Automatic pool cleaning device and light supplement lamp control system thereof

Abstract

The utility model provides an automatic pool cleaning device and a light supplementing lamp control system thereof.The automatic pool cleaning device comprises an automatic pool cleaning device body, a light supplementing lamp, an image collecting device and a light supplementing lamp light intensity control module, and the light supplementing lamp light intensity control module is electrically connected with the light supplementing lamp and the image collecting device; the image collecting device can collect an environment image around the automatic pool cleaning device and send the collected environment image to the light supplementing lamp light intensity control module, and the light supplementing lamp light intensity control module can control the light intensity of the light supplementing lamp based on the quality of the environment image after receiving the environment image. Therefore, the light intensity control module of the light supplement lamp can turn off or reduce the light intensity of the light supplement lamp when the lamp does not need to be turned on or too high light intensity does not need to be used, the power consumption of the light supplement lamp is reduced to the maximum extent, and the purpose of saving energy is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pool automatic cleaning, in particular to a pool automatic cleaning device and a light supplementing lamp control system thereof. BACKGROUND

[0002] The pool cleaning robot is usually equipped with various sensors for underwater cleaning operation. The sensors help the robot to perceive the pool walls and obstacles in the pool, and guide the robot to walk. Commonly used sensors include ultrasonic sensors, infrared light sensors, Lora communication modules or cameras. For the camera, due to the weak light underwater, the camera needs to rely on the light supplementing lamp to collect a relatively clear image. Especially when the water is turbid or deep, the camera has difficulty in clearly perceiving the target object when the robot is working at the bottom of the pool, and therefore, the light supplementing lamp becomes particularly important. When the robot works in the morning, afternoon or night, the sunlight is weak, and the light supplementing lamp can also supplement light for the camera throughout the process. However, not all areas in the pool need to supplement light for the camera, and not all time during the day needs to supplement light for the camera. If the light supplementing lamp is turned on for a long time, it will greatly consume electric energy and reduce the working time of the robot. Moreover, the excessive light supplementing will cause the image collected by the camera to be overexposed, which affects the image quality and reduces the perception ability of the camera. SUMMARY

[0003] According to one aspect of the present application, a light supplementing lamp control system of a pool automatic cleaning device is provided, comprising a pool automatic cleaning device main body, a light supplementing lamp, an image collecting device and a light supplementing lamp light intensity control module. The light supplementing lamp and the image collecting device are both arranged on the pool cleaning device main body, and the illumination range of the light supplementing lamp is at least partially located in the scanning range of the image collecting device. The light supplementing lamp light intensity control module is electrically connected with the light supplementing lamp and the image collecting device respectively. The image collecting device can collect the environmental image around the pool automatic cleaning device and send the collected environmental image to the light supplementing lamp light intensity control module. The light supplementing lamp light intensity control module can control the light intensity of the light supplementing lamp based on the quality of the environmental image after receiving the environmental image.

[0004] According to one aspect of the present application, the light supplementing lamp and the image collecting device are both arranged on the head of the pool cleaning device main body.

[0005] According to one aspect of the present application, the control of the light intensity of the light supplementing lamp based on the quality of the environmental image comprises: when the quality of the environmental image is underexposure, the light intensity of the light supplementing lamp is increased.

[0006] According to an aspect of the present application, the light intensity of the light supplement lamp is controlled based on the quality of the environment image, including, when the quality of the environment image is overexposure, the light intensity of the light supplement lamp is reduced;

[0007] According to an aspect of the present application, the light supplement lamp light intensity control module includes an image analysis module for analyzing the quality of the environment image and controlling the light intensity of the light supplement lamp based on the quality;

[0008] According to an aspect of the present application, the light supplement lamp light intensity control module further includes a timer capable of controlling the switching of the light supplement lamp based on preset time information;

[0009] According to an aspect of the present application, the control authority of the timer is lower than that of the image analysis module;

[0010] According to an aspect of the present application, the light supplement lamp light intensity control module further includes a switching module for switching the high beam and the low beam, which can switch the high beam and the low beam of the light supplement lamp based on the distance of the target object in the environment image relative to the cleaning device;

[0011] According to an aspect of the present application, the high beam and the low beam of the light supplement lamp are switched based on the distance of the target object in the environment image relative to the cleaning device, including, when the distance of the target object relative to the cleaning device is greater than a first preset distance threshold, the light of the light supplement lamp is switched from the low beam to the high beam, and when the distance of the target object relative to the cleaning device is less than a second preset distance threshold, the light of the light supplement lamp is switched from the high beam to the low beam;

