Light supplement control method of pool automatic cleaning device and pool automatic cleaning system

Abstract

The application provides a light supplement control method of a pool automatic cleaning device and a pool automatic cleaning system. The method comprises the following steps: acquiring the turbidity degree of water in a pool in which the pool automatic cleaning device is located in real time; and adjusting the intensity of a light supplement lamp of the pool automatic cleaning device according to the acquired turbidity degree, wherein the light supplement lamp is used for supplementing light for an image acquisition device of the pool automatic cleaning device. Based on the scheme provided in the specification, the intensity of the light supplement lamp of the pool automatic cleaning device can be flexibly adjusted based on the turbidity degree of water in the pool, the quality of the environment image collected by the image acquisition device on the pool automatic cleaning device is high, the problems of underexposure or overexposure do not occur, the quality of the collected image is improved, and the power consumption is saved.

Description

Technical Field

[0001] This application relates to the field of automatic water tank cleaning, and in particular to a supplementary lighting control method and an automatic water tank cleaning system for an automatic water tank cleaning device. Background Technology

[0002] Pool cleaning equipment is a type of robot capable of underwater operation. It typically carries various sensors for underwater cleaning tasks, such as image acquisition devices. These sensors help the robot perceive the pool walls and obstacles, guiding its movement. Due to the low light levels underwater, image acquisition devices require supplemental lighting to capture clear images, especially in murky or deep water. When the robot is working on the bottom, the camera struggles to clearly perceive targets, making supplemental lighting crucial. However, not all areas of the pool require supplemental lighting for the camera, nor is it necessary throughout the day. Prolonged use of supplemental lighting consumes significant energy, reducing the robot's operating time. Furthermore, excessive lighting can overexpose the images captured by the camera, affecting image quality and reducing the camera's sensing capabilities. Summary of the Invention

[0003] According to one aspect of this application, a supplementary lighting control method for an automatic water tank cleaning device is provided. The method includes: acquiring the turbidity level of the water in the water tank where the automatic water tank cleaning device is located in real time; and adjusting the intensity of the supplementary lighting of the automatic water tank cleaning device according to the acquired turbidity level, wherein the supplementary lighting is used to supplement the image acquisition device of the automatic water tank cleaning device.

[0004] According to one aspect of this application, the real-time acquisition of the turbidity level of the water in the pool where the automatic cleaning device is located includes: receiving a first turbidity level of the water in the pool detected by a water quality analyzer; and / or receiving underwater image information of the pool acquired by an underwater image acquisition device, and acquiring a second turbidity level of the water in the pool based on the image information.

[0005] According to one aspect of this application, adjusting the supplementary lighting intensity of the automatic pool cleaning device based on the obtained turbidity level includes: increasing the intensity of the supplementary lighting of the automatic pool cleaning device when the turbidity level is greater than or equal to a preset threshold.

[0006] According to one aspect of this application, adjusting the intensity of the supplementary light of the automatic pool cleaning device based on the obtained turbidity level includes: increasing the intensity of the supplementary light of the automatic pool cleaning device when the first turbidity level is greater than or equal to a first level threshold and the second turbidity level is greater than or equal to a second preset level threshold.

[0007] According to one aspect of this application, adjusting the intensity of the supplementary light of the automatic water tank cleaning device based on the obtained turbidity level includes: reducing the intensity of the supplementary light of the automatic water tank cleaning device when the turbidity level is less than a preset threshold.

[0008] According to one aspect of this application, increasing the intensity of the supplemental lighting in the automatic pool cleaning equipment includes:

[0009] The intensity of the supplementary light of the automatic water tank cleaning equipment is increased repeatedly until the image acquisition quality of the image acquisition equipment meets the requirements.

[0010] According to one aspect of this application, the supplementary light is turned off during a predetermined time period.

[0011] According to one aspect of this application, receiving underwater image information of the pool acquired by an underwater image acquisition device, and obtaining a second turbidity level of the water in the pool based on the image information, includes receiving multiple underwater image information of the pool acquired by the underwater image acquisition device at different locations, and obtaining the second turbidity level based on the multiple underwater image information.

