Automatic cleaning device for pool
By using image acquisition components and controllers with different depths of field to generate movement paths in the automatic pool cleaning device, the problem of insufficient underwater recognition capability is solved, and efficient cleaning of the pool is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-12
- Publication Date
- 2026-03-17
AI Technical Summary
Existing automatic pool cleaning devices have limited underwater recognition capabilities and cannot effectively identify objects at a distance, resulting in insufficient cleaning path planning capabilities and increased cleaning time.
The system uses a first image acquisition component and a second image acquisition component to acquire images at different predetermined depths of field. The controller generates a cleaning movement path based on the images, thereby improving the recognition coverage and cleaning efficiency.
By combining image acquisition at different depths of field, accurate identification of objects at near and far distances and planning of cleaning paths are achieved, thus improving cleaning efficiency.
Smart Images
Figure CN224005438U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of cleaning device technology, and more particularly to an automatic cleaning device for water tanks. Background Technology
[0002] Automatic pool cleaning systems need to identify the environment, surrounding objects, debris, and distances during cleaning and then perform targeted cleaning. Currently, intelligent pool cleaning systems use cameras for underwater targeted cleaning. However, the underwater recognition effect is affected by the underwater camera's angle and fixed acquisition distance. Typically, it can only accurately identify and clean debris within a 2-3 meter range, and its ability to identify distant objects is weak. Therefore, this reduces the overall path planning capability of the automatic pool cleaning system and increases cleaning time. Utility Model Content
[0003] The technical problem to be solved by this application is to address the shortcomings of the prior art by providing an automatic water tank cleaning device. The device acquires images at different predetermined depths of field through a first image acquisition component and a second image acquisition component. The controller generates a cleaning movement path based on the acquired images, thereby improving the recognition coverage and planning the cleaning path, and effectively improving the cleaning efficiency.
[0004] In one aspect of this application, an automatic water tank cleaning device is provided, comprising:
[0005] The housing is provided with a water inlet. The automatic water tank cleaning device also includes a drainage device and a filter device. The drainage device is used to guide the water in the water tank through the water inlet and the filter device and then discharge it.
[0006] A first image acquisition component and a second image acquisition component, wherein the first image acquisition component is used to acquire an image at a first predetermined depth of field, and the second image acquisition component is used to acquire an image at a second predetermined depth of field, and the first predetermined depth of field and the second predetermined depth of field are different;
[0007] A controller is configured to generate a movement path for the automatic water tank cleaning device based on images acquired at a first predetermined depth of field and images acquired at a second predetermined depth of field.
[0008] Furthermore, if a first object is identified based on an image with a first predetermined depth of field, and a second object is identified based on an image with a second predetermined depth of field, the movement path includes passing through the first object first and then passing through the second object.
[0009] Furthermore, the field of view of the first image acquisition component is smaller than that of the second image acquisition component.
[0010] Furthermore, both the first image acquisition component and the second image acquisition component are disposed at the front of the housing, and the first image acquisition component and the second image acquisition component are at the same height from the bottom surface of the housing.
[0011] Furthermore, both the first image acquisition component and the second image acquisition component are disposed on the upper part of the housing.
[0012] Furthermore, the movement path of the automatic water tank cleaning device includes at least one of turning, going straight, reversing, spot cleaning, and supplementary cleaning.
[0013] Furthermore, the controller is also configured to change the power of the drainage device based on the acquired images at a first predetermined depth of field and the acquired images at a second predetermined depth of field.
[0014] Furthermore, it also includes a walking device for contacting the surface of the pool within the pool, wherein the controller is also used to change the movement of the walking device based on images acquired at a first predetermined depth of field and images acquired at a second predetermined depth of field.
[0015] Furthermore, the controller is also configured to identify the target object and calculate the orientation of the target object based on the acquired image at a first predetermined depth of field and / or the acquired image at a second predetermined depth of field.
[0016] Furthermore, the target object includes at least one of the following: pool wall, steps, wall lamp, ground lamp, branches, leaves, stones, and debris.
[0017] Furthermore, either or both of the first image acquisition component and the second image acquisition component include a binocular camera.
