a pool or on the surface. During movement, the water pump can suck dirt from the pool into a trash basket in the robot, where the trash basket filters the dirt, thereby cleaning the pool.

[0030] For example, the robot can be controlled to move along a bow-shaped path, a back-shaped path, a Y-shaped path, a U-shaped path, or other paths at the bottom of the pool, and the robot will clean up the dirt during the process.

[0031] The embodiments in this specification are mainly aimed at scenarios with insufficient light, such as at night or on cloudy days. During the robot's mobile cleaning in the pool, the light-emitting device is in the on state. The illumination range of the light-emitting device is at least partially within the perception range of the image acquisition device, so that there is a suitable light intensity within the perception range of the image acquisition device, ensuring the image acquisition function of the image acquisition device.

[0032] Next, proceed to step S102. In step S102, determine whether there are any objects within a predetermined distance range in front of and / or to the side of the automatic water tank cleaning device.

[0033] Specifically, the objects include rigid, fixed objects within the pool. Examples include pool walls, steps, pool ladders, base stations, and other fixed structures or objects with smooth surfaces within the pool. These objects are prone to reflection, which significantly impacts the quality of images captured by the camera.

[0034] Depending on the actual situation, "in front of and / or to the side" refers to the relative positional relationship between the object and the robot's direction of travel. In this application, objects in front of and / or to the side of the robot's travel may cause the light emitted by the supplementary lighting to reflect as described above, resulting in overexposure of the image captured by the camera. Therefore, the power of the supplementary lighting can be adjusted according to the positional and distance relationships between the object and the robot to avoid overexposure and ensure the quality of the image captured by the camera.

[0035] In step S102, the area in front of the robot's movement includes a specific fan-shaped region directly in front of the robot's movement or the area directly in front of the robot's movement; the area to the side of the robot's movement includes a specific fan-shaped region on one side of the robot's movement direction or the area on one side of the robot's movement direction, or it may include specific fan-shaped regions on both sides of the robot's movement direction.

[0036] Specifically, such as Figure 2 As shown, when the robot moves to clean in a pool, it detects whether there are objects within a predetermined distance directly in front of the robot, with the direction pointed to by the robot's head as the robot's front. Alternatively, it detects whether there are objects within a predetermined distance in a fan-shaped area with a certain angle, based on the direction pointed to by the robot's head. In one example, the angle can be set to 5°, 15°, 30°, or 120° depending on the actual situation. The angle can be set by those skilled in the art according to the actual situation.

[0037] In another example, when the robot is cleaning in a pool, it checks whether there are any objects within a predetermined distance of a fan-shaped area with a certain angle, based on the robot's right side. Similarly, the robot can detect whether there are any objects within a predetermined distance to its left or both sides.

[0038] It should be noted that the above description of the robot's forward and side movement is merely exemplary. Those skilled in the art can set the forward and / or side movement according to the actual situation, as long as it can achieve the technical principles of this application.

[0039] In step S102, the predetermined distance range may refer to a preset distance value or the sensing range of the distance sensor.

[0040] During the robot's mobile cleaning operation in the pool, the presence of the aforementioned rigid, fixed object outside a predetermined distance will not affect the image quality captured by the supplementary lighting. However, if the object is present within a predetermined distance in front of and / or to the side of the robot, and the supplementary lighting maintains a constant power to illuminate the object, the object's reflection will cause overexposure of the camera. Therefore, it is necessary to determine whether an object exists within the predetermined distance.

[0041] Specifically, the predetermined distance range can be within a preset distance value.

[0042] For example, the preset distance value can be the robot's body length, 30cm, 40cm, or 50cm. It should be noted that the preset distance value can be related to the power of the supplementary lighting. The robot detects whether there are objects within the preset distance value in front of and / or to the side of its movement, and calculates the distance between the object and the robot. If the distance value is less than or equal to the preset distance value, it indicates that the object is close to the robot or within the illumination range of the supplementary lighting. Therefore, the robot needs to adjust the power of the supplementary lighting in a timely manner (e.g., reduce the power of the supplementary lighting) so that the robot's image acquisition device can acquire effective images and ensure operational requirements are met.