[0012] Further, according to an aspect of the present application, a light supplement lamp control system for an automatic pool cleaning device is provided, including an automatic pool cleaning device main body, a light supplement lamp, an image acquisition device, and a light supplement lamp control module, wherein the light supplement lamp and the image acquisition device are arranged on the pool cleaning device main body, wherein the light supplement lamp control module is electrically connected with the light supplement lamp and the image acquisition device, the image acquisition device can acquire the environment image around the automatic pool cleaning device and send the acquired environment image to the light supplement lamp control module, and the light supplement lamp light intensity control module can adjust the illumination distance, the light emitting surface or the illumination wavelength of the light supplement lamp based on the distance, the position or the quality of the image of the target object in the environment image after receiving the environment image;

[0013] According to one aspect of this application, the supplementary lighting control module includes an image analysis module, which is capable of identifying the clarity of the environmental image, the distance between the target object in the image and the cleaning device, or the position of the cleaning device relative to the cleaning device, and adjusting the illumination distance, light emission surface area, or illumination wavelength of the supplementary lighting based on the quality of the image, the distance, or the position, thereby improving the quality of the environmental image;

[0014] Furthermore, according to one aspect of this application, an automatic pool cleaning device is provided, including the supplementary lighting control system described in any of the above claims.

[0015] 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.

[0016] The embodiments described in this application analyze the environmental images captured by the image acquisition device mounted on the automatic water tank cleaning device and control the relevant parameters of the supplementary light, so that the quality of the captured environmental images is high and there will be no problems of underexposure or overexposure. This not only improves the quality of the captured images, but also saves electricity. 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 A schematic diagram of an automatic water tank cleaning device according to an embodiment of this application is shown;

[0019] Figure 2 A schematic diagram of a supplementary lighting control system according to an embodiment of this application is shown. Detailed Implementation

[0020] The embodiments provided in this application will now be described with reference to the accompanying drawings.

[0021] The automatic pool cleaning device is capable of cleaning the pool. The pool cleaning device 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 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.

[0022] like Figure 1As shown, the main body 3 of the pool automatic cleaning device in the present application is provided with a light supplement lamp, an image acquisition device and a light supplement lamp light intensity control module. When the image acquisition device is arranged at the head of the cleaning device, the environmental information in front of the cleaning device can be perceived. The illumination range 1 of the light supplement lamp is at least partially located in the scanning range 2 of the image acquisition device, and preferably, the illumination range 1 entirely covers the scanning range 2, so that the environmental image acquired by the image acquisition device is entirely supplemented by the light supplement lamp. Figure 2 As shown, the light supplement lamp light intensity control module is electrically connected with the light supplement lamp and the image acquisition device respectively.

[0023] The image acquisition device can acquire the environmental image around the pool automatic cleaning device in real time during the process of the pool cleaning device walking underwater, and send the acquired environmental image to the light supplement lamp light intensity control module. The image acquisition device can also filter the image containing the target objects such as pool wall, pool bottom, escalator, steps and ground lamp in the pool and send the image to the light supplement lamp light intensity control module, without sending all the images to the light supplement lamp light intensity control module, so as to reduce the calculation amount.

[0024] The light supplement lamp light intensity control module can control the light intensity of the light supplement lamp based on the quality of the environmental image after receiving the environmental image. When the quality of the environmental image is underexposure, it indicates that the underwater light is insufficient, so the light intensity of the light supplement lamp needs to be increased. The increase range of the light intensity is from 0 to a first preset light intensity threshold. When the quality of the environmental image is overexposure, on the one hand, the power is wasted, and on the other hand, the image quality is reduced, so the light intensity of the light supplement lamp needs to be reduced. The decrease range of the light intensity is from a second preset light intensity threshold to 0. The first preset light intensity threshold and the second preset light intensity threshold can be the same or different.

[0025] As shown, Figure 2 The image analysis module in the light supplement lamp light intensity control module is used to analyze the quality of the environmental image, for example, whether the image is overexposure or underexposure.

[0026] In addition, considering that the light in the pool is strong during the day and weak at night, the light supplement lamp light intensity control module further includes a timer. The timer can control the on-off of the light supplement lamp based on the preset time information. The preset time information can include from 9 am to 4 pm. During this time period, the timer controls the light supplement lamp to be turned off, and during other time periods, the light supplement lamp is controlled to be turned on. The control authority of the timer is lower than that of the image analysis module. Therefore, if the image analysis module analyzes that the image quality is underexposure during this time period, the light supplement lamp is turned on, that is, the light intensity of the light supplement lamp is adjusted from 0 to the first preset light intensity threshold.