[0018] The embodiments described in this application have the following beneficial effects:
[0019] The automatic water tank cleaning device provided in this application acquires images at two different predetermined depths of field, namely a first predetermined depth of field and a second predetermined depth of field, through a first image acquisition component and a second image acquisition component, respectively. The controller generates a cleaning movement path based on the acquired images, which effectively improves the cleaning efficiency. Attached Figure Description
[0020] 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.
[0021] Figure 1 A schematic top view of the automatic water tank cleaning device of this application is shown;
[0022] Figure 2 A schematic left view of the automatic water tank cleaning device of this application is shown;
[0023] Figure 3 The schematic diagram illustrates the plane in which the first image acquisition component and the second image acquisition component are located in the automatic water tank cleaning device of this application;
[0024] Figure 4 The schematic diagram illustrates the field of view of the first image acquisition component and the second image acquisition component in the automatic water tank cleaning device of this application.
[0025] The above figures include the following reference numerals:
[0026] 1. Housing; 2. Inlet; 3. Drainage device; 4. Filter device; 5. First image acquisition component; 6. Second image acquisition component; 7. Controller; 8. Walking device. Detailed Implementation
[0027] The technical solutions in this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.
[0028] This application provides an automatic pool cleaning device capable of cleaning pools. The pool is, for example, a pool-shaped structure. This 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 an automatic 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 "water bottom" all refer to the bottom plane of a swimming pool. The automatic pool cleaning device of this application can have a pool bottom cleaning mode, as well as water surface cleaning mode, pool wall cleaning mode, step mode, high coverage mode, low coverage mode, high efficiency mode, and other operating modes.
[0029] The automatic water tank cleaning device of this application will now be described in detail with reference to the accompanying drawings. In the drawings, Figure 1The schematic diagram shows a top view of the automatic pool cleaning device of this application, for example, a top view of the automatic pool cleaning device located on the bottom surface of the pool;
[0030] Figure 2 The left view of the automatic pool cleaning device of this application is schematically shown, that is, the side view of the automatic pool cleaning device is schematically shown; Figure 3 The diagram schematically illustrates the plane where the first image acquisition component and the second image acquisition component are located in the automatic pool cleaning device of this application; that is, it schematically illustrates the front surface of the automatic pool cleaning device of this application. Figure 4 The schematic diagram illustrates the field of view of the first image acquisition component and the second image acquisition component in the automatic water tank cleaning device of this application.
[0031] like Figures 1 to 3 As shown, the automatic water tank cleaning device includes: a housing 1, on which a water inlet 2 is provided; the automatic water tank cleaning device also includes a drainage device 3 and a filter device 4, wherein the drainage device 3 is used to guide water in the water tank through the water inlet 2 and the filter device 4 and then discharge it. The automatic water tank cleaning device also includes a first image acquisition component 5 and a second image acquisition component 6, wherein the first image acquisition component 5 is used to acquire an image at a first predetermined depth of field, and the second image acquisition component 6 is used to acquire an image at a second predetermined depth of field, and the first predetermined depth of field and the second predetermined depth of field are different. The automatic water tank cleaning device also includes a controller 7, which is used to generate a movement path for the automatic water tank cleaning device based on the acquired images at the first predetermined depth of field and the acquired images at the second predetermined depth of field.
[0032] Specifically, the housing 1 is the main part of the automatic water tank cleaning device, providing physical protection for other components and serving as a support point for installation and fixation. This ensures that the internal components of the automatic water tank cleaning device maintain a stable structural relationship during operation and are protected from damage by external impacts and water erosion. The housing 1 is equipped with a water intake 2, which provides a channel for water from the water tank to enter the interior of the automatic water tank cleaning device. The automatic water tank cleaning device also includes a drainage device 3 and a filtration device 4. The drainage device 3 draws water from the water tank through the water intake 2, flows through the filtration device 4, and then discharges it.
[0033] The drainage device 3 is, for example, a water pump, and the filter device 4 can be a filter screen, a filter basket, or other structures with filtration functions. This application does not limit the structure or type of the drainage device 3 and the filter device 4. Those skilled in the art can configure the drainage device 3 and the filter device 4 according to the principles of this application, as long as the technical principles of this application are implemented. Unless otherwise specified below, a water pump will be used as an example of the drainage device 3, and a filter basket will be used as an example of the filter device 4.
