Cleaning method and device, electronic equipment, storage medium and vehicle

Abstract

The invention provides a cleaning method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of vehicles. The method comprises the following steps: carrying out stain identification on a target image corresponding to the windshield glass; determining a first position of the stain in the windshield glass under the condition of identifying that the stain exists in the target image; the spraying point of the cleaning equipment is adjusted to the first position, the cleaning equipment is controlled to spray the cleaning liquid, the cleaning liquid can be accurately sprayed on the stains by adjusting the rotating angle of the spraying point, and the effect of rapidly cleaning the stubborn stains on the windshield glass is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a cleaning method, a device, an electronic device, a storage medium and a vehicle. Background Art

[0002] Since cars will be stained with fallen leaves, dust and other stains during daily use, the windshield is prone to problems such as blurred mirror surface. The cleanliness of the car windshield can determine whether the driver's vision is clear or not. Once there are many stains on the windshield, it will affect the driver's driving vision and thus affect driving safety.

[0003] At present, the cleaning equipment of automobile windshields cleans the stains through fixed spray points, and then uses the wipers to clean. However, in daily driving, the surface of the windshield may have stubborn stains that are difficult to clean with wipers, such as shellac formed by hitting small flying insects, which affects the driving safety of the driver. Summary of the invention

[0004] The present disclosure provides a cleaning method, a device, an electronic device, a storage medium and a vehicle.

[0005] According to a first aspect of the present disclosure, a cleaning method is provided, the method comprising: identifying stains on a target image corresponding to a windshield; determining a first position of the stains in the windshield when stains are identified in the target image; adjusting a spray point of a cleaning device to the first position, and controlling the cleaning device to spray cleaning liquid.

[0006] In some embodiments, determining a first position of a stain in a windshield includes: determining a second position corresponding to the stain in a target image; and converting the second position into a first position in the windshield based on a mapping relationship between a second coordinate system corresponding to the target image and a first coordinate system corresponding to the windshield.

[0007] In some embodiments, adjusting the spray point of the cleaning device to the first position includes: determining a first reference position of the cleaning device corresponding to the first position based on a mapping relationship between a first coordinate system corresponding to the windshield and a third coordinate system corresponding to the cleaning device; determining a rotation angle of the cleaning device based on the first reference position; and controlling the rotation angle of the cleaning device to align the spray point of the cleaning device with the first position.

[0008] In some embodiments, the spray point of the cleaning device is adjusted to a first position, and the cleaning device is controlled to spray cleaning liquid. Thereafter, the method further includes: controlling the spray point of the cleaning device to rotate uniformly from a first angle to a second angle, and controlling the cleaning device to spray cleaning liquid during the rotation process.

[0009] In some embodiments, the method further includes: determining whether the stain satisfies a preset parameter adjustment condition of the cleaning device; and adjusting a spray parameter of the cleaning device if the stain satisfies the preset parameter adjustment condition.

[0010] In some embodiments, the preset parameter adjustment condition includes that the type of stain satisfies a preset type; wherein the spray parameter includes the spray pressure, and adjusting the spray parameter of the cleaning device includes: determining the spray pressure of the cleaning device based on the type of stain.

[0011] In some embodiments, the preset parameter adjustment condition includes the size of the stain satisfying a preset threshold; wherein the spraying parameters include a rotation angle range and / or a spraying pressure, and adjusting the spraying parameters of the cleaning device includes: determining the spraying range of the cleaning device based on the size of the stain; determining the rotation angle range and / or the spraying pressure of the cleaning device based on the spraying range.

[0012] According to an embodiment of the present disclosure, stains are identified on a target image corresponding to the windshield; when stains are identified in the target image, a first position of the stains in the windshield is determined; the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray cleaning liquid. By adjusting the angle of the spray point, the cleaning liquid can be accurately sprayed on the stains, thereby achieving the effect of quickly cleaning stubborn stains on the windshield.

[0013] According to a second aspect of the present disclosure, a cleaning device is provided, which includes: an identification unit for identifying stains on a target image corresponding to a windshield; a determination unit for determining a first position of the stain in the windshield when stains are identified in the target image; and an adjustment unit for adjusting a spray point of the cleaning device to the first position and controlling the cleaning device to spray cleaning liquid.