[0043] Specifically, the predetermined distance range can be within the sensing range of the distance sensor.

[0044] For example, a robot is equipped with a distance sensor, which has a certain sensing range and can detect areas within that range. Therefore, it can determine whether an object exists within the sensing range of the distance sensor. For instance, a laser sensor emits a laser beam into its detection area and detects the reflected laser light to determine whether an object exists in that area. Especially for distance sensors with relatively short sensing distances, when they detect an object in front of the robot, it means the object is relatively close. If a supplemental light shines on this object and the light is bright, the object will reflect strong light, causing overexposure of the image acquisition equipment and affecting the quality of the image acquired.

[0045] It should be noted that if the sensor's sensing range is large, the sensor may reduce the power of the supplementary lighting when it detects an object, which may not meet the robot's operational needs. In this case, the predetermined distance range can be a preset distance value to ensure the robot's operational requirements are met.

[0046] In a pool environment, in addition to the aforementioned rigid, fixed objects, there is also debris to be cleaned (such as silt, fallen leaves, and limescale fragments). Some debris, due to gravity, settles on the bottom surface, while others float on the surface due to buoyancy. When a robot moves and cleans in a pool, if the sensor's sensing range covers either the bottom or the surface, this debris can easily be misjudged as objects to be avoided, interfering with the robot's normal path planning and potentially causing frequent unnecessary turns and stops, thus affecting cleaning efficiency. To ensure that the robot identifies only the rigid, fixed objects mentioned above, the installation position and sensing area of ​​the distance sensor need to meet specific requirements to ensure effective identification of rigid, fixed objects and effective avoidance of debris interference. Reducing invalid movements ensures the continuity and stability of the cleaning path, thereby improving the overall smoothness and efficiency of the cleaning operation, while also reducing energy consumption and equipment wear caused by misjudgments.

[0047] In step S102, the sensing area of ​​the distance sensor within the predetermined distance range is higher than the bottom or surface of the pool.

[0048] Specifically, the sensing area is above the bottom of the pool. For example, the predetermined distance range is within 30cm of the robot's distance sensor, and the sensing area is positioned 5cm above the bottom of the pool. Figure 3 As shown, when the robot moves and cleans at the bottom of the pool, dirt settles at the bottom of the pool. Therefore, setting the sensing area of ​​the distance sensor above the bottom of the pool helps the distance sensor obtain a better detection field of view and avoids the distance sensor being affected by dirt from the bottom of the pool. It also prevents the robot from misidentifying the dirt at the bottom of the pool as a rigid fixed object as mentioned above, thereby causing it to incorrectly operate the power of the supplementary lighting.

[0049] For example, when the robot detects a pool wall within 30cm in front of it, it reduces the power of its light-emitting device, lowering the intensity of the emitted light. This reduces the light reflected from nearby objects, preventing overexposure issues when the image acquisition device captures images and ensuring image quality. As the robot continues cleaning, once there is no pool wall within 30cm, it restores the power of the light-emitting device to its previous level.

[0050] Specifically, the sensing area is above the water surface. For example, if the predetermined distance range is 30cm, the sensing area is positioned 5cm above the water surface. Setting the sensing area of ​​the distance sensor above the water surface helps the distance sensor obtain a better detection field of view above the water surface, and also helps the distance sensor avoid being affected by dirt from the water surface, or prevents the robot from mistakenly identifying dirt on the water surface as the rigid fixed object mentioned above, thereby incorrectly operating the power of the supplementary lighting.

[0051] For example, such as Figure 4 As shown, while moving on the water surface, the robot detects a base station 30cm ahead using the distance sensor, and reduces the power of the supplementary lighting to one-third of its original power. Subsequently, if the robot moves away from the base station, the power of the supplementary lighting is restored to its original power. (The process is repeated here.) Figure 4 As shown, when the robot moves near the escalator (for example, 30cm to the side of the escalator), the robot reduces the power of the supplementary light. This reduces the intensity of light reflected by objects near the robot, thus avoiding exposure problems when the image acquisition device captures images.