[0034] When the automatic pool cleaning device is in pool bottom mode, the water in the pool enters the automatic pool cleaning device through the water inlet 2. Various impurities in the water, such as twigs, leaves, and paper scraps, are trapped in the filter device 4. The filtered clean water is discharged from the automatic pool cleaning device by the water pump and returns to the pool. This cycle is repeated to clean the pool.
[0035] It should be noted that the position and height of the suction port 2 on the housing 1 are not limited in this application, but can be set according to actual use needs, as long as the technical principle of this application can be realized. The shape of the suction port 2 can be elongated, square, grid-shaped, porous, flared, or channel-type, or other shapes set according to function; the structure of the suction port 2 can be open, or it can be equipped with a movable baffle or valve. This application does not limit the specific shape and structure of the suction port 2. Those skilled in the art can set the suction port 2 according to the principle of this application, as long as the technical principle of this application can be realized.
[0036] like Figure 1 As shown, the automatic pool cleaning device also includes a first image acquisition component 5, a second image acquisition component 6, and a controller 7. The first image acquisition component 5 is used to acquire images at a first predetermined depth of field, and the second image acquisition component 6 is used to acquire images at a second predetermined depth of field, wherein the first predetermined depth of field and the second predetermined depth of field are different. The controller 7 is used to generate a movement path for the automatic pool cleaning device based on the acquired images at the first and second predetermined depths of field.
[0037] The controller 7 is further configured to identify target objects and calculate the orientation of the target objects based on images acquired at a first predetermined depth of field and / or images acquired at a second predetermined depth of field. The target objects include at least one of the following: pool walls, steps, wall lamps, ground lamps, tree branches, leaves, stones, and debris.
[0038] The first image acquisition component 5 and the second image acquisition component 6 acquire images at different predetermined depths of field. For example, the first image acquisition component 5 acquires images at near depth of field, and the second image acquisition component 6 acquires images at far depth of field. The two image acquisition components work together to achieve both accurate acquisition and recognition of images within a relatively small depth of field (i.e., near depth of field) and coarse positioning of images within a relatively large depth of field (i.e., far depth of field). Compared to robots that can only acquire images at a fixed depth of field, the automatic pool cleaning device of this application, by setting up two image acquisition components capable of acquiring images at different depths of field, effectively acquires both near and far images by utilizing the combined effect of the two image acquisition components, thus improving the recognition coverage.
[0039] The controller 7 can perform image processing based on the acquired images at a first predetermined depth of field and a second predetermined depth of field to control the movement of the automatic pool cleaning device or generate the movement path of the automatic pool cleaning device. The controller 7 can also identify target objects and calculate the location of the target objects based on the acquired images at the first predetermined depth of field and / or the second predetermined depth of field. For example, if the acquired images at the first and second predetermined depths of field have different depths of field (i.e., different acquisition ranges, including images of nearby and distant objects), the controller 7 can identify the target objects contained in the acquired images based on the images of nearby and / or distant objects. The target objects can be objects that need to be cleaned, such as at least one of leaves, branches, and paper scraps, or objects that affect the movement of the automatic pool cleaning device, such as at least one of pool walls, steps, wall lamps, and ground lamps. Furthermore, the controller 7 can also calculate the orientation of the target object and control the movement of the automatic cleaning device of the pool or plan the movement path according to the orientation of the target object. In this way, it can realize the overall planning of the cleaning path, clean the target objects that need to be cleaned at near and far distances, and determine whether the garbage has been cleaned after the cleaning task is completed, thus improving cleaning efficiency.
[0040] The movement path of the automatic water tank cleaning device includes at least one of turning, moving straight, reversing, spot cleaning, and supplementary cleaning. That is, the movement path can be any one of turning, moving straight, reversing, spot cleaning, and supplementary cleaning, or a combination of two, three, or four of these actions. This application does not impose any specific limitations. For example, the controller 7 identifies the target object to be cleaned and its location based on images at the first and second predetermined depths of field, and plans the movement path of the automatic pool cleaning device. It can control the automatic pool cleaning device to move straight to the nearest target object for cleaning; it can turn before moving straight again if the actual orientation of the automatic pool cleaning device differs from the planned movement path; it can also control the automatic pool cleaning device to retreat and bypass obstacles such as steps during movement before performing the cleaning task; it can control the automatic pool cleaning device to perform spot cleaning when the controller 7 identifies a small number of target objects to be cleaned; and after performing the cleaning task, the controller 7 can identify any missed cleaning areas based on the collected images and control the automatic pool cleaning device to perform supplementary cleaning.