[0014] According to an embodiment of the present disclosure, stains are identified on a target image corresponding to the windshield; when stains are identified in the target image, a first position of the stains in the windshield is determined; the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray cleaning liquid. By adjusting the rotation angle of the spray point, the cleaning liquid can be accurately sprayed on the stains, thereby achieving the effect of quickly cleaning stubborn stains on the windshield.

[0015] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0016] at least one processor; and

[0017] a memory communicatively connected to at least one processor; wherein,

[0018] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to execute the method of the first aspect described above.

[0019] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the method of the aforementioned first aspect.

[0020] According to a fifth aspect of the present disclosure, a vehicle is provided, comprising the cleaning device according to the second aspect or the electronic device according to the third aspect.

[0021] According to an embodiment of the present disclosure, stains are identified on a target image corresponding to the windshield; when stains are identified in the target image, a first position of the stains in the windshield is determined; the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray cleaning liquid. By adjusting the angle of the spray point, the cleaning liquid can be accurately sprayed on the stains, thereby achieving the effect of quickly cleaning stubborn stains on the windshield.

[0022] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0024] Figure 1 A schematic diagram of a cleaning method provided in an embodiment of the present disclosure;

[0025] Figure 2 A schematic diagram of a cleaning method provided in an embodiment of the present disclosure;

[0026] Figure 3 A schematic diagram of a cleaning system provided in an embodiment of the present disclosure;

[0027] Figure 4 A schematic flow chart of a specific cleaning method provided in an embodiment of the present disclosure;

[0028] Figure 5 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present disclosure;

[0029] Figure 6 A schematic block diagram of an exemplary electronic device 600 provided for an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0031] A cleaning method, device, electronic device, and storage medium according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0032] Since cars will be stained with fallen leaves, dust and other stains during daily use, the windshield is prone to problems such as blurred mirror surface. The cleanliness of the car windshield can determine whether the driver's vision is clear or not. Once there are many stains on the windshield, it will affect the driver's driving vision and thus affect driving safety.

[0033] At present, the cleaning equipment of automobile windshields cleans stains through fixed spray points, and then uses wipers to wipe water to clean. However, in daily driving, stubborn stains that are difficult to clean with wipers may remain on the surface of the windshield, such as shellac formed by hitting small flying insects, which affects the driver's driving safety. Even if the driver stops the car to clean it, it takes a long time to clean it manually, which is a poor user experience.

[0034] In response to the problems of the above-mentioned related technologies, the cleaning method disclosed in the present invention can adjust the angle of the spray point of the cleaning equipment to perform precise high-pressure spray cleaning on the stubborn stains that are difficult to clean on the windshield, thereby ensuring driving safety and eliminating the inconvenience of the driver getting off the vehicle for manual cleaning.

[0035] A cleaning method, device, electronic device, storage medium and program product proposed in the present disclosure are described in detail below with reference to the accompanying drawings.

[0036] Figure 1 A schematic diagram of a cleaning method provided by an embodiment of the present disclosure. Figure 1 As shown, the method is applied to a vehicle, and the method comprises the following steps:

[0037] Step 101 : performing stain recognition on a target image corresponding to the windshield.

[0038] In one implementation of the present disclosure, the target image refers to an input image that has been corrected, wherein the input image is acquired by an image acquisition device, which may specifically be a camera. The number of image acquisition devices may be one or more, which is not limited in the present disclosure.

[0039] Stains refer to stains located on the windshield of a vehicle, and the stain can be a point or an area, wherein the windshield includes the front windshield and the rear windshield of the vehicle.

[0040] The stains are identified by using image recognition technology, which refers to image processing technology. Image recognition can be used to determine the first position of the first feature, the size of the area to be processed, and the type of the first feature. Image recognition can specifically be brightness grayscale recognition or graphic feature recognition, which is not limited in the present disclosed embodiment and is determined based on actual needs.

[0041] Step 102 : when it is recognized that there is a stain in the target image, determine a first position of the stain in the windshield.

