A camera module cleaning device, a cleaning control method, and a vehicle

Abstract

The present invention provides a cleaning device for a camera assembly, a cleaning control method and a vehicle. The controller is configured to: when it is determined that the concentration of environmental dust particles is greater than a preset concentration threshold, control the air curtain tank to open to form an air curtain wall around the cover body; when it is determined according to the current image screen that the cover body needs to be cleaned, control the liquid outlet tank to spray high-pressure cleaning liquid onto the surface of the cover body; after the cleaning is completed, control the air duct to spray high-pressure gas onto the surface of the cover body to air-dry the surface of the cover body. In this way, when the concentration of environmental dust particles is relatively high, the air curtain wall can be used to isolate the dust, prevent the dust from adhering to the cover body, reduce the degree of pollution, and indirectly improve the cleaning effect; and it can automatically detect whether the camera needs to be cleaned. If cleaning is required, high-pressure cleaning liquid is automatically sprayed onto the cover body for cleaning, and then high-pressure gas is used to air-dry the cover body. Compared with the manual timing cleaning method, the cleaning efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of in-vehicle camera cleaning, and particularly to a camera assembly cleaning device, a cleaning control method and a vehicle. Background Art

[0002] With the maturity and application of automotive intelligent driving technology, the importance of the autonomous driving vision system is self-evident. Among them, high-definition cameras are important components of this technology and are the safety foundation of the entire vehicle.

[0003] Due to the complexity of the environment in which the vehicle travels, for intelligent driving vehicles, some cameras exposed outside the vehicle body are easily affected by the weather. Once contaminated with stains such as ice, snow, and dust and not cleaned in time, there may be perception failures. Therefore, the camera needs to be cleaned in time to function properly.

[0004] In the related art, generally, the camera lens is cleaned regularly. However, after the vehicle stays in an environment with a large amount of dust, there may be a lot of stains, and the driver forgets to clean the camera in time. By the next cleaning cycle, the stains may stick to the lens, resulting in poor cleaning effect. Summary of the Invention

[0005] In view of the problems existing in the prior art, embodiments of the present invention provide a camera assembly cleaning device, a cleaning control method and a vehicle to solve or partially solve the technical problem of poor cleaning effect when cleaning in-vehicle cameras in the prior art.

[0006] In a first aspect of the present invention, a camera assembly cleaning device is provided, and the device includes: a base, a cover body and a controller;

[0007] The base is fixed at a preset position on the vehicle body. The base is sequentially provided with an air curtain groove, a liquid outlet groove with holes on the surface and a wind groove from the outside to the inside;

[0008] The cover body is connected to the base and is located above the base. A camera is installed inside the cover body;

[0009] The controller is configured to: when it is determined that the concentration of environmental dust particles is greater than a preset concentration threshold, control the air curtain groove to be opened to form an air curtain wall around the cover body;

[0010] Monitor the current image frame collected by the camera. When it is determined that the cover body needs to be cleaned according to the current image frame, control the liquid outlet groove to spray high-pressure cleaning liquid onto the surface of the cover body;

[0011] After the cleaning is completed, control the wind groove to spray high-pressure gas onto the surface of the cover body to dry the surface of the cover body.

[0012] In the above solution, the device further includes: a temperature sensor and a heating wire; the heating wire is laid in the air duct; wherein,

[0013] The temperature sensor is used to collect the current ambient temperature;

[0014] The controller is further used for: when it is determined that the current ambient temperature is lower than the temperature threshold, the heating wire is turned on to heat the high-pressure gas to be ejected from the air duct.

[0015] In the above solution, the included angle formed by the liquid outlet tank and the perpendicular line of the base is 1 to 5°, and the air outlet direction of the air duct forms an included angle of 1 to 5° with the perpendicular line of the base.

[0016] In the above solution, the device further includes:

[0017] An air storage tank; the air storage tank is respectively connected to the air duct nozzle and the air curtain tank nozzle through pipelines;

[0018] A pressure sensor, used to collect the current air pressure of the air storage tank;

[0019] The controller is further used for, if it is determined that the current air pressure is less than the preset air pressure threshold, controlling the air pump connected to the air storage tank to start to pressurize the air storage tank.

