Camera cleaning device, cleaning method, repair method and repair device

Abstract

The embodiments of the present application provide a camera cleaning device, cleaning method, repair method, and repair device, relating to the field of computers. The camera cleaning device includes a slide rail assembly, including a sliding rail and a fixed rail that are slidably connected, the fixed rail extending from one side of the camera to the other, and the number of the sliding rails is two; two electrically controlled rollers, respectively arranged on the two sliding rails; and a cleaning film, wherein the ends of the cleaning film are respectively wrapped around the two electrically controlled rollers in multiple layers, and the cleaning film wrapped around the electrically controlled rollers is tangent to the plane where the camera is located. The embodiments of the present application ensure that the cleaning film will not block the camera after cleaning, and have high practical value.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and more specifically, to a camera cleaning device, a cleaning method, a repair method, and a repair device. Background Art

[0002] In offline facial recognition payment applications, poor camera image quality accounts for a high proportion of recognition failures. These failures are primarily due to camera stains, backlighting, camera overheating, or camera failure requiring replacement.

[0003] In actual use cases, when a camera malfunctions, customers often need to report it to the maintenance company, who then dispatches personnel for on-site inspection, requiring significant manpower and resources. Some facial recognition payment devices claiming to have self-detection capabilities analyze and report camera malfunctions based on software-level error codes. Even after reporting, manual locating of the error code and communication with the customer regarding a solution are still required, resulting in high communication costs and time-consuming locating. Furthermore, the maintenance company still needs to visit the site for repairs. Summary of the Invention

[0004] The embodiments of the present application provide a camera cleaning device, a cleaning method, a repair method, and a repair device, which aim to solve the above-mentioned problems in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a camera cleaning device is provided, comprising:

[0006] A slide rail assembly, comprising a sliding rail and a fixed rail that are slidably connected, wherein the fixed rail extends from one side of the camera to the other side, and there are two sliding rails;

[0007] Two electrically controlled rollers are correspondingly arranged on the two sliding rails;

[0008] A cleaning film, wherein both ends of the cleaning film respectively surround two electrically controlled rollers in multiple layers, and the cleaning film wound on the electrically controlled rollers is tangent to the plane where the camera is located.

[0009] According to a second aspect of an embodiment of the present application, a method for controlling the camera cleaning device according to the first aspect is provided, comprising:

[0010] Controlling the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera;

[0011] If it is determined that the camera is to be cleaned, the first sliding rail is controlled to move toward the other side of the fixed rail, and the two electrically controlled rollers are controlled to rotate in the same direction, so that the clean cleaning film released by the first electrically controlled roller is wound around the second electrically controlled roller for recovering the cleaning film that has wiped the camera as the first sliding rail moves;

[0012] If it is determined that the first sliding rail reaches the other side, controlling the second sliding rail to move toward the other side, and controlling the second electrically controlled roller to rotate to wind the cleaning film between the second sliding rail and the first sliding rail;

[0013] If it is determined that the distance between the second sliding rail and the first sliding rail meets the preset condition, all sliding rails and the electrically controlled rollers are controlled to stop moving;

[0014] The first sliding rail is the sliding rail closer to the other side before cleaning the camera, and the second sliding rail is the sliding rail farther away from the other side before cleaning the camera.

[0015] According to a third aspect of an embodiment of the present application, a camera repair method is provided, the method comprising:

[0016] Get the image set collected by the camera;

[0017] detecting the clarity of the image set, obtaining the working parameters of the camera, and performing occlusion detection on the camera according to the image set to obtain an occlusion detection result;

[0018] Inputting the clarity, working parameters and occlusion detection results into a repair strategy model to obtain a repair strategy of the camera output by the repair strategy model;

[0019] The repair strategy model is trained using the corresponding clarity, working parameters and occlusion detection results of sample cameras as training samples, and the repair strategy of the sample cameras as sample labels.

[0020] According to a fourth aspect of an embodiment of the present application, a controller of the camera cleaning device according to the first aspect is provided, comprising:

[0021] an initialization module, configured to control the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera;

[0022] a first-stage control module configured to, if it is determined that the camera is to be cleaned, control the first sliding rail to move toward the other side of the fixed rail, and control the two electrically controlled rollers to rotate in the same direction, so that a clean cleaning film released by the first electrically controlled roller is wound around a second electrically controlled roller for recovering the cleaning film that has wiped the camera as the first sliding rail moves;

[0023] The second stage control module controls the second sliding rail to move toward the other side if it is determined that the first sliding rail has reached the other side, and controls the second electrically controlled roller to rotate so as to wrap the cleaning film between the second sliding rail and the first sliding rail;

[0024] a termination module, controlling all the sliding rails and the electrically controlled rollers to stop moving if it is determined that the distance between the second sliding rail and the first sliding rail meets a preset condition;

[0025] The first sliding rail is a sliding rail closer to the other side before cleaning the camera, and the second sliding rail is a sliding rail farther away from the other side before cleaning the camera.