[0041] It is understood that the first image acquisition component 5 and the second image acquisition component 6 can be equipped with an optical system, including components such as a lens, an image sensor, an image signal processor (ISP), and control circuitry. The lens focuses and images the external scene by refracting light. The image sensor performs photoelectric conversion, converting the light signal into an electrical signal. Then, the image sensor reads the electrical signal of the pixel unit using progressive or interlaced scanning. The electrical signal is converted into a digital signal by an analog-to-digital converter. The digital signal is then processed by the image signal processor for noise reduction, color correction and enhancement, resolution adjustment, and scaling. The image data processed by the image signal processor is output in a specific format (e.g., JPEG, PNG, etc.).
[0042] The first image acquisition component 5 and the second image acquisition component 6 may also include supplementary lighting to optimize image quality and improve recognition accuracy.
[0043] The term "depth of field" refers to the range of distances in front of and behind an object that an image acquisition device can clearly capture in an image during the imaging process. In other words, when an image acquisition device focuses on an object on a specific plane, that object will appear with a clear outline and details in the image. However, there is also a certain range of objects in front of and behind the focusing plane that will also remain relatively clear in the image; this range is the depth of field. The magnitude of the depth of field is related to the aperture, focal length, and shooting distance of the image acquisition device.
[0044] Controller 7 is typically based on microprocessor or single-chip microcomputer technology. It receives signals from various sensors (such as distance sensors, water level sensors, water quality sensors, etc.) through an input interface, analyzes and processes these signals, and sends control signals to the execution unit (such as the drive unit, drainage device, etc.) to enable it to execute. Controller 7 can be at least one of the following: single-chip microcomputer-based controller, PLC controller, intelligent controller, or other structures that can implement the functions of controller 7.
[0045] It should be understood that the above description of the components and functions of the first image acquisition component 5, the second image acquisition component 6, and the controller 7 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 image acquisition components, controllers, and their structures, parameters, and functions according to actual needs, as long as the principle of this application can be achieved.
[0046] If a first object is identified based on an image with a first predetermined depth of field, and a second object is identified based on an image with a second predetermined depth of field, the movement path includes passing through the first object first and then passing through the second object.
[0047] Specifically, if the automatic pool cleaning device identifies a first object based on an image at a first predetermined depth of field and a second object based on an image at a second predetermined depth of field, and both the first and second objects are identified objects that need to be cleaned, then the automatic pool cleaning device plans a movement path according to the images to clean the objects. This movement path includes passing through the first object first and then the second object, thereby achieving the cleaning of the target objects. However, passing through the first object first and then the second object is merely one example of the movement path in this application. This application does not specifically limit the movement path; those skilled in the art can set it according to actual needs, as long as it meets the technical principles of this application.
[0048] Figure 4 An example of the field of view of the two image acquisition components described above is shown. Figure 4 As shown, the field of view of the first image acquisition component 5 is smaller than that of the second image acquisition component 6.
[0049] The term "field of view" refers to the maximum angular range that can be effectively imaged on the imaging plane of an image acquisition component. Specifically, it's the angle formed by the two edges of the maximum range through which the image of the target object can pass through the lens, with the lens as the vertex. A smaller field of view allows objects to occupy a larger proportion of the image, presenting details of distant objects more clearly, while a larger field of view allows for a wider scene range, suitable for large-scale acquisition and recognition of nearby objects. The size of the field of view is related to the lens focal length. The field of view of the first image acquisition component 5 is smaller than that of the second image acquisition component 6. The first image acquisition component 5 is used to acquire distant images and to acquire and recognize distant targets that need to be cleared. The second image acquisition component 6 is used for accurate recognition of nearby targets that need to be cleared. The combined use of the first and second image acquisition components 5 and 6 improves the recognition coverage.