[0020] In the above solution, the device further includes:

[0021] A first drain hole, arranged at the bottom of the base, and the first drain hole is communicated with the air duct;

[0022] A second drain hole, arranged at the bottom of the base, and the second drain hole is communicated with the air curtain tank.

[0023] In the above solution, the controller is specifically used for:

[0024] When the vehicle speed is greater than 0, obtain the current image frame corresponding to the current moment and the previous image frame corresponding to the previous moment of the current moment, and respectively divide the current image frame and the previous image frame into n image sub-frames based on the same image segmentation method;

[0025] Compare the current image sub-frame and the previous image sub-frame at the same position within a preset time period. If it is determined that the probability of the current image sub-frame and the previous image sub-frame having the same pixel points is greater than the preset probability threshold, it is determined that the cover needs to be cleaned.

[0026] In the above solution, the control is specifically further used for:

[0027] When the vehicle speed is 0, control the camera to rotate, obtain the current image corresponding to the current angle and the previous image corresponding to the previous angle of the current angle, and respectively divide the current image and the previous image into n image sub - pictures based on the same picture segmentation method;

[0028] Compare the current image sub - pictures and the previous image sub - pictures at the same position respectively. If it is determined that the probability of the current image sub - picture and the previous image sub - picture having the same pixel points is greater than the preset probability threshold, it is determined that the cover needs to be cleaned.

[0029] In a second aspect of the present invention, there is provided a method for cleaning control of a camera assembly, which is applied to the camera cleaning device according to any one of the first aspects. The method includes:

[0030] When it is determined that the concentration of environmental dust particles is greater than the preset concentration threshold, control the air curtain tank to open to form an air curtain wall around the cover;

[0031] Monitor the current image captured by the camera. When it is determined that the cover needs to be cleaned according to the current image, control the liquid outlet tank to spray high - pressure cleaning liquid onto the surface of the cover;

[0032] After cleaning, control the air duct to spray high - pressure gas onto the surface of the cover to air - dry the surface of the cover.

[0033] In the above solution, determining that the cover needs to be cleaned according to the current image includes:

[0034] When the vehicle speed is greater than 0, obtain the current image corresponding to the current moment and the previous image corresponding to the previous moment of the current moment, and respectively divide the current image and the previous image into n image sub - pictures based on the same picture segmentation method;

[0035] Compare the current image sub - pictures and the previous image sub - pictures at the same position within a preset time period. If it is determined that the probability of the current image sub - picture and the previous image sub - picture having the same pixel points is greater than the preset probability threshold, it is determined that the cover needs to be cleaned; or,

[0036] When the vehicle speed is 0, control the camera to rotate, obtain the current image corresponding to the current angle and the previous image corresponding to the previous angle of the current angle, and respectively divide the current image and the previous image into n image sub - pictures based on the same picture segmentation method;

[0037] Compare the current image sub - screen and the previous image sub - screen at the same position respectively. If it is determined that the probability of the current image sub - screen and the previous image sub - screen having the same pixel points is greater than the preset probability threshold, it is determined that the cover needs to be cleaned.

[0038] In the above - mentioned solution, the controller is further configured to: when it is determined that the current ambient temperature is lower than the temperature threshold, turn on the heating wire to heat the high - pressure gas to be ejected from the air duct.

[0039] The controller is further configured to, if it is determined that the current air pressure is less than the preset air - pressure threshold, control the air pump connected to the gas storage tank to start and pressurize the gas storage tank.

[0040] In the above - mentioned solution, the included angle formed by the liquid outlet groove and the perpendicular line of the base is 1 - 5°, and the included angle formed by the air outlet direction of the air duct and the perpendicular line of the base is 1 - 5°.

[0041] In the third aspect of the present invention, a vehicle is provided, and the vehicle includes the camera assembly cleaning device according to any one of the first aspects above.