[0026] According to a fifth aspect of an embodiment of the present application, a camera repair device is provided, comprising:

[0027] An image acquisition module is used to obtain an image set captured by a camera;

[0028] a multiple detection module, configured to detect the clarity of the image set, obtain the operating parameters of the camera, and perform occlusion detection on the camera based on the image set to obtain an occlusion detection result;

[0029] A prediction module, configured to input the clarity, operating parameters, and occlusion detection results into a repair strategy model to obtain a repair strategy for the camera output by the repair strategy model;

[0030] The repair strategy model is trained using the corresponding clarity, working parameters and occlusion detection results of sample cameras as training samples, and the repair strategy of the sample cameras as sample labels.

[0031] According to a sixth aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in the second or third aspect.

[0032] According to a seventh aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the second or third aspect is implemented.

[0033] According to an eighth aspect of the embodiments of the present application, a computer program product is provided, including a computer program, which implements the method described in the second or third aspect when the computer program is executed by a processor.

[0034] The beneficial effects of the technical solution provided by the embodiments of the present application are:

[0035] By setting a slide rail assembly, an electric-controlled roller, and a cleaning film, wherein the slide rail assembly includes a sliding rail and a fixed rail that are slidably connected, the fixed rail extends from one side of the camera to the other side, so that the slide rail can slide from one side of the camera to the other side, there are two slide rails, and each slide rail is correspondingly provided with an electric-controlled roller. The two ends of the cleaning film are respectively connected to the two electric-controlled rollers, and the two electric-controlled rollers can respectively release the cleaning film and recycle the cleaning film, so that the cleaning film can wipe the camera with the movement of the slide rail and the electric-controlled roller, and because the electric-controlled roller can automatically move based on the slide rail, the two electric-controlled rollers can be set on the same side after cleaning, and the cleaning film will not block the camera, which has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments of the present application.

[0037] Figure 1 A schematic diagram of an application environment provided in an embodiment of the present application;

[0038] Figure 2 A schematic structural diagram of a camera cleaning device provided in an embodiment of the present application;

[0039] Figure 3 A schematic structural diagram of another camera cleaning device provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram illustrating the positional relationship between the cleaning film, the electronically controlled roller, and the camera provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a camera structure of a face recognition device provided in an embodiment of the present application;

[0042] Figure 6 A schematic structural diagram of another camera cleaning device provided in an embodiment of the present application;

[0043] Figure 7 A schematic diagram of the principle of cleaning a camera using a camera cleaning device provided in an embodiment of the present application;

[0044] Figure 8 A schematic flow chart of a control method for a camera cleaning device provided in an embodiment of the present application;

[0045] Figure 9 A schematic diagram illustrating the rotation direction of the electrically controlled roller provided in an embodiment of the present application;

[0046] Figure 10A schematic diagram illustrating the rotation direction of an electrically controlled roller provided in another embodiment of the present application;

[0047] Figure 11 A flowchart of a camera repair method according to an embodiment of the present application is shown;

[0048] Figure 12 This is a flowchart of a camera repair method according to another embodiment of the present application;

[0049] Figure 13 This is a schematic structural diagram of a controller of a camera cleaning device according to an embodiment of the present application;

[0050] Figure 14 This is a schematic structural diagram of a camera repair device according to an embodiment of the present application;

[0051] Figure 15 This is a schematic structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] The following describes the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments described below in conjunction with the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0053] Those skilled in the art will understand that, unless otherwise stated, the singular forms "a", "an", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application mean that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements, and / or components, but do not exclude implementation as other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the element can be directly connected or coupled to the other element, or it can refer to the element and the other element establishing a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used here can include wireless connection or wireless coupling. The term "and / or" used here indicates at least one of the items defined by the term, for example, "A and / or B" can be implemented as "A", or as "B", or as "A and B".

[0054] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0055] First, several terms involved in this application are introduced and explained:

[0056] Artificial Intelligence (AI) refers to the theories, methods, techniques, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, to perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that seeks to understand the essence of intelligence and produce new intelligent machines that can respond in a manner similar to human intelligence. AI also involves studying the design principles and implementation methods of various intelligent machines, enabling them to possess the capabilities of perception, reasoning, and decision-making.

[0057] Artificial intelligence (AI) technology is a comprehensive discipline encompassing a wide range of fields, encompassing both hardware and software technologies. Foundational AI technologies generally include sensors, specialized AI chips, cloud computing, distributed storage, big data processing, operating / interaction systems, and mechatronics. AI software technologies primarily encompass computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0058] Computer vision (CV) is the science of making machines "see." Specifically, it refers to machine vision, where cameras and computers replace the human eye in identifying, tracking, and measuring objects. This involves further processing the images, transforming them into images more suitable for human observation or transmission to instruments. As a scientific discipline, computer vision studies related theories and technologies, attempting to build artificial intelligence systems capable of extracting information from images or multidimensional data. Computer vision technologies typically include image processing, image recognition, image semantic understanding, image retrieval, optical character recognition (OCR), video processing, video semantic understanding, video content / behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous localization and mapping, and common biometric recognition technologies such as facial recognition and fingerprint recognition.