[0052] By reasonably setting the sensing area of ​​the distance sensor, the distance sensor can avoid detecting the garbage to be cleaned within the predetermined distance range. When the distance sensor detects an object within the predetermined distance range, it can be regarded as a rigid object such as a pool wall or a step, and the brightness of the supplementary lighting can be further controlled.

[0053] It should be noted that the above description of the sensor's sensing area setting position is merely exemplary. The sensor's sensing area setting position can be adjusted according to the actual situation, as long as the technical principle of this application can be achieved.

[0054] To more accurately determine whether an object in front of or to the side of the robot is one that could affect the image quality acquired by the image acquisition device, in step S102, determining whether an object exists within a predetermined distance in front of and / or to the side of the automatic water tank cleaning device includes: determining whether the object exists within a predetermined distance in front of and / or to the side of the automatic water tank cleaning device based on the image acquired by the image acquisition device and / or the point cloud data acquired by the lidar.

[0055] For example, image acquisition devices can identify the presence of objects by analyzing features such as the outline, color, and texture of objects in an image. When there is a pool wall in front, the image acquired by the device will show clear lines and area divisions, providing intuitive visual evidence for judgment.

[0056] For example, a lidar (Light Detection and Ranging) generates point cloud data of an object by emitting a laser beam and receiving reflected signals. The point cloud data reflects the object's coordinates, and based on these coordinates, information such as the object's three-dimensional spatial position, shape, and distance can be obtained. When the object is present within a predetermined distance in front of and / or to the side of the robot, its presence can be accurately identified using the point cloud data. The lidar can be a single-point ToF (Total Optical Frequency), a specific single-line laser, or a 360° LDS (Laser-Dependent Radar) lidar.

[0057] Specifically, image acquisition equipment can be combined with LiDAR. By combining the image information from the image acquisition equipment with the point cloud data from the LiDAR, the accuracy and reliability of determining whether there are objects within a predetermined distance in front of and / or to the side of the automatic water cleaning device can be improved, providing a basis for operations such as adjusting the supplementary lighting power.

[0058] If, in step S102, it is determined that there is an object within a predetermined distance in front of and / or to the side of the automatic water cleaning device, then proceed to step S103. In step S103, the power of the light-emitting device is reduced.

[0059] The light-emitting device can be an LED supplemental light, a near-infrared light device, an organic light-emitting diode (OLED), an independent soft light, etc. There can be one or more light-emitting devices. The light-emitting device is designed to provide supplemental lighting for the robot, and its power can be controlled to adjust the brightness when there is insufficient light, thereby improving the efficiency and accuracy of the robot's cleaning and obstacle avoidance. For example, the power of the light-emitting device can be reduced by decreasing the current or voltage. It is understood that those skilled in the art can select and configure the light-emitting device according to actual conditions and specific needs.

[0060] After reducing the power of the light-emitting device, the control method 100 of this application may further include, for example,: acquiring an image of the object through the image acquisition device; obtaining parameters of the object from the image of the object; and controlling the automatic water tank cleaning device to move and clean in the water tank according to the parameters of the object.

[0061] In one example, a pool wall is detected 30cm ahead of the robot. The power of the supplementary lighting is reduced (e.g., to one-third of its original power) to prevent overexposure when the camera captures images of the pool wall. This allows the camera to continue capturing images, such as a clear image of the pool wall, and the robot's movement is controlled based on this image (e.g., the robot avoids the pool wall). For example, parameters such as the size of the pool wall, its position and orientation relative to the robot, can be obtained from the pool wall images captured by the camera. The robot can then move and clean within the pool based on these parameters, performing actions such as moving along the pool wall, turning, and climbing along the pool wall.

[0062] It should be noted that the above description of reducing the power of the light-emitting device is merely exemplary. The reduction of the power of the light-emitting device protected by this application is not limited to the contents listed above. Those skilled in the art can set the reduction of the power of the light-emitting device according to the actual situation, as long as the technical principle of this application can be realized.