[0027] In addition to adjusting the light intensity of the light supplement lamp based on the environmental image, other parameters of the light supplement lamp can also be adjusted based on the image. Adjusting the light intensity can improve the quality of the image while saving power. However, the cleaning device perceives environmental information based on the image acquisition device, and not only depends on the image quality, but also depends on the scanning range of the image acquisition device. The larger the scanning range, the stronger the perception ability. When the light supplement lamp supplements light for a larger scanning range, more power will be consumed. Therefore, the light supplement range of the light supplement lamp can be reasonably controlled based on the distance of the target object perceived by the image acquisition device. Limiting the light supplement range of the light supplement lamp to the area where the identified target object is located and not supplementing light in other areas can save power. Therefore, the light supplement lamp is set to include two parts: a low beam and a high beam. When the image analysis module analyzes that the target object in the environmental image is far away (the distance between the target object and the cleaning device is greater than 50 cm), and the low beam is currently working while the high beam is not working, the low beam is switched to the high beam, so that the low beam is turned off and the high beam is turned on. When the image analysis module analyzes that the target object in the environmental image is close (the distance between the target object and the cleaning device is less than any value between 40 cm and 50 cm), and the high beam is currently working while the low beam is not working, the high beam is switched to the low beam, so that the high beam is turned off and the low beam is turned on.

[0028] Therefore, in order to realize the above-mentioned switching function, a switching module for controlling the switching of the high beam and the low beam can be provided on the light intensity control module of the light supplement lamp. The switching module can switch the high beam and the low beam based on the distance of the target object in the environmental image relative to the cleaning device, to realize the switching of the high beam and the low beam. It should be noted that the switching of the high beam and the low beam can be replaced by mechanically adjusting the irradiation distance from far to near or from near to far. Mechanically adjusting the irradiation distance of the light supplement lamp includes adjusting the light emitting surface of the light supplement lamp or the posture of the light supplement lamp.

[0029] In addition, the image analysis module of the light intensity control module of the light supplement lamp can also analyze the position of the target object in the environmental image relative to the cleaning device, and adjust the light emitting surface of the light supplement lamp based on the position. For example, when the target object is located in the right front of the cleaning device, and the light emitting surface of the light supplement lamp is directed to the front, the light emitting surface of the light supplement lamp is adjusted from being directed to the front to being directed to the right front.

[0030] In addition, the image analysis module of the light supplement lamp light intensity control module can also adjust the wavelength of the light of the light supplement lamp based on the image quality or the relative distance between the cleaning device and the target object. This is because the penetration of light of different wavelengths in water is different. If the quality of the environment image is poor, for example, underexposure, or the relative distance is long, the wavelength can be increased to improve the penetration ability of the light and thus improve the exposure of the image. Conversely, if the image is overexposed or the relative distance is short, the wavelength can be reduced. This way does not greatly adjust the light intensity, and can improve the sensing ability of the image acquisition device, achieving the purposes of saving power and improving sensing ability.

[0031] Therefore, the embodiment provides a light supplement lamp control system of a pool automatic cleaning device, which comprises a pool automatic cleaning device main body, a light supplement lamp, an image acquisition device, and a light supplement lamp light intensity control module. The light supplement lamp and the image acquisition device are arranged on the pool cleaning device main body, and the illumination range of the light supplement lamp is at least partially located in the scanning range of the image acquisition device. The light supplement lamp light intensity control module is electrically connected with the light supplement lamp and the image acquisition device. The image acquisition device can acquire an environment image around the pool automatic cleaning device and send the acquired environment image to the light supplement lamp light intensity control module. The light supplement lamp light intensity control module can control the light intensity of the light supplement lamp based on the quality of the environment image after receiving the environment image.

[0032] The embodiment also provides a light supplement lamp control system of a pool automatic cleaning device, which comprises a pool automatic cleaning device main body, a light supplement lamp, an image acquisition device, and a light supplement lamp control module. The light supplement lamp and the image acquisition device are arranged on the pool cleaning device main body. The light supplement lamp control module is electrically connected with the light supplement lamp and the image acquisition device. The image acquisition device can acquire an environment image around the pool automatic cleaning device and send the acquired environment image to the light supplement lamp control module. The light supplement lamp light intensity control module can adjust the illumination distance, the light emission surface degree, or the illumination wavelength of the light supplement lamp based on the distance, the position, or the quality of the image of the target object in the environment image after receiving the environment image.