[0059] Machine learning (ML) is a multidisciplinary field that encompasses probability theory, statistics, approximation theory, convex analysis, and algorithmic complexity theory. It specifically studies how computers can simulate or implement human learning behaviors to acquire new knowledge or skills and reorganize existing knowledge structures to continuously improve their performance. Machine learning is at the core of artificial intelligence and the fundamental way to make computers intelligent. Its applications span all areas of AI. Machine learning and deep learning typically include techniques such as artificial neural networks, belief networks, reinforcement learning, transfer learning, inductive learning, and self-learning.

[0060] With the research and advancement of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, autonomous driving, drones, robots, smart medical care, smart customer service, etc. It is believed that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0061] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on, or combine with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0062] The camera cleaning method and repair method provided in this application can be applied to Figure 1 In the application environment shown, facial payment device 102 communicates with camera 104 via a physical connection. Facial payment device 102 detects a facial payment triggering event, responds to the facial payment event, runs a facial payment application, and activates camera 104 through the facial payment application. Facial payment device 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices, and the camera can be a video camera, a video camera, etc.

[0063] See Figure 2 , which exemplarily shows a structural schematic diagram of a camera cleaning device according to an embodiment of the present application, as shown in the figure, comprising: a sliding rail 201, a fixed rail 202 and a cleaning brush 203 that are slidably connected, wherein there are two fixed rails 201, which are respectively located on the upper and lower sides of the camera 204, and the two ends of the sliding rail 202 are respectively slidably set on the fixed rail 201, and are electrically connected to the controller (not shown in the figure), and can slide on the fixed rail according to the instruction of the controller, and a cleaning brush 203 is set on the sliding rail 202, so that based on the sliding of the sliding rail 203, the cleaning brush 203 cleans the stains and dust on the surface of the camera 204.

[0064] It should be understood that the number of fixed rails in the embodiment of the present application can also be one, and the fixed rails can also be set on the left and right sides of the camera to achieve the up and down brushing movement of the cleaning brush.

[0065] See Figure 3, which exemplarily shows a structural schematic diagram of a camera cleaning device according to another embodiment of the present application. As shown in the figure, it includes an electric-controlled roller 301 and a cleaning film 302. Specifically, there are two electric-controlled rollers 301, which are respectively located on both sides of the camera 303. The two ends of the cleaning film 303 are respectively wrapped around the two electric-controlled rollers 301 in multiple layers. In this way, the cleaning film can be gradually wound from one electric-controlled roller to the other electric-controlled roller by rotating the two electric-controlled rollers in the same direction and at the same speed.

[0066] It should be understood that the embodiment of the present application can predetermine the electric roller for releasing the clean cleaning film and the electric roller for recovering the cleaning film that has wiped the camera, thereby determining the rolling direction of the electric roller. Figure 3 For example, if it is determined that the electric roller on the left is used to release the clean cleaning film, and the electric roller on the right is used to recycle the cleaning film that has wiped the camera, then the two electric rollers are determined to rotate counterclockwise. Otherwise, if the electric roller on the right releases the clean cleaning film, the two electric rollers rotate clockwise.

[0067] Based on the above embodiments, the embodiment of the present application can use the electric roller used to recover the cleaning film that has wiped the camera as the active shaft, and the electric roller used to release the clean cleaning film as the driven shaft. In this way, only the electric roller serving as the active shaft needs to be driven to realize the cleaning film wiping the camera.

[0068] It should be understood that the cleaning film of the embodiment of the present application should be able to fit tightly on the camera to be able to wipe the camera, so the positional relationship between the cleaning film, the electric roller and the camera can be as follows: Figure 4 shown.

[0069] like Figure 4 As shown, the electric roller 401 is used to release the clean cleaning film, and the electric roller 402 is used to recycle the cleaning film after wiping the camera. One end of the cleaning film 403 is first wound on the electric roller 401 in a counterclockwise direction for multiple layers, and then the other end is connected to the electric roller 402 and also wound for multiple layers. In this way, when the two electric rollers rotate counterclockwise, the cleaning film 403 can move from the gap between the electric roller 401 and the camera 404 to the gap between the electric roller 402 and the camera 404.

[0070] It should be understood that in Figure 3 and Figure 4 In the embodiment shown, the cleaning film can be made of a transparent material, or the camera cleaning device can be set to a detachable structure. Each time it needs to be used, the cleaning device is installed on the camera. Specifically, the fixed rail can be set to a magnetic fixed rail, and a corresponding magnetic strip can be provided on the camera.