[0012] Furthermore, according to one aspect of this application, an automatic water tank cleaning system is provided, comprising: an automatic water tank cleaning device and a water environment monitoring device. The automatic water tank cleaning device includes a controller and a supplementary light. The controller is communicatively connected to the water environment monitoring device and the supplementary light. The water environment monitoring device is used to detect the turbidity level of the water in the water tank where the automatic water tank cleaning device is located. The controller is used to receive the turbidity level collected by the water environment monitoring device in real time and adjust the intensity of the supplementary light according to the turbidity level. The supplementary light is used to provide supplementary lighting for the image acquisition device of the automatic water tank cleaning device.

[0013] According to one aspect of this application, the water environment monitoring equipment includes a water quality analyzer and / or an underwater image acquisition device. The water quality analyzer is installed on the automatic cleaning device of the water tank, or on the wall or bottom of the water tank. The underwater image acquisition device is installed on the automatic cleaning device of the water tank, or on the wall or bottom of the water tank.

[0014] Furthermore, according to one aspect of this application, a computer storage medium is provided, wherein a computer program is stored therein, and when executed by a processor, the computer program implements the fill light control method described in any of the preceding claims.

[0015] The embodiments described in this application analyze the turbidity of the water in the pool where the automatic pool cleaning equipment is located and adjust the intensity of the supplementary light on the automatic pool cleaning equipment. This enables the image acquisition device on the automatic pool cleaning equipment to acquire environmental images of high quality, without problems of underexposure or overexposure. This improves the quality of the acquired images and saves electricity. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a flowchart illustrating the supplemental lighting control method for an automatic water tank cleaning device in one embodiment of this specification;

[0018] Figure 2 This is a schematic diagram of the automatic water tank cleaning system in one embodiment of this specification. Detailed Implementation

[0019] The embodiments provided in this application will now be described with reference to the accompanying drawings.

[0020] The automatic pool cleaning equipment is capable of cleaning the pool. The pool cleaning equipment can be a robot. 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 equipment 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 equipment or the pool-shaped structure, as long as the principle of this application is achieved.

[0021] Figure 1 This is a flowchart illustrating a supplementary lighting control method for an automatic water tank cleaning device in one embodiment of this specification. This control method can be applied to the controller of the automatic water tank cleaning device, using the controller to adjust the brightness of the supplementary lights on the device, thereby controlling and adjusting the supplementary lighting intensity. Specifically, as shown... Figure 1 As shown, this supplementary lighting control method mainly includes:

[0022] S102. Real-time acquisition of the turbidity level of the water in the pool where the automatic cleaning device for the water pool is located.

[0023] In practical implementation, when the automatic pool cleaning equipment is moving underwater, it may need a camera to assist its movement or operation. If the image captured by the camera is unclear, it may affect the function of the automatic pool cleaning equipment. This embodiment of the specification allows for real-time detection of the water quality in the pool where the automatic pool cleaning equipment is located while it is moving underwater, obtaining the turbidity level of the water. Specifically, water quality detection equipment can be used to detect the water quality in the pool in real time, obtain the turbidity level, and send it to the controller of the automatic pool cleaning equipment. The controller and the water quality detection equipment can communicate or be electrically connected to obtain the turbidity level of the pool water collected by the water quality detection equipment. The timing of obtaining the turbidity level of the pool water can be set or adjusted according to actual needs, such as: determining whether it is necessary to obtain the turbidity level of the pool water based on the location of the automatic pool cleaning equipment (e.g., whether it is underwater), the current time (day or night), and its movement status.

[0024] In some embodiments of this specification, the water quality testing equipment may include a water quality analyzer and / or an underwater image acquisition device. Specifically, the water quality in the pool can be directly tested using a water quality analyzer, such as by detecting parameters like suspended particle concentration, transparency, and turbidity in the water, and using the turbidity detected by the analyzer as the first degree of turbidity. The water quality analyzer can be an instrument capable of water quality testing, such as a turbidity sensor or a water quality testing device capable of detecting multiple water quality parameters. The water quality analyzer can be installed on an automatic pool cleaning device or at a suitable location on the inner wall or bottom of the pool.

[0025] In addition, underwater image acquisition equipment can be used to collect underwater image information of the pool. Based on the clarity of the acquired underwater image information, the turbidity of the water in the pool can be obtained, and the turbidity of the water in the pool obtained based on the underwater image information can be used as a second turbidity level. For example, the underwater image acquisition equipment can send the acquired underwater image information to the controller. The controller can use clarity algorithms to perform quality analysis on the received underwater image information, such as analyzing the clarity or exposure of the acquired underwater image, and thus obtain the second turbidity level represented by the underwater image information. For example, if the underwater image has poor clarity or is underexposed, it indicates that the water in the pool is relatively turbid. The underwater image acquisition equipment can be a separate image acquisition device installed on the pool wall and / or pool bottom, or it can be an image acquisition device integrated into the automatic pool cleaning equipment. The number and location of the water quality analyzer and the underwater image acquisition equipment can be adjusted according to actual needs, and this manual does not impose specific limitations.