[0042] The present invention provides a camera assembly cleaning device, a cleaning control method and a vehicle. The device includes: a base, a cover and a controller; the base is fixed at a preset position on the vehicle body, and the base is sequentially provided with an air curtain groove, a liquid outlet groove with holes on the surface and an air duct from the outside to the inside; the cover is connected to the base and is located above the base, and a camera is installed inside the cover; the controller is configured to: when it is determined that the ambient micro - dust particle concentration is greater than the preset concentration threshold, control the air curtain groove to open to form an air curtain wall around the cover; monitor the current image screen collected by the camera, and when it is determined that the cover needs to be cleaned according to the current image screen, control the liquid outlet groove to eject high - pressure cleaning liquid onto the surface of the cover; after cleaning, control the air duct to eject high - pressure gas onto the surface of the cover to air - dry the surface of the cover; thus, when the ambient micro - dust particle concentration is relatively high, the air curtain wall can be used to isolate the micro - dust, avoid the micro - dust from adhering to the cover, reduce the degree of pollution, and indirectly improve the cleaning effect; and it can automatically detect whether the camera needs to be cleaned. If it needs to be cleaned, it will automatically eject high - pressure cleaning liquid onto the cover for cleaning, and then use high - pressure gas to air - dry the cover. The cleaning is timely and the cleaning effect can be ensured; and compared with the manual regular cleaning method, the cleaning efficiency can be improved. Description of the Drawings

[0043] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiments. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Also, throughout the drawings, the same reference numerals are used to represent the same components.

[0044] In the drawings:

[0045] Figure 1 A schematic structural diagram of a camera module cleaning device provided according to an embodiment of the present invention is shown;

[0046] Figure 2 A specific structural diagram of a camera module cleaning device provided according to an embodiment of the present invention is shown;

[0047] Figure 3 A schematic structural diagram of a base provided according to an embodiment of the present invention is shown;

[0048] Figure 4 A schematic connection diagram of each component of a camera module cleaning device provided according to an embodiment of the present invention is shown;

[0049] Figure 5 A schematic diagram of the included angle between the liquid outlet direction and the perpendicular line of the base provided according to an embodiment of the present invention is shown;

[0050] Figure 6 A schematic diagram of the included angle between the air outlet direction and the perpendicular line of the base provided according to an embodiment of the present invention is shown;

[0051] Figure 7 A schematic flowchart of a camera cleaning control method provided according to an embodiment of the present invention is shown;

[0052] Figure 8 A schematic diagram of the overall structure of an electronic device provided according to an embodiment of the present invention is shown;

[0053] Figure 9 A schematic diagram of the overall structure of a computer-readable storage medium provided according to an embodiment of the present invention is shown;

[0054] Explanation of reference numerals:

[0055] 101 - Base, 1011 - Vertical line of the base; 102 - Cover; 103 - Camera; 201 - Support; 202 - Rotating shaft; 203 - Air curtain groove; 2031 - Air curtain groove nozzle; 204 - Liquid outlet groove; 2041 - Liquid outlet groove nozzle; 2042 - Liquid outlet direction of the liquid outlet groove; 205 - Air duct; 2051 - Air duct nozzle; 2052 - Air outlet direction; 206 - First drain hole; 207 - Second drain hole; 401 - Dust sensor; 402 - First solenoid valve; 403 - Air storage tank; 404 - Air pump; 405 - Speed sensor; 406 - Air pressure sensor; 407 - Washing container; 408 - Water pump; 409 - Second solenoid valve; 410 - Temperature sensor; 410 - Heating wire. Detailed implementation

[0056] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0057] An embodiment of the present invention provides a cleaning device for a camera assembly, as Figures 1 to 4 shown. The cleaning device includes: a base 101, a cover 102, and a controller 400; wherein, the controller can be a vehicle's vehicle controller or a separate controller can be set, which is not limited herein. To reduce costs, the controller in this embodiment is the vehicle controller.

[0058] The base 101 is fixed at a preset position on the vehicle body. The cover 102 is connected to the base 101 and is located above the base 101. A camera 103 is installed inside the cover 102. Among them, the cover 102 can be an openable cover to facilitate later maintenance of the camera; the cover 102 can also be a closed cover and can be connected to the base 101 by screwing or clamping.

[0059] Refer to Figure 2 , the device further includes: a support 201, a rotating shaft 202; the support 201 is fixed on the base 101, and the camera 103 is connected to the base 101 through the rotating shaft 202 and can thus rotate at any angle.

[0060] Refer to Figures 2 to 4 , the base 101 is sequentially provided with an air curtain groove 203, a liquid outlet groove 204, and an air duct 205 from the outside to the inside; the air curtain groove 203, the liquid outlet groove 204, and the air duct 205 are all annular.