[0071] See Figure 5, which exemplarily illustrates the camera structure of a facial recognition device according to an embodiment of the present application. As shown in the figure, the present embodiment includes two cameras 501, one of which is located in a working position 503 of a facial recognition device 502, and the other in a storage position 504 of the facial recognition device. The two cameras are respectively fixed to two support arms 505 connected at a certain angle. When the camera in the working position needs to be cleaned, the two support arms are rotated so that the camera originally in the storage position moves to the working position, completing the camera switching and ensuring normal use of the cameras.

[0072] See Figure 6 , which exemplarily shows a structural diagram of a camera cleaning device according to another embodiment of the present application, as shown in the figure, includes a slide rail assembly (the slide rail assembly includes a slide rail 601 and a fixed rail 602 that are slidably connected), an electrically controlled roller 603, and a cleaning film 604;

[0073] Specifically, the fixing rail 602 extends from one side of the camera 605 to the other side. Figure 6 The middle fixed rail 602 is arranged horizontally, and thus extends from the left side to the right side of the camera 605. It should be understood that the fixed rail 602 is in a position that does not block the camera shooting. Figure 6 There are two fixed rails 602, one on each side of the camera, so that the sliding rails 601 can slide more stably on the fixed rails. The sliding rails 601 of the embodiment of the present application are electrically connected to a controller (not shown in the figure) so as to slide on the fixed rails 602 according to the instructions of the controller.

[0074] The present embodiment also includes two sliding rails 601, each housing an electrically controlled roller 603. The electrically controlled rollers 603 are cylindrical in structure, with multiple layers of cleaning film 604 wound around their surfaces. The ends of the cleaning film 604 are respectively wound around the two electrically controlled rollers, allowing the cleaning film 604 to gradually wrap from one roller to the other as the rollers rotate. It should be understood that the width of the cleaning film should be at least equal to the diameter of the camera.

[0075] Optionally, the cleaning film of the embodiment of the present application can be made of PET original film material, and the surface of the cleaning film is provided with an oleophobic and hydrophobic coating. The cleaning film made of PET original film material has ultra-high light transmittance, which enables the cleaning film to achieve a nearly invisible visual effect, avoiding interference with the camera's shooting. At the same time, it has good durability and a long service life. The setting of the oleophobic and hydrophobic coating can withstand dirt such as grease, water, and dust, so that the surface tension of water is greater than the surface tension of oil, which is greater than the surface tension of the cleaning film, thereby achieving a hydrophobic and oleophobic effect, thereby realizing self-cleaning and facilitating the operation of the camera.

[0076] The controller of the embodiment of the present application is used to control the sliding of the sliding rail and the rotation of the electric roller. Optionally, the controller can be a processing unit for controlling the camera. Taking the face payment device as an example, the processing unit that controls the activation of the camera in the face payment device, such as the CPU, can be used as the controller of the camera cleaning device.

[0077] The camera cleaning device of the embodiment of the present application is provided with a slide rail assembly, an electric-controlled roller, and a cleaning film, wherein the slide rail assembly includes a sliding rail and a fixed rail that are slidably connected, the fixed rail extends from one side of the camera to the other side, so that the slide rail can slide from one side of the camera to the other side, the number of the sliding rails is two, and an electric-controlled roller is provided on each corresponding sliding rail, the two ends of the cleaning film are respectively connected to the two electric-controlled rollers, the two electric-controlled rollers can respectively play the role of releasing the cleaning film and recovering the cleaning film, so that the cleaning film can wipe the camera with the movement of the sliding rail and the electric-controlled roller, and since the electric-controlled roller can automatically move based on the sliding rail, the two electric-controlled rollers can be set on the same side after cleaning, and the cleaning film will not block the camera, which has high practical value.

[0078] See Figure 7 , which exemplarily shows a schematic diagram of the principle of cleaning a camera by a camera cleaning device according to an embodiment of the present application, as shown in the figure, Figure 7 Figure a shows the positional relationship of the various components of the camera cleaning device in the initial state, where the two sliding rails are located on the same side of the fixed rail. Figure 7 Figure b shows the positional relationship of the various components of the camera cleaning device during the first cleaning of the camera. At this time, the sliding rail 701, which is closer to the other side of the fixed rail, is controlled to slide to the other side. At the same time, the two electrically controlled rollers 702 are controlled to rotate, so that the cleaning film gradually moves from the clean electrically controlled roller to the electrically controlled roller that recycles the cleaning film for wiping the camera. Since the electrically controlled roller moves with the sliding rail, the cleaning film wipes the camera for the first time. When the sliding rail 701 reaches the other side, it is necessary to control the sliding rail 703 to slide to the other side as well. Figure 7 Figure c shows the positional relationship of the various components of the camera cleaning device when the camera is cleaned for the second time. At this time, the sliding rail 703 is also approaching the other side, and the cleaning film continues to be released continuously to wipe the camera. Figure 7 The reference d in the figure shows the positional relationship of the various components of the camera cleaning device after the second wipe, when both electrically controlled rollers have moved to the other side of the camera. In this embodiment, moving both slide rails to the same side is referred to as a cleaning process. As can be seen from the above embodiment, the camera is cleaned twice in one cleaning process (it should be noted that the cleaning film is cleaned from the moment it contacts the stain; the number of cleanings referred to in this application refers to the number of times the slide rail passes over the stain).