[0050] like Figures 1 to 3 As shown, the first image acquisition component 5 and the second image acquisition component 6 are both disposed at the front of the housing 1, and the first image acquisition component 5 and the second image acquisition component 6 are at the same height from the bottom surface of the housing 1.
[0051] To acquire images of the area in front of the automatic water tank cleaning device, the first image acquisition component 5 and the second image acquisition component 6 are disposed at the front of the housing 1. This allows the first image acquisition component 5 and the second image acquisition component 6 to acquire and identify images of the area in front of and / or to the side of the automatic water tank cleaning device. The first image acquisition component 5 and the second image acquisition component 6 can be located at any position on the front of the housing 1, such as any position on the front of the housing 1, or on the left or right sides or top of the housing 1 near the front.
[0052] In one scenario, the first image acquisition component 5 and the second image acquisition component 6 are at the same height from the bottom surface of the housing 1. That is, the line connecting the optical centers of the first image acquisition component 5 and the second image acquisition component 6 is parallel to the bottom surface of the housing 1, placing them at the same height relative to the ground. By setting the positions of the first image acquisition component 5 and the second image acquisition component 6, maintaining a certain baseline distance (i.e., the distance between the optical centers of the two image acquisition components) and relative orientation, and ensuring that their lines of sight are parallel, the accuracy of subsequent parallax calculations is effectively guaranteed.
[0053] Figure 3 This is a schematic diagram illustrating the exemplary locations of the two image acquisition components described above. For example... Figure 3As shown, both the first image acquisition component 5 and the second image acquisition component 6 are disposed on the upper part of the housing 1. Specifically, the first image acquisition component 5 and the second image acquisition component 6 are disposed on the upper part of the housing 1, which can be the upper part of the front of the housing 1, the upper part of the left or right side of the housing 1, the top of the housing 1, or the junction of the top and the front of the housing 1. This application does not limit the specific position of the first image acquisition component 5 and the second image acquisition component 6 on the upper part of the housing 1, as long as it meets the technical principles of this application.
[0054] The controller 7 is also used to change the power of the drainage device 3 according to the acquired first predetermined depth of field image and the acquired second predetermined depth of field image.
[0055] The controller 7 can identify the specific details of the corresponding region based on the acquired images at the first predetermined depth of field and the second predetermined depth of field. For example, it can identify target objects within the region and calculate their location. When the controller 7 identifies a large number of target objects that need to be cleaned based on the acquired images, the controller 7 changes the power of the drainage device 3. For example, in the boat mode, the power of the drainage device 3 can be increased to accelerate its reach to the target objects and achieve rapid cleaning.
[0056] It should be noted that the specific changes and results of the controller 7 changing the power of the drainage device 3 can be set according to actual needs. For example, the power can be increased or decreased. This application does not limit this, as long as it meets the technical principles of this application.
[0057] like Figure 1 As shown, the automatic cleaning device for the pool may further include a walking device 8, which can contact the surface of the pool inside the pool. The controller 7 is also used to change the movement of the walking device 8 according to the acquired images of a first predetermined depth of field and a acquired image of a second predetermined depth of field.
[0058] For example, the walking device 8 can contact the bottom surface, wall surface, and water surface of the pool, thereby enabling the automatic pool cleaning device to move. Taking a tracked walking device as an example, it can include components such as tracks, drive wheels, a motor, and guide wheels. The tracks contact the bottom surface of the pool, the motor rotates to drive the drive wheels, and the meshing between the drive wheels and the tracks causes the tracks to move, thus propelling the cleaning device forward or backward. The automatic pool cleaning device achieves movement within the pool through the walking device 8. The walking device 8 is electrically connected to the controller 7. The controller 7 plans a movement path based on images acquired at a first predetermined depth of field and images acquired at a second predetermined depth of field. The walking device 8 moves according to the planned movement path based on control commands from the controller 7. When the controller 7 changes the current path based on the acquired images during movement, the controller 7 can change the movement direction and / or movement path of the automatic pool cleaning device through the walking device 8.
[0059] It should be noted that the tracked walking device is merely one example of the walking device 8. The walking device 8 can also be at least one of a wheeled walking device or a suction cup walking device, or any other structure capable of enabling the automatic cleaning device of the pool to contact and move with the surface of the pool. This application does not limit the structure and type of the walking device 8. Those skilled in the art can configure the walking device 8 according to the principles of this application, as long as the technical principles of this application are achieved.