[0061] The controller is used to: when it is determined that the ambient microdust particle concentration is greater than the preset concentration threshold, control the air curtain trough 203 to open, so as to form an air curtain wall around the cover body 102.

[0062] For the current image frame collected by the monitoring camera, when it is determined that the cover body needs to be cleaned according to the current image frame, then control the liquid outlet trough 204 to spray high-pressure cleaning liquid onto the surface of the cover body 102.

[0063] After the cleaning is completed, control the air trough 205 to spray high-pressure gas onto the surface of the cover body 102 to air-dry the surface of the cover body 102.

[0064] Specifically, the camera assembly cleaning device of this embodiment further includes a microdust sensor 401. The microdust sensor 401 can collect the ambient microdust particle concentration in the current environment and send the ambient microdust particle concentration in the current environment to the controller. When the controller determines that the ambient microdust particle concentration is greater than the preset concentration threshold, it will control the air curtain trough 203 to open, so as to form a circular air curtain wall around the cover body 102, avoiding dust adhesion and insect impact on the cover body 102. Among them, the preset concentration threshold can be 50 - 150 μg / m 3 , preferably 80 μg / m 3 .

[0065] The air curtain trough 203 is provided with a nozzle 2031, and a first electromagnetic valve 402 is also installed at the nozzle of the air curtain trough 203. The air curtain trough 203 can be connected to the gas storage tank 403 through the nozzle 2031 and a pipeline, and the gas storage tank 403 is connected to the air pump 404. When it is necessary to control the air curtain trough 203 to open, the air pump 404 can be controlled to start, and the first electromagnetic valve 402 can be controlled to be in a conducting state.

[0066] Here, in order to effectively isolate microdust, the device further includes: a pressure sensor 406, installed on the gas storage tank 403, for collecting the current air pressure in the gas storage tank 403 and sending the current air pressure to the controller. If the controller determines that the current air pressure is less than the preset air pressure threshold, then control the air pump 404 connected to the gas storage tank 403 to start to pressurize the gas storage tank 403 until the air pressure of the gas storage tank 403 reaches the target air pressure. Among them, the air pressure threshold can be (3×10 5 Pa - 4×10 5 Pa), and the target air pressure can be (4×10 5 Pa - 6×10 5 Pa).

[0067] The cleaning device of this embodiment can automatically determine whether the camera needs to be cleaned. Specifically, it can pass the current image frame collected by the monitoring camera. When it is determined that the cover body needs to be cleaned according to the current image frame, then control the liquid outlet trough to spray high-pressure cleaning liquid onto the surface of the cover body.

[0068] In this embodiment, the process of determining that the cover needs to be cleaned according to the current image screen is implemented as follows:

[0069] When the vehicle speed is greater than 0, obtain the current image screen corresponding to the current moment and the previous image screen corresponding to the previous moment of the current moment. Based on the same screen segmentation method, divide the current image screen and the previous image screen into n image sub-screens respectively. For example, the divided sub-image screens include S(1), S(2), S(3),..., S(n); among them, the vehicle speed can be obtained from the vehicle speed sensor 405.

[0070] Compare the current image sub-screen and the previous image sub-screen at the same position within a preset time period. If it is determined that the probability of the current image sub-screen and the previous image sub-screen having the same pixel points exceeds the probability threshold, it is determined that the cover needs to be cleaned. Among them, the probability threshold can be greater than or equal to 80%.

[0071] For example, the current image sub-screen and the previous image sub-screen at the same position can be compared every 3 s, and the duration can be 3 - 6 min. Since the vehicle is in a driving state, the images collected in the previous second and the next second should be different. Then, at different times, the images corresponding to the same position should also be different. Assume that within a duration of 3 min, comparisons are made every 3 s, a total of 60 times. If in 50 times, the current image sub-screen and the previous image sub-screen have the same pixel points at the same position, it means that there are stains on the surface of the cover and it needs to be cleaned.

[0072] Further, when the vehicle speed is 0, control the camera to rotate, obtain the current screen corresponding to the current angle and the previous image screen corresponding to the previous angle of the current angle. Based on the same screen segmentation method, divide the current image screen and the previous image screen into n image sub-screens respectively.