[0026] In some embodiments of this specification, the turbidity of the water at different locations within the pool may vary. Multiple underwater image acquisition devices can be used to collect information from different locations. For example, underwater image acquisition devices can be set up at different locations within the pool to obtain underwater image information at different positions. If the underwater image acquisition devices are installed on an automatic pool cleaning device, underwater image information can be collected during the device's movement to obtain underwater image information at different locations. Then, based on multiple underwater image information, a second turbidity level of the water in the pool is obtained. Each underwater image information can yield a second turbidity level, thus obtaining the turbidity level of the water at different locations within the pool. Therefore, as the automatic pool cleaning device moves to different locations, the intensity of the supplementary lighting can be controlled based on the second turbidity level at that location, improving the accuracy of the supplementary lighting control.

[0027] In practical use, either a water quality analyzer or an underwater image acquisition device can be used to obtain the turbidity level of the water in the pool where the underwater automatic cleaning device is located. Alternatively, both can be combined to obtain the turbidity level of the water in the pool. The specific method can be adjusted according to actual needs, and this manual does not impose any specific limitations.

[0028] S104. Based on the obtained turbidity level, adjust the intensity of the supplementary light of the automatic water tank cleaning equipment. The supplementary light is used to provide supplementary lighting for the image acquisition device of the automatic water tank cleaning equipment.

[0029] In the specific implementation process, after obtaining the turbidity level of the water in the pool where the automatic water cleaning equipment is located, the intensity (e.g., brightness) of the supplementary lighting for the automatic water cleaning equipment can be adjusted based on this turbidity level. This supplementary lighting is typically installed on the automatic water cleaning equipment and can be used to supplement the image acquisition device of the automatic water cleaning equipment, improving the quality of the images acquired. Generally, if the water in the pool is relatively turbid, it will affect the quality of the images acquired by the image acquisition device, thus affecting the movement or operation of the automatic water cleaning equipment underwater. If the turbidity level of the water in the pool is relatively high, the brightness of the supplementary lighting can be increased to enhance the supplementary lighting intensity and improve the image quality acquired by the image acquisition device of the automatic water cleaning equipment. If the turbidity level of the water in the pool is relatively low, that is, the water in the pool is relatively clear, the brightness of the supplementary lighting can be reduced to lower the supplementary lighting intensity, avoiding overexposure of the images acquired by the image acquisition device, achieving energy saving, and extending the lifespan of the supplementary lighting.

[0030] In some embodiments of this specification, the turbidity of the water in the pool can be compared with a preset threshold. When the turbidity is greater than or equal to the preset threshold, it indicates that the water is highly turbid and requires relatively strong supplementary lighting. Therefore, the intensity of the supplementary lighting in the automatic pool cleaning device can be increased to improve the image quality acquired by the image acquisition device. Similarly, when the turbidity is less than the preset threshold, the intensity of the supplementary lighting in the automatic pool cleaning device can be reduced, effectively controlling the device's energy consumption, extending the lifespan of the supplementary lighting and the working time of the automatic pool cleaning device, and preventing overexposure of the images acquired by the image acquisition device due to excessive supplementary lighting. The specific value of the preset threshold can be adjusted according to actual needs, and this specification does not impose specific limitations on the embodiments.

[0031] When adjusting the intensity of the fill light, the brightness can be set to three levels: low, medium, and high. The fill light can be set to medium level by default when it is turned on. When the intensity of the fill light needs to be increased, it can be adjusted from medium to high level. When the intensity of the fill light needs to be decreased, it can be adjusted from medium to low level. The logic is simple and convenient for controlling the fill light.