[0042] In one implementation of the present disclosure, the first position refers to the specific position of the stain on the front windshield or rear windshield of the vehicle. The first position is determined by performing coordinate conversion based on the coordinates in the target image and the coordinates in the windshield area.

[0043] It can be understood that the target image is obtained by collecting an input image of the windshield area of ​​the vehicle and performing correction processing on the input image.

[0044] Step 103, adjusting the spraying point of the cleaning device to a first position, and controlling the cleaning device to spray the cleaning liquid.

[0045] In one embodiment of the present disclosure, one or more cleaning devices are rotated according to the first position so that the spray point of the cleaning device is directed toward the first position. The cleaning device may specifically refer to a spray head, and the spray point refers to a port on the spray head for spraying the cleaning liquid. The rotation of the cleaning device is achieved by a rotating shaft.

[0046] It should be noted that the cleaning device sprays the cleaning liquid at a certain pressure, and the spraying pressure can be adjusted according to the actual stains.

[0047] Therefore, according to an embodiment of the present disclosure, stains are identified on a target image corresponding to the windshield; when stains are identified in the target image, a first position of the stains in the windshield is determined; the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray cleaning liquid. By adjusting the rotation angle of the spray point, the cleaning liquid can be accurately sprayed on the stains, thereby achieving the effect of quickly cleaning stubborn stains on the windshield.

[0048] Figure 2 A schematic flow chart of a cleaning method provided in an embodiment of the present disclosure. Figure 2 based on Figure 1In the embodiment shown, step 101, step 102 and step 103 are further defined. Figure 2 In the embodiment shown, step 101 includes step 201 and step 202, step 102 includes step 203, step 204, and step 205, and step 103 includes step 207. Figure 2 As shown, the method includes the following steps.

[0049] Step 201 : collecting an input image of a windshield area of ​​a vehicle.

[0050] In some embodiments of the present disclosure, an image of a front windshield or rear windshield area of ​​a vehicle is captured by one or more cameras, and the image is an input image.

[0051] Among them, one or more cameras are in-vehicle camera components, specifically short-focus wide-angle cameras, which can be arranged above the front dashboard of the vehicle, with a field of view toward the sky covering the windshield area, and the focus of the camera is located at the windshield.

[0052] Step 202: perform correction processing on the input image to obtain a target image, wherein the correction processing includes distortion correction.

[0053] In some embodiments of the present disclosure, since the fisheye effect will cause image distortion when the image acquisition device acquires a larger field of view, it is necessary to perform distortion correction on the acquired input image to eliminate the surrounding image distortion and restore the image to a high-quality shooting effect without distortion without losing image quality. The fisheye effect refers to the obvious distortion of the image captured by the camera, which makes the image distorted and affects the monitoring effect.

[0054] It should be noted that the correction processing of the input image is not limited to distortion correction, and the input image can also be subjected to image enhancement processing such as anti-shake and color correction.

[0055] Step 203: determine a region to be processed of the target image, where the region to be processed includes stains.

[0056] In some embodiments of the present disclosure, feature recognition is performed on the target image after correction processing. If a certain area is identified as having obvious stains, then the area is the area to be processed, wherein the size of the area to be processed is set according to the actual situation. The windshields of different vehicles have different sizes, so their areas to be processed may also be different, which is not limited in the embodiments of the present disclosure.

[0057] Image recognition specifically refers to graphic feature recognition, or brightness grayscale recognition, etc., and its specific threshold needs to be determined through calibration, which is not limited in the embodiments of the present disclosure.

[0058] Step 204, determining a second position corresponding to the stain in the area to be processed.

[0059] In some embodiments of the present disclosure, the position coordinates of the stain in the target image are calculated by a target detection and positioning algorithm, wherein the target detection and positioning algorithm may first select a region of the target image, extract features in the region, and then classify the type of the stain and the position coordinates of the stain on the target image through a classifier.

[0060] Step 205 : converting the second position into the first position in the windshield according to the mapping relationship between the second coordinate system corresponding to the target image and the first coordinate system corresponding to the windshield.