[0073] Compare the current image sub-screen and the previous image sub-screen at the same position respectively. If it is determined that the probability of the current image sub-screen and the previous image sub-screen having the same pixel points is greater than the preset probability threshold, it is determined that the cover needs to be cleaned.

[0074] Similarly, when the vehicle is stationary, the image screens corresponding to different angles can be obtained by rotating the camera. Each time it rotates, a screen comparison can be made; after each rotation, the angle of the camera is different. Assume that it rotates 10 times. When making the screen comparison, if in 8 times, the current image sub-screen and the previous image sub-screen have the same pixel points, it is determined that the cover needs to be cleaned.

[0075] When cleaning is required, the implementation process of the controller controlling the liquid outlet tank to spray high-pressure cleaning liquid onto the surface of the cover 102 is as follows:

[0076] The liquid outlet tank 204 is provided with a nozzle 2041. The liquid outlet tank 204 is connected to the washing container 407 through the nozzle 2041 and a pipeline, and a water pump 408 is also arranged between the nozzle 2041 and the washing container 407.

[0077] For reference Figure 3 , a number of liquid outlet holes are arranged on the surface of the liquid outlet tank 204. When cleaning is required, the controller controls the water pump 408 to start, uses the water pump 408 to extract the cleaning liquid in the washing container 407 and pressurizes the cleaning liquid, and sprays it onto the surface of the cover 102 from the liquid outlet holes. Among them, the extraction time can be 3 - 10 s, preferably 6 s.

[0078] In order to effectively clean the cover 102, a certain angle is preset between the liquid outlet tank 204 and the surface of the base 101. Specifically, the angle formed by the liquid outlet direction of the liquid outlet tank 204 and the perpendicular line of the surface of the base 101 is 1 - 5°, preferably 3°. In this way, when spraying high-pressure liquid, it can be ensured that there is an angle between the liquid outlet direction and the perpendicular line, so that the liquid can be sprayed onto the surface of the cover 102 as much as possible. For a better understanding of this angle, for reference Figure 5 , the angle between the liquid outlet direction 2042 of the liquid outlet tank 204 and the perpendicular line 1011 is Figure 5 the α angle shown in

[0079] Then the controller controls the air duct 205 to spray high-pressure gas onto the surface of the cover 102 to air-dry the surface of the cover 102. Among them, the air-drying duration can be 5 - 20 s, preferably 10 s.

[0080] It should be noted that the cleaning and air-drying processes can be executed cyclically multiple times, and the number of cycles can be determined based on actual conditions, such as 3 times, which is not limited here.

[0081] Specifically, the air duct 205 is provided with a nozzle 2051. The air duct 205 can be connected to the gas storage tank 403 through the nozzle 2051 and a pipeline, and a second electromagnetic valve 09 is installed at the nozzle of the air duct 205.

[0082] When the surface of the cover needs to be air-dried, the controller can control the second electromagnetic valve 09 to open, and the high-pressure gas in the gas storage tank 403 flows in and is ejected through the air duct 205. In order to improve the air-drying effect, for reference Figure 6 , the angle formed by the air outlet direction 2052 of the air duct 205 and the perpendicular line 1011 of the base 101 is β, and the value of β is 1 - 5°, preferably 3°.

[0083] In this embodiment, considering that if the current ambient temperature is relatively low, ice may form on the surface of the cover 102 after cleaning. To avoid this situation, the device further includes: a temperature sensor 410 and a heating wire 411; the heating wire 411 is laid in the air duct 205, and can be laid in 3 to 5 turns, or can be determined based on the actual situation.

[0084] The temperature sensor 410 is used to collect the current ambient temperature and send the current ambient temperature to the controller.

[0085] The controller is further configured to: when it is determined that the current ambient temperature is lower than the temperature threshold, turn on the heating wire to heat the high-pressure gas to be ejected in the air duct 205; in this way, the ejected gas is heated gas, which can quickly dry the surface of the cover 102 and avoid icing. Among them, the temperature threshold can be -5°C to 0°C.

[0086] Furthermore, in order to avoid water accumulation in the air duct 205 and the air curtain groove 203 after cleaning the cover 102, which affects the gas ejection effect, refer to Figure 2 or Figure 3 , the device further includes:

[0087] A first drain hole 206 is provided at the bottom of the base 101, and the first drain hole 206 is communicated with the air duct 205.