[0032] Furthermore, in some embodiments of this specification, when it is necessary to increase the intensity of the supplementary lighting of the automatic pool cleaning equipment, the brightness of the supplementary lighting can be adjusted multiple times sequentially from low to high. For example, the supplementary lighting can be set to adjust by a fixed value each time, such as increasing or decreasing the brightness by 10 or 20 each time. After each adjustment of the supplementary lighting intensity, the image acquired by the image acquisition device of the automatic pool cleaning equipment or the underwater image acquisition device can be obtained to determine whether the image quality meets the requirements. If not, the intensity of the supplementary lighting is increased until the image acquisition quality of the image acquisition device meets the requirements, such as whether the clarity or exposure of the acquired image meets the requirements. Of course, after each increase in the intensity of the supplementary lighting, the turbidity of the water in the pool can also be obtained to determine whether the image acquisition quality of the image acquisition device meets the requirements. In the embodiments of this specification, when it is necessary to increase the intensity of the supplementary lighting, the brightness of the supplementary lighting is adjusted multiple times from low to high, avoiding the waste of energy caused by adjusting the supplementary lighting to the highest brightness at once, and also avoiding the problem of overexposure of the image due to excessively strong supplementary lighting. Furthermore, through real-time feedback of image quality assessment, it can quickly determine changes in light and water quality and adjust the brightness of the supplementary lights in real time, thereby achieving rapid response and making the supplementary lighting system highly adaptable to complex lighting conditions in underwater environments.

[0033] Additionally, if the turbidity level is low within a certain time frame, meaning the water in the pool is relatively clear or the underwater image is clear, the time interval for acquiring the turbidity level of the pool water can be extended to reduce data processing load. Similarly, when the turbidity level is high, meaning the water in the pool is quite turbid, the time interval for acquiring the turbidity level of the pool water can be shortened to allow for timely adjustment of the supplementary lighting intensity.

[0034] Referring to the description of the above embodiments, in some embodiments of this specification, the turbidity of the water in the pool may include a first turbidity detected by a water quality analyzer and a second turbidity obtained based on underwater images acquired by an underwater image acquisition device. In this scenario, when adjusting the intensity of the supplementary lighting, the first and second turbidity levels can be considered comprehensively. When the first turbidity level is greater than or equal to a first threshold, and the second turbidity level is greater than or equal to a second preset threshold, it indicates that the turbidity of the water in the pool is relatively high, and the quality of the underwater image is also relatively low. At this time, the intensity of the supplementary lighting of the automatic pool cleaning device can be increased. The method for adjusting the intensity of the supplementary lighting can be referred to the description of the above embodiments, and will not be repeated here. The specific values ​​of the first and second thresholds can be set according to actual needs, and this specification does not impose specific limitations on them.

[0035] Additionally, if the first degree of turbidity is less than the first threshold and the second degree of turbidity is less than the second threshold, it indicates that the water in the pool is relatively clear and the quality of the underwater image is relatively high. In this case, the intensity of the supplementary light can be reduced to achieve energy saving. If the first degree of turbidity is greater than or equal to the first threshold, but the second degree of turbidity is less than the second threshold, meaning the water in the pool is relatively turbid, but the quality of the underwater image is relatively high, it does not affect the image acquisition quality of the underwater acquisition equipment. In this case, the brightness of the supplementary light can be left unchanged, maintaining the current brightness, or the brightness of the supplementary light can be slightly reduced to ensure the quality of underwater image acquisition while also saving energy.

[0036] By combining the test results of the integrated water quality analyzer with the image quality acquired by the underwater image acquisition equipment, the underwater environment can be determined more accurately. The brightness of the supplementary light can be dynamically adjusted when water quality changes or light conditions fluctuate, so that the camera of the automatic pool cleaning equipment can always obtain clear underwater images, significantly improving the imaging quality and enhancing the accuracy of supplementary light intensity control.

[0037] In addition, considering that the pool is well-lit during the day and dimly lit at night, the supplementary lights can be turned off during predetermined time periods. For example, the light is usually strong between 9 a.m. and 4 p.m. If the automatic pool cleaning equipment is moving underwater or cleaning at this time, supplementary lighting is generally not needed. In this case, the supplementary lights can be turned off to control energy consumption, extend the life of the supplementary lights, and improve the operation of the automatic pool cleaning equipment.

[0038] Figure 2 This is a schematic diagram of the automatic water tank cleaning system in one embodiment of this specification, as shown below. Figure 2 As shown, some embodiments of this specification may also provide an automatic water tank cleaning system, which may include automatic water tank cleaning equipment and water environment monitoring equipment. The automatic water tank cleaning equipment includes a controller and supplementary lighting.