[0061] In some embodiments of the present disclosure, the position coordinates determined in step 204 are converted into position coordinates of the stain on the windshield of the vehicle.

[0062] Coordinate conversion is the process of transforming from one coordinate system to another. The mapping relationship between the second position and the first position is achieved by establishing a one-to-one correspondence between the two coordinate systems, that is, establishing a correspondence between the coordinate system on the first image and the coordinate system on the windshield of the vehicle, and determining the first position corresponding to the second position through the correspondence.

[0063] Step 206, adjusting the spray point of the cleaning device to a first position, and controlling the cleaning device to spray the cleaning liquid.

[0064] In some embodiments of the present disclosure, a first reference position of the cleaning device corresponding to the first position is determined based on a mapping relationship between a first coordinate system corresponding to the windshield and a third coordinate system corresponding to the cleaning device; a rotation angle of the cleaning device is determined based on the first reference position; and the rotation angle of the cleaning device is controlled so that the spray point of the cleaning device is aligned with the first position.

[0065] The rotation angle is specifically obtained by converting the coordinate system on the vehicle windshield to the coordinate system of the cleaning device. In other words, the position coordinates in the coordinate system are obtained through the correspondence between the coordinate system on the vehicle windshield and the coordinate system of the cleaning device, that is, the first reference position of the cleaning device is determined, and the rotation angle of the cleaning device is determined according to the difference between the current aiming position of the cleaning device and the first reference position, so as to control the cleaning device to rotate by the rotation angle. BCM controls the cleaning device (cleaning nozzle) to rotate to the position coordinates in the coordinate system, and accurately sprays the stains with high pressure, thereby quickly completing the focused cleaning of large stains.

[0066] Among them, the BCM on the car is the body control module, which mainly controls the electrical appliances of the car body, such as vehicle lights, wipers, washing, door locks, electric windows, sunroofs, electric rearview mirrors, remote controls, etc. The switch signals of these electrical appliances are input to the BCM, and the BCM controls the operation of the corresponding electrical appliances directly or through relays.

[0067] In addition, before the cleaning device sprays the cleaning liquid on the first position, it can be determined whether the stain meets the preset parameter adjustment condition of the cleaning device; when the stain meets the preset parameter adjustment condition, the spray parameter of the cleaning device is adjusted, and then the cleaning device is controlled to spray the cleaning liquid according to the adjusted spray parameter. The spray parameter may include spray pressure and spray range; the preset parameter adjustment condition may include at least one of the type of the stain meeting the preset type and the size of the stain meeting the preset threshold. When the type of the stain meets the preset type, the spray pressure of the cleaning device is determined based on the type of the stain, and the spray pressure can be precisely controlled according to the type of the stain to improve the spray efficiency and achieve the effect of efficient cleaning. When the size of the stain meets the preset threshold, the spray range of the cleaning device is determined based on the size of the stain; based on the spray range, the rotation angle and / or spray pressure of the cleaning device are determined so that the cleaning liquid of the cleaning device covers the spray range, and the corresponding spray pressure is determined by the type of the stain and the size of the stain for spraying, which can improve the spray efficiency and achieve the effect of efficient cleaning. In other words, the type of stain or the size of the stain can be determined by image recognition to adjust the spray pressure or the spray range.

[0068] When there are multiple preset types of stains, each preset type can correspond to a different spray pressure, that is, the type of the current stain is first identified. If the type of the stain meets one of the current preset types, it is necessary to determine the pressure corresponding to the current preset type and use the pressure as the spray pressure. When there are multiple preset types of stains, multiple preset types can also correspond to the same spray pressure, that is, the type of the current stain can be directly identified. If the stain meets the preset type, the pressure corresponding to the preset type is directly used as the spray pressure.

[0069] For example, stubborn stains such as gum and bird droppings, etc., and easier-to-clean stains such as water stains and dust, etc. Stubborn stains and easier-to-clean stains can be classified as the same type, that is, the stubborn stains and easier-to-clean stains have the same corresponding spray pressure; or stubborn stains and easier-to-clean stains can have different corresponding spray pressures, for example, stubborn stains have a higher corresponding spray pressure, and easier-to-clean stains have a lower corresponding spray pressure, and the currently required spray pressure is determined based on the specific identification results. This can achieve the purpose of accurately removing stains and improving cleaning efficiency.