[0088] A second drain hole 207 is provided at the bottom of the base 101, and the second drain hole 207 is communicated with the air curtain groove 203.

[0089] In this way, when the cleaning liquid falls into the air duct 205, it can flow out through the first drain hole 206; when the cleaning liquid falls into the air curtain groove 203, it can flow out through the second drain hole 207.

[0090] In this embodiment, when the concentration of ambient dust particles is relatively high, the dust can be isolated by the air curtain wall, avoiding dust adhesion on the cover, reducing the degree of pollution, and indirectly improving the cleaning effect; and it can automatically detect whether the camera needs to be cleaned. If cleaning is required, it automatically sprays high-pressure cleaning liquid onto the cover for cleaning, and then uses high-pressure gas to dry the cover. The cleaning is timely and the cleaning effect can be ensured; compared with the manual timed cleaning method, the cleaning efficiency can be improved.

[0091] Based on the same inventive concept as the foregoing embodiment, this embodiment further provides a method for cleaning and controlling a camera assembly, which is applied in the controller, as Figure 7 shown, the method includes the following steps;

[0092] S710, when it is determined that the concentration of ambient dust particles is greater than the preset concentration threshold, control the air curtain groove to open to form an air curtain wall around the cover.

[0093] The camera component cleaning device of this embodiment includes a microdust sensor. The microdust sensor can collect the concentration of environmental microdust particles in the current environment and send the concentration of environmental microdust particles in the current environment to the controller. When the controller determines that the concentration of environmental microdust particles is greater than the preset concentration threshold, it will control the air curtain trough to open, so as to form a circular air curtain wall around the cover, avoiding dust adhesion and insect impact on the cover. Among them, the preset concentration threshold can be 50-150 μg / m 3 , preferably 80 μg / m 3 .

[0094] The specific jet implementation principle of the air curtain trough has been described in detail above, so it will not be elaborated here.

[0095] S720, monitor the current image screen collected by the camera. When it is determined that the cover needs to be cleaned according to the current image screen, control the liquid outlet trough to spray high-pressure cleaning liquid on the surface of the cover.

[0096] This step can determine whether the camera needs to be cleaned. Specifically, it can monitor the current image screen collected by the camera. When it is determined that the cover needs to be cleaned according to the current image screen, control the liquid outlet trough to spray high-pressure cleaning liquid on the surface of the cover.

[0097] In one implementation, determining that the cover needs to be cleaned according to the current image screen includes:

[0098] When the vehicle speed is greater than 0, obtain the current image screen corresponding to the current moment and the previous image screen corresponding to the previous moment of the current moment. Based on the same screen segmentation method, divide the current image screen and the previous image screen into n image sub-screens respectively. For example, the divided sub-image screens include S(1), S(2), S(3),..., S(n).

[0099] Compare the current image sub-screen and the previous image sub-screen at the same position within a preset time period. If it is determined that the probability of the current image sub-screen and the previous image sub-screen having the same pixel points exceeds the probability threshold, it is determined that the cover needs to be cleaned. Among them, the probability threshold can be greater than or equal to 80%.

[0100] For example, the current image sub-screen and the previous image sub-screen at the same position can be compared every 3 s, and the continuous duration can be 3-6 min. Since the vehicle is in a driving state, the images collected in the previous second and the next second should be different. Then, at different times, the images corresponding to the same position should also be different. Suppose that within a continuous duration of 3 min, the comparison is made every 3 s, a total of 60 times. If in 50 times, the current image sub-screen and the previous image sub-screen have the same pixel points at the same position, it means that there are stains on the surface of the cover and it needs to be cleaned.

[0101] Further, when the vehicle speed is 0, control the camera to rotate, obtain the current image corresponding to the current angle and the previous image corresponding to the previous angle of the current angle, and respectively divide the current image and the previous image into n image sub - frames based on the same image segmentation method.

[0102] Compare the current image sub - frame and the previous image sub - frame at the same position respectively. If it is determined that the probability of the current image sub - frame and the previous image sub - frame having the same pixel points is greater than a preset probability threshold, it is determined that the cover needs to be cleaned.