[0033] The embodiment also provides a method for controlling the light supplement lamp, which adopts the light supplement lamp control system.

[0034] The embodiment discloses a computer storage medium, which stores a computer program. When the computer program is executed by a processor, the various control methods described above are realized.

[0035] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0036] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary universal hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions essentially or in other words the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0037] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples without contradiction.

[0038] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0039] In the present application, unless otherwise stated, the orientation words such as "up, down" are generally directed to the direction shown in the drawings, or to the vertical, vertical or gravity direction; similarly, for the convenience of understanding and description, "left, right" is generally directed to the left and right of the drawings; "inner, outer" refers to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0040] The above merely illustrates the embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of various changes or replacements within the technical scope of the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A light supplement lamp control system of a pool automatic cleaning device, comprising a pool automatic cleaning device main body, a light supplement lamp, an image acquisition device, and a light supplement lamp light intensity control module, wherein, The light supplement lamp and the image acquisition device are arranged on the pool automatic cleaning device main body, wherein the illumination range of the light supplement lamp is at least partially located in the scanning range of the image acquisition device; the light supplement lamp light intensity control module is electrically connected with the light supplement lamp and the image acquisition device respectively; the image acquisition device can acquire the environmental image around the pool automatic cleaning device and send the acquired environmental image to the light supplement lamp light intensity control module; the light supplement lamp light intensity control module can control the light intensity of the light supplement lamp based on the quality of the environmental image after receiving the environmental image.

2. The light supplement lamp control system of claim 1, wherein, The light supplement lamp and the image acquisition device are arranged on the head of the pool automatic cleaning device main body.

3. The light supplement control system of claim 1, wherein, The light intensity of the light supplement lamp is controlled based on the quality of the environmental image, including increasing the light intensity of the light supplement lamp when the quality of the environmental image is underexposure.

4. The light supplementation lamp control system of any one of claims 1-3, wherein, The light intensity of the light supplement lamp is controlled based on the quality of the environmental image, including decreasing the light intensity of the light supplement lamp when the quality of the environmental image is overexposure.

5. The supplemental light control system of any one of claims 1-3, wherein, The light supplement lamp light intensity control module comprises an image analysis module for analyzing the quality of the environmental image and controlling the light intensity of the light supplement lamp based on the quality.

6. The light supplement control system of claim 5, wherein, The light supplement lamp light intensity control module further comprises a timer capable of controlling the on-off of the light supplement lamp based on preset time information.

7. The light supplement control system of claim 6, wherein, The control authority of the timer is higher than that of the image analysis module.

8. The light supplementation lamp control system of any one of claims 1-3, wherein, The light supplement lamp comprises a high beam and a low beam, and the light supplement lamp light intensity control module further comprises a switching module for switching between the high beam and the low beam, which can switch between the high beam and the low beam based on the distance of the target object in the environmental image relative to the cleaning device.

9. The light supplement control system of claim 8, wherein, Switching between the high beam and the low beam based on the distance of the target object in the environmental image relative to the cleaning device, including switching the low beam to the high beam when the distance of the target object relative to the cleaning device is greater than a first preset distance threshold, and switching the high beam to the low beam when the distance of the target object relative to the cleaning device is less than a second preset distance threshold.

10. A light supplement control system of a pool cleaning robot, comprising a pool cleaning robot body, a light supplement, an image acquisition device and a light supplement control module, wherein, The light supplement lamp and the image acquisition device are arranged on the pool automatic cleaning device main body, wherein the light supplement lamp control module is electrically connected with the light supplement lamp and the image acquisition device respectively; the image acquisition device can acquire the environmental image around the pool automatic cleaning device and send the acquired environmental image to the light supplement lamp control module; the light supplement lamp light intensity control module can adjust the illumination distance, light emitting surface degree or illumination wavelength of the light supplement lamp based on the distance, position or image quality of the target object in the environmental image after receiving the environmental image.

11. The light supplement control system of claim 10, wherein, The light supplement lamp control module comprises an image analysis module, which can identify the definition of the environment image, the distance between the target object in the image and the cleaning device or the position of the cleaning device relative to the cleaning device, and adjust the irradiation distance, light emitting surface or irradiation wavelength of the light supplement lamp based on the quality of the image, the distance or the position, thereby improving the quality of the environment image.

12. An automatic pool cleaning device wherein, The light supplement lamp control system of any one of claims 1-11.

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