[0079] Based on the above embodiments, as an optional embodiment, the embodiment of the present application can set an elastic support frame between the sliding rail and the electric roller. The support frame has a contraction force in a natural state, so that the cleaning film can fit the camera as closely as possible.

[0080] See Figure 8 , which exemplarily shows a flow chart of a control method of a camera cleaning device according to an embodiment of the present application. The method can be executed by a controller. As shown in the figure, the method includes the following steps:

[0081] S101. Control the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera.

[0082] In the embodiment of the present application, before each cleaning of the camera, the two sliding rails are set on the same side of the fixed rail to prevent the cleaning film from blocking the camera.

[0083] S102. If it is determined to clean the camera, control the first sliding rail to move to the other side of the fixed rail, and control the two electrically controlled rollers to rotate in the same direction, so that the clean cleaning film released by the first electrically controlled roller moves with the movement of the first sliding rail and is wound around the second electrically controlled roller for recovering the cleaning film that has wiped the camera.

[0084] For clarity, in this embodiment, the sliding rail closer to the other side of the cleaning camera is referred to as the first sliding rail, and the sliding rail farther from the other side of the cleaning camera is referred to as the second sliding rail. Furthermore, the electrically controlled roller that releases the clean cleaning film is referred to as the first electrically controlled roller, and the electrically controlled roller that reclaims the cleaning film after wiping the camera is referred to as the second electrically controlled roller.

[0085] In step S102, the controller controls the two electrically controlled rollers to rotate in the same direction, allowing the cleaning film to be recovered after release and wound around the second electrically controlled roller. Furthermore, because the first slide rail slides to the other side of the camera, the cleaning film wipes the camera from one side to the other during the release process, cleaning the camera surface.

[0086] S103: If it is determined that the first sliding rail reaches the other side, the second sliding rail is controlled to move toward the other side, and the second electrically controlled roller is controlled to rotate to wind the cleaning film between the second sliding rail and the first sliding rail.

[0087] It should be understood that when the first sliding rail reaches the other side, the camera will be completely covered by the cleaning film. Therefore, the second sliding rail is controlled to move to the other side and the second electrically controlled roller is controlled to rotate. The purpose is to recycle the cleaning film covering the camera and return the camera to a state without being blocked by the cleaning film.

[0088] S104: If it is determined that the distance between the second sliding rail and the first sliding rail meets the preset condition, all the sliding rails and the electrically controlled rollers are controlled to stop moving.

[0089] The preset conditions for the corresponding spacing in the embodiment of the present application can be predetermined based on the width range of the electrically controlled roller wrapped around the cleaning film. When the spacing meets the preset conditions, it can be considered that the second sliding rail can no longer approach the first sliding rail, and there is no cleaning film covering (blocking) the camera.

[0090] Based on the above embodiments, as an optional embodiment, controlling the first sliding rail to move toward the other side of the fixed rail and simultaneously controlling the two electrically controlled rollers to rotate in the same direction includes:

[0091] If it is determined that the first electrically controlled roller corresponds to the first sliding rail, the two electrically controlled rollers are controlled to rotate clockwise;

[0092] If it is determined that the second electrically-controlled roller corresponds to the first sliding rail, the two electrically-controlled rollers are controlled to rotate counterclockwise.

[0093] See Figure 9 and Figure 10 , which exemplarily shows a schematic diagram of the rotation direction of the electronically controlled roller in different embodiments of the present application. Figure 9 In the figure, when the first electric-controlled roller 901 is set on the first sliding rail 902, that is, the first electric-controlled roller corresponds to the first sliding rail, since the first electric-controlled roller 901 is used to release the clean cleaning film (indicated by thick lines in the figure), when the first electric-controlled roller 901 rotates clockwise, the cleaning film wrapped on the first electric-controlled roller can be transmitted to the second electric-controlled roller 903 on the left. Accordingly, the second electric-controlled roller also needs to rotate clockwise to recover the cleaning film released by the first electric-controlled roller.

[0094] exist Figure 10 In the figure, when the second electric-controlled roller 1001 is set on the first sliding rail 1002, that is, the second electric-controlled roller corresponds to the first sliding rail, since the second electric-controlled roller 1001 is used to recover the cleaning film that has wiped the camera, when the second electric-controlled roller is counterclockwise, it can roll up the cleaning film. Accordingly, the first electric-controlled roller 1003 also needs to rotate counterclockwise to release the cleaning film to the second electric-controlled roller.

[0095] Based on the above embodiments, as an optional embodiment, controlling the first sliding rail to move toward the other side of the fixed rail and simultaneously controlling the two electrically controlled rollers to rotate in the same direction further includes:

[0096] 1) controlling the absolute value of the first linear velocity of the outer surface of the cleaning film on the first electrically controlled roller to be no less than the absolute value of the moving velocity of the first sliding rail;

[0097] 2) Controlling the absolute value of a second linear velocity of the outer surface of the cleaning film on the second electrically controlled roller to be equal to the difference between the absolute value of the first linear velocity and the absolute value of the moving velocity.