[0103] Similarly, when the vehicle is stationary, the image corresponding to different angles can be obtained by rotating the camera. Each time it rotates, a picture comparison can be performed; after each rotation, the angle of the camera is different. Suppose it rotates 10 times. When performing the picture comparison, if in 8 times the current image sub - frame and the previous image sub - frame have the same pixel points, it is determined that the cover needs to be cleaned.

[0104] When cleaning is required, the implementation process of the controller controlling the liquid outlet tank to spray high - pressure cleaning liquid on the surface of the cover has been described in detail above, so it will not be elaborated here.

[0105] S730, after cleaning is completed, control the air duct to spray high - pressure gas on the surface of the cover to air - dry the surface of the cover.

[0106] After cleaning is completed, the controller controls the air duct to spray high - pressure gas on the surface of the cover to air - dry the surface of the cover. Among them, the air - drying duration can be 5 - 20s, preferably 10s.

[0107] It should be noted that the cleaning and air - drying processes can be executed in multiple cycles. The number of cycles can be determined based on actual situations, such as 3 times, and there is no limit here.

[0108] The implementation process of the controller controlling the air duct to spray high - pressure cleaning liquid on the surface of the cover has been described in detail above, so it will not be elaborated here.

[0109] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a vehicle, including the camera assembly cleaning device mentioned above. The specific structure and implementation principle of the camera assembly cleaning device can refer to the detailed description above and will not be elaborated here.

[0110] Based on the same inventive concept, this embodiment provides a computer device 800, as Figure 8As shown, it includes a memory 810, a processor 820, and a computer program 811 stored in the memory 810 and executable on the processor 820. When the processor 820 executes the computer program 811, any step of the method described above is implemented.

[0111] Based on the same inventive concept, this embodiment provides a computer-readable storage medium 900, as Figure 9 shown, on which a computer program 911 is stored. When the computer program 911 is executed by a processor, the steps of any of the methods described above are implemented.

[0112] Through one or more embodiments of the present invention, the present invention has the following beneficial effects or advantages:

[0113] The present invention provides a camera component cleaning device, a cleaning control method, and a vehicle. The device includes: a base, a cover, and a controller; the base is fixed at a preset position on the vehicle body, and the base is sequentially provided with an air curtain groove, a liquid outlet groove with holes on the surface, and a wind groove from the outside to the inside; the cover is connected to the base and is located above the base, and a camera is installed inside the cover; the controller is configured to: when it is determined that the environmental microdust particle concentration is greater than a preset concentration threshold, control the air curtain groove to open to form an air curtain wall around the cover; monitor the current image screen collected by the camera, and when it is determined that the cover needs to be cleaned according to the current image screen, control the liquid outlet groove to spray high-pressure cleaning liquid onto the surface of the cover; after the cleaning is completed, control the wind groove to spray high-pressure gas onto the surface of the cover to air-dry the surface of the cover; thus, when the environmental microdust particle concentration is relatively large, the present application can isolate the microdust through the air curtain wall, avoid the microdust from adhering to the cover, reduce the pollution degree, and indirectly improve the cleaning effect; and it can automatically detect whether the camera needs to be cleaned. If it needs to be cleaned, it automatically sprays high-pressure cleaning liquid onto the cover for cleaning, and then uses high-pressure gas to air-dry the cover. The cleaning is timely and can ensure the cleaning effect; compared with the manual timing cleaning method, the cleaning efficiency can be improved.

[0114] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings based herein. The structure required to construct such a system will be apparent from the above description. In addition, the present invention is not directed to any particular programming language. It should be understood that the content of the present invention described herein can be implemented using various programming languages, and the description of a particular language above is for the purpose of disclosing the best mode of the present invention.

[0115] In the specification provided herein, a number of specific details are set forth. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail so as not to obscure an understanding of this description.

[0116] Similarly, it should be understood that in order to streamline this disclosure and assist in understanding one or more of the various inventive aspects, in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as the following claims reflect, the inventive aspects lie in less than all the features of the single foregoing embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the invention.

[0117] Those skilled in the art will appreciate that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0118] In addition, those skilled in the art will be able to understand that although some of the embodiments herein include certain features included in other embodiments but not other features, the combination of the features of different embodiments means that it is within the scope of the invention and forms different embodiments. For example, in the following claims, any one of the claimed embodiments can be used in any combination.