[0060] The composition and principle of controller 7 have been described in detail in the foregoing embodiments, and will not be repeated here.
[0061] In one example, either the first image acquisition component 5 or the second image acquisition component 6 includes a binocular camera. That is, only the first image acquisition component 5 includes a binocular camera, or the second image acquisition component 6 includes a binocular camera, or both the first image acquisition component 5 and the second image acquisition component 6 include binocular cameras.
[0062] A binocular camera mainly consists of two cameras, an image sensor, a lens, and a control circuit. It primarily uses two cameras to capture images of the same object from different angles, creating images with parallax. It then employs feature extraction algorithms to extract representative feature points or regions. Through a stereo matching algorithm, it finds corresponding feature points in the two images, establishing a correspondence between them. Based on the corresponding points obtained from stereo matching, it uses the principle of triangulation to calculate the depth information of the object, thus achieving three-dimensional perception.
[0063] It should be understood that the above description of the components and functions of the binocular camera 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 components, parameters, and functions according to actual needs, as long as the principle of this application can be achieved.
[0064] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments.
[0065] 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.
[0066] 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.
[0067] 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.
[0068] The above description is merely an exemplary embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope described in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. An automatic pool cleaning device, comprising: a housing (1) provided with a water suction port (2), the automatic pool cleaning device further comprising a water discharge device (3) for discharging water in a pool via the water suction port (2) and a filter device (4), and a first image acquisition assembly (5) and a second image acquisition assembly (6), wherein the first image acquisition assembly (5) is configured to acquire images of a first predetermined depth of field, the second image acquisition assembly (6) is configured to acquire images of a second predetermined depth of field, and the first predetermined depth of field is different from the second predetermined depth of field, a controller (7) configured to generate a movement path of the automatic pool cleaning device based on the acquired images of the first predetermined depth of field and the acquired images of the second predetermined depth of field.
2. The pool cleaning apparatus of claim 1, wherein, If a first object is identified based on the images of the first predetermined depth of field and a second object is identified based on the images of the second predetermined depth of field, the movement path comprises passing the first object first and then the second object.
3. The pool cleaning apparatus of claim 1, wherein, A field of view of the first image acquisition assembly (5) is smaller than a field of view of the second image acquisition assembly (6).
4. The pool cleaning apparatus of claim 1, wherein, The first image acquisition assembly (5) and the second image acquisition assembly (6) are both arranged at a front portion of the housing (1), and the first image acquisition assembly (5) and the second image acquisition assembly (6) are arranged at a same height from a bottom surface of the housing (1).
5. The pool cleaning apparatus of claim 1, wherein, The first image acquisition assembly (5) and the second image acquisition assembly (6) are both arranged at an upper portion of the housing (1).
6. The pool cleaning apparatus of any one of claims 1-5, wherein, The movement path of the automatic pool cleaning device comprises at least one of a turning, a straight movement, a backward movement, a spot cleaning, and a supplementary cleaning.
7. The pool cleaning apparatus of any one of claims 1-5, wherein, The controller (7) is further configured to change a power of the water discharge device (3) based on the acquired images of the first predetermined depth of field and the acquired images of the second predetermined depth of field.
8. The pool cleaning apparatus of any one of claims 1-5, wherein, The automatic pool cleaning device further comprises a walking device (8) configured to contact a surface of the pool, wherein the controller (7) is further configured to change a movement of the walking device (8) based on the acquired images of the first predetermined depth of field and the acquired images of the second predetermined depth of field.
9. The pool cleaning apparatus of any one of claims 1-5, wherein, The controller (7) is further configured to identify a target object and calculate a position of the target object based on the acquired images of the first predetermined depth of field and / or the acquired images of the second predetermined depth of field.
10. The pool cleaning apparatus of claim 9, wherein, The target object comprises at least one of a pool wall, a step, a wall lamp, a floor lamp, a branch, a leaf, a stone, and a debris.
11. The pool cleaning apparatus of any one of claims 1-5, wherein, The first image acquisition assembly (5) and the second image acquisition assembly (6) both or one of the first image acquisition assembly (5) and the second image acquisition assembly (6) comprises a binocular camera.