[0039] The water environment monitoring equipment is used to detect the turbidity of the water in the pool where the automatic pool cleaning equipment is located. Referring to the description in the above embodiments, the water environment monitoring equipment may include a water quality analyzer and / or an underwater image acquisition device. The water quality analyzer may be installed on the automatic pool cleaning equipment or on the pool wall or bottom. Similarly, the underwater image acquisition device may be installed on the automatic pool cleaning equipment or separately on the pool wall or bottom. The number and placement of the water quality analyzer and underwater image acquisition device can be adjusted according to actual needs, and this specification does not impose specific limitations on these embodiments.

[0040] The controller of the automatic water tank cleaning equipment is communicatively connected to the water environment monitoring equipment and the supplementary lighting. It receives the turbidity level data collected by the water environment monitoring equipment in real time and adjusts the intensity of the supplementary lighting according to the turbidity level. The supplementary lighting provides illumination to the image acquisition equipment of the automatic water tank cleaning equipment. The adjustment method for the supplementary lighting is described in the above embodiment and will not be repeated here.

[0041] This embodiment discloses a computer storage medium storing a computer program, which, when executed by a processor, implements the various control methods described above.

[0042] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0043] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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 method for supplemental lighting control in an automatic water tank cleaning device, characterized in that, The method includes: The turbidity level of the water in the pool where the automatic water cleaning equipment is located is obtained in real time; Based on the obtained turbidity level, the intensity of the supplementary light of the automatic water tank cleaning equipment is adjusted. The supplementary light is used to provide supplementary lighting for the image acquisition device of the automatic water tank cleaning equipment.

2. The method according to claim 1, characterized in that, The real-time acquisition of the turbidity level of the water in the pool where the automatic water cleaning device is located includes: The water in the pool is first determined by a water quality analyzer to indicate the degree of turbidity. And / or, receive underwater image information of the pool acquired by the underwater image acquisition device, and obtain a second turbidity level of the water in the pool based on the image information.

3. The method according to claim 1 or 2, characterized in that, Adjusting the supplementary lighting intensity of the automatic water tank cleaning device based on the obtained turbidity level includes: When the turbidity level is greater than or equal to a preset threshold, the intensity of the supplementary light of the automatic water tank cleaning equipment is increased.

4. The method according to claim 2, characterized in that, Based on the obtained turbidity level, the intensity of the supplementary lighting in the automatic water tank cleaning equipment is adjusted, including: When the first degree of turbidity is greater than or equal to the first degree threshold, and the second degree of turbidity is greater than or equal to the second preset degree threshold, the intensity of the supplementary light of the automatic water tank cleaning equipment is increased.

5. The method according to claim 1, characterized in that, Adjusting the intensity of the supplementary lighting in the automatic water tank cleaning device based on the obtained turbidity level includes: When the turbidity level is less than a preset threshold, the intensity of the supplemental lighting of the automatic water tank cleaning device is reduced.

6. The method according to claim 3, characterized in that, The method of increasing the intensity of the supplementary lighting in the automatic water tank cleaning equipment includes: The intensity of the supplementary light of the automatic water tank cleaning equipment is increased repeatedly until the image acquisition quality of the image acquisition equipment meets the requirements.

7. The method according to any one of claims 1, characterized in that, The supplementary lighting is turned off during a predetermined time period.

8. The method according to claim 2, characterized in that, Receiving underwater image information of the pool acquired by an underwater image acquisition device, and obtaining a second turbidity level of the pool water based on the image information, includes receiving multiple underwater image information of the pool acquired by the underwater image acquisition device at different locations, and obtaining the second turbidity level based on the multiple underwater image information.

9. An automatic water tank cleaning system, characterized in that, include: Automatic water tank cleaning equipment and water environment monitoring equipment, wherein the automatic water tank cleaning equipment includes a controller and a supplementary light, and the controller is communicatively connected to the water environment monitoring equipment and the supplementary light; The water environment testing equipment is used to detect the turbidity of the water in the pool where the automatic water cleaning equipment is located; The controller is used to receive the turbidity level collected by the water environment detection equipment in real time, and adjust the intensity of the supplementary light according to the turbidity level. The supplementary light is used to provide supplementary lighting for the image acquisition equipment of the automatic water tank cleaning equipment.

10. The automatic water tank cleaning system according to claim 9, characterized in that, The water environment monitoring equipment includes a water quality analyzer and / or an underwater image acquisition device. The water quality analyzer is installed on the automatic cleaning device of the water tank, or on the wall or bottom of the water tank. The underwater image acquisition device is installed on the automatic cleaning device of the water tank, or on the wall or bottom of the water tank.

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