[0119] Each component embodiment of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the gateway, proxy server, and system according to the embodiments of the present invention. The present invention can also be implemented as a device or apparatus program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0120] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0121] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0122] The above is only a preferred embodiment of the present invention, and is not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A camera module cleaning device, characterized in that, The device includes: a base, a cover body and a controller; The base is fixed at a preset position on the vehicle body. From the outside to the inside, the base is sequentially provided with an air curtain groove, a liquid outlet groove with holes on the surface, and a wind groove; The cover body is connected to the base and is located above the base. A camera is installed inside the cover body; The controller is configured to: when it is determined that the concentration of environmental micro dust particles is greater than a preset concentration threshold, control the air curtain groove to open so as to form an air curtain wall around the cover body; Monitor the current image frame collected by the camera. When it is determined that the cover body needs to be cleaned according to the current image frame, control the liquid outlet groove to spray high-pressure cleaning liquid onto the surface of the cover body; After the cleaning is completed, control the wind groove to spray high-pressure gas onto the surface of the cover body to air-dry the surface of the cover body; wherein, The controller is specifically configured to: When the vehicle speed is greater than 0, obtain the current image frame corresponding to the current moment and the previous image frame corresponding to the previous moment of the current moment, and respectively divide the current image frame and the previous image frame into n image sub-frames based on the same image segmentation method; Compare the current image sub-frame and the previous image sub-frame at the same position within a preset time period. If it is determined that the probability of the current image sub-frame and the previous image sub-frame having the same pixel points is greater than a preset probability threshold, then determine that the cover body needs to be cleaned; The controller is specifically further configured to: When the vehicle speed is 0, control the camera to rotate, obtain the current frame corresponding to the current angle and the previous image frame corresponding to the previous angle of the current angle, and respectively divide the current image frame and the previous image frame into n image sub-frames based on the same image segmentation method; Compare the current image sub-frame and the previous image sub-frame at the same position respectively. If it is determined that the probability of the current image sub-frame and the previous image sub-frame having the same pixel points is greater than a preset probability threshold, then determine that the cover body needs to be cleaned.

2. The camera module cleaning device according to claim 1, wherein, The device further includes: a temperature sensor and a heating wire; the heating wire is laid in the wind groove; wherein, The temperature sensor is used to collect the current ambient temperature; The controller is further configured to: when it is determined that the current ambient temperature is lower than the temperature threshold, turn on the heating wire to heat the high-pressure gas to be sprayed in the wind groove.

3. The camera module cleaning device according to claim 1, wherein The included angle formed by the liquid outlet groove and the perpendicular line of the base is 1 to 5°, and the included angle formed by the air outlet direction of the wind groove and the perpendicular line of the base is 1 to 5°.

4. The camera module cleaning device according to claim 1, wherein The device further includes: An air storage tank; the air storage tank is respectively connected to the air outlet of the wind groove and the air curtain groove through pipelines; A pressure sensor for collecting the current air pressure of the air storage tank; The controller is further configured to, if it is determined that the current air pressure is less than a preset air pressure threshold, control the air pump connected to the air storage tank to start and pressurize the air storage tank.

5. The camera module cleaning device according to claim 1, characterized in that, The device further includes: A first drain hole is provided at the bottom of the base, and the first drain hole is communicated with the wind groove; A second drain hole is provided at the bottom of the base, and the second drain hole is communicated with the air curtain groove.

6. A method for cleaning control of a camera module, characterized in that, Applied to the camera cleaning device described in any one of claims 1 to 5 above, the method includes; When it is determined that the concentration of environmental dust particles is greater than a preset concentration threshold, control the air curtain tank to open to form an air curtain wall around the cover body; Monitor the current image screen collected by the camera. When it is determined that the cover body needs to be cleaned according to the current image screen, control the liquid outlet tank to spray high-pressure cleaning liquid onto the surface of the cover body; After the cleaning is completed, control the air duct to spray high-pressure gas onto the surface of the cover body to air-dry the surface of the cover body.

7. A vehicle, characterized in that, The vehicle includes the camera assembly cleaning device described in any one of claims 1 to 5 above.

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