[0070] In the present disclosure, when the size of the stain meets a preset threshold, the range of the rotation angle of the cleaning device can be determined based on the size information of the stain, and the rotation angle of the cleaning device can be adjusted to control the cleaning device to perform high-pressure cleaning within this range. The size information of the stain may include the area, length, width, etc. of the stain. For stains that are too large, the spray pressure can be increased to a smaller or larger extent, and for stains that are smaller in size, the spray pressure can be increased to a larger or smaller extent. The degree of the spray pressure can be set according to actual needs and is not limited in the embodiments of the present disclosure.

[0071] Specifically, when the maximum length and maximum width of the detected stain meet the preset threshold, the longitudinal starting position and the lateral starting position of the current stain on the windshield can be determined based on the correspondence between the target image and the windshield coordinate system, and the rectangular range of the current stain can be determined based on the longitudinal starting position and the lateral starting position. Then, based on the correspondence between the coordinate system of the current windshield and the coordinate system of the cleaning device, the lateral starting reference point and the longitudinal starting reference point of the cleaning device corresponding to the rectangular range are determined, and the angle range required for the cleaning device to rotate is determined based on the lateral starting reference point and the longitudinal starting reference point. At the same time, the required injection pressure can be determined based on the size of the rectangular range of the current stain, so as to inject the cleaning liquid.

[0072] In addition, the size of the spray point, that is, the size of the cleaning liquid that can be sprayed by the nozzle, can also be adjusted according to the size of the stain.

[0073] Step 207 , controlling the spray point of the cleaning device to rotate uniformly from the first angle to the second angle, and controlling the cleaning device to spray the cleaning liquid during the rotation process.

[0074] In some embodiments of the present disclosure, the first angle may be an angle corresponding to the starting position of the current vehicle windshield, and the second angle may be an angle corresponding to the end position of the current vehicle windshield. The starting position and the end position are both boundary points of the windshield, so that the cleaning liquid is sprayed evenly on the windshield.

[0075] BCM controls the cleaning device to spray the entire windshield evenly, so as to achieve overall cleaning. That is, after cleaning the precise stain point, BCM controls the spray point of the cleaning device to spray the cleaning liquid evenly from left to right or from right to left. Then BCM controls the wiper to wipe and clean.

[0076] It can be understood that, in the present disclosure, high-pressure spraying can be used to remove stains, and ordinary spraying can be used to sweep the entire glass. Ordinary spraying refers to a spraying method with a low spraying pressure.

[0077] To summarize, according to the embodiments of the present disclosure, an input image of the windshield area of ​​the vehicle is collected, and the input image is corrected to obtain a target image, the correction processing includes distortion correction, and the area to be processed of the target image is determined, the area to be processed includes stains, and according to the mapping relationship between the second coordinate system corresponding to the target image and the first coordinate system corresponding to the windshield, the second position is converted to the first position in the windshield, the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray the cleaning liquid, the spray point of the cleaning device is controlled to rotate at a uniform speed from the first angle to the second angle, and the cleaning device is controlled to spray the cleaning liquid during the rotation process, which can perform precise high-pressure spray cleaning on the stubborn stains on the windshield that are difficult to clean, and the cleaning effect is better, thereby ensuring driving safety and avoiding the inconvenience of the driver getting off the vehicle for manual cleaning.

[0078] based on Figure 1 and Figure 2 A cleaning method is proposed, the present disclosure provides a schematic diagram of a cleaning system, such as Figure 3 As shown:

[0079] In some embodiments of the present disclosure, the cleaning system is mainly composed of one or more in-vehicle cameras and an angle-adjustable cleaning device.