[0063] The control method 100 provided in this application further includes: after reducing the power of the light-emitting device, after the power of the light-emitting device has been reduced for a predetermined period of time or after there is no object in front of and / or to the side of the automatic cleaning device of the pool, controlling the power of the light-emitting device to be restored to the original power.

[0064] Specifically, for example, after the power of the light-emitting device is reduced for a predetermined period of time, the power of the light-emitting device is restored to its original power. After the power of the supplementary light is reduced for the predetermined period of time, it is assumed that the robot has moved away from the area where the object (e.g., the pool wall) is located. In this case, it is necessary to increase the power of the supplementary light so that the camera can obtain a more ideal image with the help of the supplementary light. Therefore, the power of the supplementary light can be restored to its original power (i.e., restored to the power before the power of the supplementary light was reduced in step S103). Restoring the power of the supplementary light based on the predetermined period of time can effectively avoid the problem of poor image acquisition by the camera caused by the supplementary light operating at low power for a long time, and provide stable support for the continuous operation of the robot in complex environments. For example, the predetermined period of time can be 5 seconds. The exemplary description of the predetermined period of time above is not intended to limit the specific length of the predetermined period of time. Those skilled in the art can set the predetermined period of time according to the actual situation, as long as it can achieve the technical principle of this application.

[0065] Specifically, the condition for restoring the power of the light-emitting device to its original level can be that there are no objects in front of and / or to the side of the automatic pool cleaning device. For example, by real-time monitoring of the robot's environment using image acquisition equipment and distance sensors such as LiDAR, the power of the supplementary light is restored only when there are no pool walls in front of and / or to the side of the robot, as described above. For example, after the robot moves away from the area near the pool wall, if the sensors detect that there are no pool walls in front of and / or to the side of the robot, the power of the supplementary light is restored, ensuring that the robot's target recognition of the cleaning area in front of it is not affected by insufficient light. Restoring the power of the light-emitting device based on real-time environmental feedback can reduce the time of insufficient supplementary lighting, improve the accuracy and precision of target recognition, and thus optimize the overall cleaning efficiency.

[0066] It is worth noting that those skilled in the art can select or combine the two power recovery conditions described above according to the actual situation, as long as the technical principle of this application can be achieved. This ensures that the robot reduces supplementary lighting when an object is present to prevent overexposure, and can quickly restore normal supplementary lighting when the object is away, thus ensuring the stable and efficient operation of the automatic cleaning device for the pool.

[0067] The control method 100 provided in this application further includes: determining whether supplementary lighting is needed based on at least one of the image acquired by the image acquisition device, the weather information of the area where the automatic pool cleaning device is located, and the working time of the automatic pool cleaning device, and controlling the opening and closing of the light-emitting device.

[0068] In one scenario, the robot can determine whether supplemental lighting is needed based on the images captured by the camera. For example, if the brightness of the pool environment where the robot is currently located is good, the camera can capture a high-quality image under these conditions, so supplemental lighting is unnecessary. Conversely, if the brightness of the pool environment is poor, the camera cannot capture a high-quality image, or may not capture an image at all, then supplemental lighting is required. Furthermore, if the brightness of the pool environment changes from dark to bright, meeting the conditions for the camera to capture a high-quality image, the supplemental lighting can be turned off, thus preventing overexposure and conserving the robot's energy.

[0069] In another scenario, the robot can control the activation and deactivation of its supplemental lighting based on local weather information. For example, if the weather is sunny and the lighting conditions are good, supplemental lighting is unnecessary; if the supplemental lighting is currently on, it needs to be turned off. Conversely, if the weather is cloudy and the lighting conditions are poor, supplemental lighting can be turned on even during the day to facilitate image capture by the camera. The robot can obtain local weather information, for example, through a local area network or the internet.

[0070] In another scenario, the robot can control the on / off state of its supplemental lighting based on its working hours. For example, if the robot's current working time is 10:00 AM, since lighting conditions are usually good at 10:00 AM, supplemental lighting is unnecessary. Therefore, if the supplemental lighting is currently on, it should be turned off. Conversely, if the robot's current working time is 9:00 PM, since it is usually dark with poor or no lighting, the supplemental lighting can be turned on. The robot can obtain its current working time via a local area network or the internet, or through its own real-time clock (RTC) chip.