[0098] It should be noted that in order to ensure that the cleaning film can be in close contact with the camera during the release-recovery process, it is necessary to ensure that the release speed is consistent with the recovery speed. Therefore, in the embodiment of the present application, the absolute value of the linear velocity of the outer surface of the cleaning film on the first electrically controlled roller is controlled to be not less than the absolute value of the velocity of the first sliding rail. When the first electrically controlled roller is on the first sliding rail, refer to Figure 9 , at this time, the first sliding rail moves to the right, and the first electric-controlled roller rotates clockwise. If the absolute value of the linear velocity of the outer surface of the cleaning film of the first electric-controlled roller is less than the absolute value of the speed of the first sliding rail, it is considered that the speed at which the first electric-controlled roller releases the cleaning film cannot keep up with the speed of the first sliding rail; when the second electric-controlled roller is located on the first sliding rail, at this time the first sliding rail moves to the right, and the first electric-controlled roller rotates counterclockwise. If the absolute value of the linear velocity of the outer surface of the cleaning film of the first electric-controlled roller is less than the absolute value of the speed of the first sliding rail, then the speed of the cleaning film released by the first electric-controlled roller cannot keep up with the speed at which the second electric-controlled roller moves away from the first electric roller, which will cause the cleaning film to tear. Therefore, no matter which electric-controlled roller the first sliding rail corresponds to, it is necessary to satisfy that the absolute value of the linear velocity of the outer surface of the cleaning film on the first electric-controlled roller is not less than the absolute value of the speed of the first sliding rail. It is understood that when the absolute value of the linear velocity of the outer surface of the cleaning film on the first electric roller is equal to the absolute value of the speed of the first slide rail, the release speed of the cleaning film is exactly equal to the movement speed of the first slide rail. In this case, the speed of the second electric roller can be zero. When the difference between the absolute value of the first linear velocity and the absolute value of the movement speed is greater than 0, the second linear velocity of the outer surface of the cleaning film on the second electric roller can be set.

[0099] Based on the above embodiments, the present embodiment can calculate the radius of the first electric roller around which the cleaning film is wrapped based on the length of the cleaning film on the first electric roller. Since the speed of the first sliding rail can be a predetermined constant, the angular velocity of the first electric roller can be further calculated to control the rotation of the first electric roller. Similarly, the angular velocity of the second electric roller can be further obtained.

[0100] Specifically, controlling the absolute value of the first linear velocity of the outer surface of the cleaning film on the first electrically controlled roller to be not less than the absolute value of the moving velocity of the first sliding rail includes the following steps S201 to S204:

[0101] S201: Determine the moving speed of the first sliding rail.

[0102] It should be noted that the displacement of the first sliding rail in the embodiment of the present application can be achieved based on a stepper motor. A stepper motor is an electric motor that converts an electrical pulse signal into a corresponding angular displacement or linear displacement. For each pulse signal input, the rotor rotates an angle or advances one step. The angular displacement or linear displacement output is proportional to the number of pulses input, and the rotational speed is proportional to the pulse frequency. Therefore, based on the predetermined relationship between the number of pulses and the linear displacement, the movement speed of the first sliding rail can be determined. Generally, the speed of the first sliding rail is a predetermined fixed value.

[0103] S202: Determine a first average distance between the outer surface of the cleaning film wound around the first electrically-controlled roller and the axis of the first electrically-controlled roller during this cleaning of the camera.

[0104] It should be understood that, in the factory state, the cleaning film is basically completely located on the first electric-controlled roller. At this time, the diameter of the first electric-controlled roller around which the cleaning film is wrapped can be measured, which is equivalent to obtaining the initial distance from the outer surface of the cleaning film wrapped on the first electric-controlled roller (i.e., the surface of the outermost cleaning film) to the axis of the first electric-controlled roller, and then obtaining the functional relationship between the length of the cleaning film wrapped on the first electric-controlled roller and the initial distance from the outer surface of the cleaning film wrapped on the first electric-controlled roller to the axis of the first electric-controlled roller.

[0105] Moreover, since the length of the fixed rail is fixed, the distance of the sliding rail from one side to the other side can also be determined. This distance is also the distance required for the cleaning film to move from one side to the other side. Therefore, the above-mentioned functional relationship can be combined to obtain the change in the distance between the outer surface of the cleaning film wrapped on the first electric-controlled roller and the axis center of the first electric-controlled roller during each cleaning, that is, before cleaning, the distance from the outer surface of the cleaning film wrapped on the first electric-controlled roller to the axis center of the first electric-controlled roller; after cleaning, the distance from the outer surface of the cleaning film wrapped on the first electric-controlled roller to the axis center of the first electric-controlled roller. By taking the average of the above two distances, the first average distance from the outer surface of the cleaning film wrapped on the first electric-controlled roller to the axis center of the first electric-controlled roller during this cleaning of the camera can be obtained.