[0080] Among them, the cleaning equipment can specifically be a cleaning liquid nozzle, which can be arranged on the front hood or in the area below the front of the windshield, which can be determined according to the specific vehicle model and is not limited in the disclosed embodiment. It can rotate a certain angle with "rotating shaft 1" and "rotating shaft 2" as the axis, so that the injection point (nozzle) can be aligned with any point of the windshield in the spherical coordinate system. The rotary mechanism can adopt a gear ring structure or an outer rotor motor structure, a crank connecting rod structure, etc., and there is no specific limitation here. The injection point is a focused nozzle, and the high-pressure cleaning liquid can be sprayed out in a straight line in the direction pointed by the injection point.

[0081] The in-vehicle camera assembly can be a short-focus wide-angle camera, which can be arranged above the front dashboard, with its field of view toward the sky and covering the windshield area, and its focus point is located at the windshield.

[0082] In summary, a cleaning equipment solution with two degrees of freedom and adjustable angle is proposed, which makes high-pressure jet cleaning at specific points feasible and improves the cleaning ability for stubborn stains.

[0083] based on Figure 1 and Figure 2 A cleaning method is proposed, and the present disclosure provides a flow chart of a specific cleaning method, such as Figure 4 shown.

[0084] In some embodiments of the present disclosure, when the driver activates the windshield cleaning function, the camera first captures the image of the windshield area and corrects it to eliminate the image distortion caused by the fisheye effect. The image is then feature-recognized. When a certain area is identified to have obvious stains (such as through graphic feature recognition, brightness grayscale recognition, etc., the specific threshold needs to be determined through calibration), the position of the stain point in the image is calculated, and then its actual coordinate position on the windshield is calculated. The BCM controls the cleaning liquid nozzle to rotate to the specified coordinates, and accurately sprays at the stain point with high pressure, so as to quickly complete the key cleaning of large stains; then the BCM controls the cleaning liquid nozzle to evenly spray the entire windshield, so as to achieve overall cleaning.

[0085] In summary, this solution proposes to detect the location of stains on the windshield through image recognition technology, and link the nozzle to perform precise high-pressure spray cleaning on the stubborn stains on the windshield that are difficult to clean, which has good cleaning effect and is more convenient to use.

[0086] Corresponding to the above-mentioned cleaning method, the present disclosure also proposes a cleaning device. Figure 5 Schematic diagram of a cleaning device 500 provided in an embodiment of the present disclosure. Figure 5 As shown, the device is configured in a vehicle, and the device includes:

[0087] The recognition unit 510 is used to perform stain recognition on the target image corresponding to the windshield;

[0088] A determination unit 520, configured to determine a first position of the stain in the windshield when the stain is identified in the target image;

[0089] The adjustment unit 530 is used to adjust the spraying point of the cleaning device to the first position and control the cleaning device to spray the cleaning liquid.

[0090] In some embodiments, the determination unit 510 is used to: determine a second position corresponding to the stain in the target image; and convert the second position into a first position in the corresponding windshield according to a mapping relationship between the second position and the first position.

[0091] In some embodiments, the adjustment unit 520 is used to: determine a first reference position of the cleaning device corresponding to the first position based on a mapping relationship between a first coordinate system corresponding to the windshield and a third coordinate system corresponding to the cleaning device; determine a rotation angle of the cleaning device based on the first reference position; and control the rotation angle of the cleaning device so that the spray point of the cleaning device is aligned with the first position.

[0092] In some embodiments, the adjustment unit 520 is used to: control the spraying point of the cleaning device to rotate from a first angle to a second angle at a uniform speed, and control the cleaning device to spray the cleaning liquid during the rotation process.

[0093] In some embodiments, the adjustment unit 520 is further used to: determine whether the stain meets the preset parameter adjustment conditions of the cleaning device; and adjust the spray parameters of the cleaning device if the stain meets the preset parameter adjustment conditions.

[0094] In some embodiments, the preset parameter adjustment condition includes that the type of the stain satisfies a preset type, and the adjustment unit 520 is further used to: determine the spray pressure of the cleaning device based on the type of the stain.

[0095] In some embodiments, the preset parameter adjustment conditions include the size of the stain meeting a preset threshold, and the adjustment unit 520 is further used to: determine the spray range of the cleaning device based on the size of the stain; determine the rotation angle range and / or spray pressure of the cleaning device based on the spray range.