[0071] This application also discloses an automatic water tank cleaning device capable of performing the control methods described above with reference to the various embodiments. The automatic water tank cleaning device includes an image acquisition device and a light-emitting device, wherein the illumination range of the light-emitting device is at least partially within the sensing range of the image acquisition device.

[0072] This application also discloses a computer storage medium storing a computer program. When executed by a processor, the computer program implements a control method for the automatic water tank cleaning device provided in the above embodiments. The method includes: controlling the automatic water tank cleaning device to move and clean within a water tank; determining whether there is an object within a predetermined distance range in front of and / or to the side of the automatic water tank cleaning device; and if so, reducing the power of the light-emitting device. The principle and scheme of the control method are described above in conjunction with the various embodiments and accompanying drawings, and will not be repeated here.

[0073] It should be understood that the above description of the components and functions of various sensors is merely exemplary and does not constitute a limitation on the various parameters and functions of the above components. Those skilled in the art can select and set the above various sensors and their components, parameters, and functions according to actual needs, as long as the principle of this application can be achieved.

[0074] In the description of this specification, the 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.

[0075] In this application, unless otherwise stated, directional terms such as "front" and "side" 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.

[0076] 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. A control method for an automatic water tank cleaning device, wherein, The automatic water tank cleaning device includes an image acquisition device and a light-emitting device. The illumination range of the light-emitting device is at least partially within the sensing range of the image acquisition device. The light-emitting device is in an on state. The control method includes: The automatic cleaning device for the water tank is controlled to move and clean within the water tank. Determine whether there is an object within a predetermined distance in front of and / or to the side of the automatic water tank cleaning device. If so, reduce the power of the light-emitting device.

2. The control method according to claim 1, wherein, The automatic water tank cleaning device further includes a distance sensor, wherein determining whether there is an object within a predetermined distance range in front of and / or to the side of the automatic water tank cleaning device includes: Based on the detection data from the distance sensor, it is determined whether there are any objects within a predetermined distance range in front of and / or to the side of the automatic water tank cleaning device.

3. The control method according to claim 2, wherein, The sensing area of ​​the distance sensor within the predetermined distance range is higher than the bottom or surface of the pool.

4. The control method according to claim 2, wherein, The predetermined distance range includes either a preset distance value or the sensing range of the distance sensor.

5. The control method according to claim 1, wherein, The object includes a rigid, fixed object in the pool.

6. The control method according to claim 1, wherein, Determining whether there are objects within a predetermined distance range in front of and / or to the side of the automatic water cleaning device includes: Based on the images acquired by the image acquisition device and / or the point cloud data acquired by the lidar, it is determined whether the object exists within a predetermined distance range in front of and / or to the side of the automatic water tank cleaning device.

7. The control method according to any one of claims 1-6, wherein, After reducing the power of the light-emitting device, the method further includes: After the power of the light-emitting device is reduced for a predetermined period of time, or after there are no objects in front of and / or to the side of the automatic water tank cleaning device, the power of the light-emitting device is restored to its original power.

8. The control method according to claim 1, wherein, After reducing the power of the light-emitting device, the control method further includes: The image of the object is acquired using the image acquisition device; Obtain the parameters of the object from the image of the object; and The automatic cleaning device for the pool is controlled to move and clean the pool according to the parameters of the object.

9. The control method according to claim 1, wherein, The control method further includes: The light-emitting device is controlled to turn on and off based on at least one of the following: the image acquired by the image acquisition device, the weather information of the area where the automatic pool cleaning device is located, and the working time of the automatic pool cleaning device.

10. An automatic water tank cleaning device, wherein, The automatic water tank cleaning device is capable of performing the control method according to any one of claims 1-9.

11. A computer storage medium, wherein, The storage medium stores a computer program, which, when executed by a processor, implements the control method according to any one of claims 1-9.

Images