[0106] S203: Determine a minimum angular velocity of the first electrically-controlled roller according to the first average distance and the moving speed, and determine an actual first angular velocity of the first electrically-controlled roller according to the minimum angular velocity.

[0107] Theoretically, in this solution, the first electric-controlled roller will have a linear speed that slows down during a cleaning process because the cleaning film wrapped around it becomes less and less. However, since the length of the camera itself is very short, there will not actually be a significant slowdown. Therefore, it can be considered that the linear speed of the first electric-controlled roller, including the second electric-controlled roller, is fixed during a cleaning process.

[0108] When controlling the rotation of an electrically controlled roller, the angular velocity is generally controlled. Since angular velocity is determined based on the rotation radius and linear velocity, the present application can use the first average distance as the selected radius and the movement velocity as the linear velocity to obtain an angular velocity value. It should be understood that this angular velocity value is the minimum angular velocity that the first electrically controlled roller must meet. When rotating at the minimum angular velocity, the rotational speed of the second electrically controlled roller is zero. In embodiments of the present application, the minimum angular velocity or an angular velocity slightly greater than the minimum angular velocity can be used as the actual angular velocity.

[0109] S204: Control the first electrically controlled roller to rotate at the actual first angular velocity so that the absolute value of the first linear velocity is not less than the absolute value of the moving velocity of the first sliding rail.

[0110] Based on the above embodiments, as an optional embodiment, controlling the absolute value of the second linear velocity of the outer surface of the cleaning film on the second electrically controlled roller to be equal to the difference between the absolute value of the first linear velocity and the absolute value of the moving velocity includes steps S301 to S305:

[0111] S301: Determine an absolute value of the first linear velocity according to an average distance and the actual first angular velocity.

[0112] Specifically, the product of the first average distance and the actual first angular velocity may be used as the absolute value of the first linear velocity.

[0113] S302: Determine a speed difference between the absolute value of the first linear speed and the absolute value of the moving speed.

[0114] S303: Determine a second average distance between the outer surface of the cleaning film wound around the second electrically-controlled roller and the axis of the second electrically-controlled roller during this cleaning of the camera.

[0115] Referring to the above embodiment, the embodiment of the present application can accumulate the cleaning film newly wound by the second electric-controlled roller each time it cleans, thereby determining the thickness of the cleaning film wound on the second electric-controlled roller, and thus obtaining the second average distance from the outer surface of the cleaning film wound on the second electric-controlled roller to the axis center of the second electric-controlled roller.

[0116] S304: Determine an actual second angular velocity of the second electronically-controlled roller according to the second average distance and the velocity difference.

[0117] Specifically, by taking the second average distance as the rotation radius and the speed difference as the linear speed, the actual second angular speed of the second electrically-controlled roller of the Ouhu can be obtained.

[0118] S305: Control the second electronically controlled roller to rotate at the actual second angular velocity.

[0119] It can be seen from the above embodiments that since the sliding rail of the embodiment of the present application reciprocates on the fixed rail, the first sliding axes of two adjacent times will change, and then the electrically controlled roller corresponding to the first sliding rail will also change.

[0120] Since the selection directions of the electrically controlled rollers may be different when the first sliding axis corresponds to different electrically controlled rollers, it is necessary to accurately determine the corresponding relationship between the electrically controlled rollers and the first sliding axis.

[0121] Based on the above embodiments, as an optional embodiment, the two electrically controlled rollers are controlled to rotate in the same direction, and the method further includes:

[0122] According to the slide rail identifier of the first slide rail for cleaning the camera this time, the electronically controlled roller corresponding to the slide rail identifier is determined according to pre-established slide rail-roller correspondence information;

[0123] If it is determined that the distance between the second sliding rail and the first sliding rail meets the preset condition, the method further includes: updating the sliding rail identifier of the first sliding rail for cleaning the camera this time to the sliding rail identifier of the second sliding rail.

[0124] The embodiment of the present application can configure the identification of two sliding rails and two electric-controlled rollers at the factory, and determine the correspondence between the sliding rails and the electric-controlled rollers based on which sliding rail each electric-controlled roller is specifically installed on, and record it in the sliding rail-roller correspondence information.

[0125] Furthermore, the embodiment of the present application can determine the first sliding rail from the two sliding rails before the first cleaning (for example, when leaving the factory), and record the slide rail identification corresponding to the first sliding rail. In this way, during the first cleaning, the first sliding rail is determined based on the slide rail identification of the first sliding rail of the camera being cleaned this time, and then the electric-controlled roller corresponding to the slide rail identification of the first sliding rail is determined based on the configured slide rail-roller correspondence information, and then it is determined whether it rotates clockwise or counterclockwise. At the end of the first cleaning, the slide rail identification of the first sliding rail of the camera being cleaned this time is updated to the slide rail identification of the second sliding rail. Then, during the next cleaning, the first sliding rail is determined by the updated slide rail identification.