[0096] According to an embodiment of the present disclosure, stains are identified on a target image corresponding to the windshield; when stains are identified in the target image, a first position of the stains in the windshield is determined; the spray point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray cleaning liquid. By adjusting the spray point angle, the cleaning liquid can be accurately sprayed on the stains, thereby achieving the effect of quickly cleaning stubborn stains on the windshield.

[0097] It should be noted that since the device embodiment of the present disclosure corresponds to the above-mentioned method embodiment, the above-mentioned explanation of the method embodiment is also applicable to the device of the present embodiment, and the principle is the same. For details not disclosed in the device embodiment, reference can be made to the above-mentioned method embodiment, and they will not be repeated in this disclosure.

[0098] According to an embodiment of the present disclosure, the present disclosure provides a vehicle, the aforementioned cleaning method can be applied to the vehicle, and the aforementioned cleaning device can be configured on the vehicle.

[0099] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0100] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0101] like Figure 6 As shown, the device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 602 or a computer program loaded from a storage unit 608 to a RAM (Random Access Memory) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An I / O (Input / Output) interface 605 is also connected to the bus 604.

[0102] A number of components in the device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, CPU (Central Processing Unit), GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the method of cleaning. For example, in some embodiments, the method of cleaning may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the aforementioned cleaning method in any other appropriate manner (eg, by means of firmware).

[0104] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0106] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0109] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0110] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A cleaning method, characterized in that: The method comprises: Perform stain recognition on the target image corresponding to the windshield; In the case where the stain is identified to exist in the target image, determining a first position of the stain in the windshield; The spraying point of the cleaning device is adjusted to the first position, and the cleaning device is controlled to spray the cleaning liquid.

2. The method according to claim 1, characterized in that Determining a first position of the stain within the windshield includes: Determining a second position corresponding to the stain in the target image; The second position is converted into a first position in the windshield according to a mapping relationship between a second coordinate system corresponding to the target image and a first coordinate system corresponding to the windshield.

3. The method according to claim 1, characterized in that The step of adjusting the spray point of the cleaning device to the first position comprises: Determining a first reference position of the cleaning device corresponding to the first position according to a mapping relationship between a first coordinate system corresponding to the windshield and a third coordinate system corresponding to the cleaning device; determining a rotation angle of the cleaning device based on the first reference position; The cleaning device is controlled to rotate the rotation angle so that the spray point of the cleaning device is aligned with the first position.

4. The method according to claim 1, characterized in that After adjusting the spraying point of the cleaning device to the first position and controlling the cleaning device to spray the cleaning liquid, the method further comprises: The spraying point of the cleaning device is controlled to rotate uniformly from a first angle to a second angle, and the cleaning device is controlled to spray cleaning liquid during the rotation process.

5. The method according to claim 1, characterized in that The method further comprises: Determining whether the stain satisfies a preset parameter adjustment condition of the cleaning device; When the stain meets the preset parameter adjustment condition, the spraying parameter of the cleaning device is adjusted.

6. The method according to claim 5, characterized in that The preset parameter adjustment condition includes that the type of the stain satisfies the preset type; The spraying parameters include spraying pressure, and adjusting the spraying parameters of the cleaning device includes: determining the spraying pressure of the cleaning device based on the type of the stain.

7. The method according to claim 5 or 6, characterized in that: The preset parameter adjustment condition includes that the size of the stain meets a preset threshold; Wherein, the spray parameters include a rotation angle range and / or a spray pressure, and adjusting the spray parameters of the cleaning device includes: determining the spray range of the cleaning device based on the size of the stain; determining the rotation angle range and / or the spray pressure of the cleaning device based on the spray range.

8. A cleaning device, characterized in that: The device comprises: A recognition unit, used for performing stain recognition on a target image corresponding to the windshield; a determining unit, configured to determine a first position of the stain in the windshield when the stain is identified to exist in the target image; The adjusting unit is used to adjust the spraying point of the cleaning device to the first position and control the cleaning device to spray the cleaning liquid.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-7.

11. A vehicle, characterized in that: Comprising the cleaning device as claimed in any one of Claims 8 or the electronic device as claimed in Claim 9.

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