[0126] The following describes the process of controlling the direction of the electronically controlled roller according to an embodiment of the present application with reference to a specific example.

[0127] The two sliding rails in the camera cleaning device are marked as H1 and H2 respectively. A first electrically-controlled roller is set on the sliding rail H1, which is the electrically-controlled roller that releases the clean cleaning film. A second electrically-controlled roller is set on H2, which is the electrically-controlled roller that recovers the camera wiped. The first electrically-controlled roller is marked as G1, and the second electrically-controlled roller is marked as G2. The sliding rail-roller correspondence information is established: H1-G1, H2-G2, and the symbol "-" indicates correspondence.

[0128] Before the first cleaning, it is determined that both the sliding rail H1 and the sliding rail H2 are located on the right side of the fixed rail, and the sliding rail H1 is closer to the left side of the fixed rail than the sliding rail H2. Therefore, the sliding rail identifier of the first sliding rail for the first cleaning of the camera is recorded as H1.

[0129] During the first cleaning, since the recorded slide rail identifier of the first slide rail is H1, according to the slide rail-roller correspondence information, the electrically controlled roller corresponding to the first slide rail is the first electrically controlled roller, and the two electrically controlled rollers are controlled to rotate clockwise.

[0130] When the first cleaning is completed, that is, when the distance between the two sliding rails meets the preset conditions, the sliding rail identifier of the first sliding rail for cleaning the camera is updated to H2, because the sliding rail H2 is closer to the right than the sliding rail H1.

[0131] During the second cleaning, since the slide rail mark of the first slide rail of the camera for cleaning this time is H2, and the electric-controlled roller corresponding to H2 is the second electric-controlled roller, the two electric-controlled rollers are controlled to rotate counterclockwise.

[0132] See Figure 11 , which exemplarily shows a flowchart of a camera repair method according to an embodiment of the present application, as shown in the figure, including:

[0133] S401: Acquire an image set collected by a camera.

[0134] It should be understood that the image set obtained in the embodiment of the present application is an image set captured by the camera in a natural scene. The natural scene constituted by the image set can be an everyday face recognition scene - such as a face payment scene, an access control scene, a terminal unlocking scene, etc.

[0135] Before shooting, the camera of the embodiment of the present application can first determine whether the camera is stable based on the angular velocity of the gyroscope in the three directions of x, y, and z, and shoot after determining that the camera is stable, thereby eliminating the problem of image blur caused by camera shaking.

[0136] The image acquired in the embodiment of the present application may be a brightness channel, a color channel, an infrared image, a depth image, etc.

[0137] S402 : Detect the clarity of the image set, obtain the working parameters of the camera, and perform occlusion detection on the camera according to the image set to obtain an occlusion detection result.

[0138] After acquiring the image set, the embodiment of the present application will detect the clarity, occlusion and working parameters of each image in the image set, and use the parameters in three dimensions to more accurately determine the camera repair strategy.

[0139] Specifically, the embodiments of the present application can adopt the following two solutions when performing blur detection:

[0140] Option 1:

[0141] First, the image is fast Fourier transformed, and then the distribution of high-frequency and low-frequency components in the image is detected. If the high-frequency component is present, the image is judged to be blurred.

[0142] From the perspective of the Fourier transform, an image can be converted from a grayscale distribution to a frequency distribution. The resulting spectrum after Fourier transforming an image is a distribution diagram of the image's gradient. Specifically, the varying brightness of the bright spots on the Fourier spectrum represents the difference between a specific point in the image and the surrounding area, or the magnitude of the gradient.

[0143] If the intensity of each position of an image is equal, then the image only has low-frequency components. From the spectrum of the image, there is only one main peak, and it is located at the frequency of zero.

[0144] If the intensity of an image varies dramatically across locations, the image will contain not only low-frequency components but also multiple high-frequency components. The image's frequency spectrum shows not only a single main peak but also multiple side peaks. This can be understood as follows: low-frequency components in an image are those with smaller gradients, while the opposite is true for high-frequency components.

[0145] The frequency of an image is an indicator that characterizes the intensity of grayscale changes in the image, and is the gradient of grayscale in a plane space. For example, a large area of ​​desert is an area with slow grayscale changes in the image, and the corresponding frequency value is very low; while an edge area with drastic changes in surface properties is an area with drastic grayscale changes in the image, and the corresponding frequency value is higher. To put it in a more vivid way: places where brightness or grayscale changes drastically correspond to high-frequency components, such as edges; places where the changes are not significant correspond to low-frequency components, such as large color blocks. Therefore, the embodiment of the present application can use the distribution of high-frequency classifications as a parameter to measure image clarity.

[0146] Solution 2: Determine based on the variance of the Laplacian transform. The Laplacian transform works because it measures the second-order derivative of an image, emphasizing areas of rapid density change, typically edges. Therefore, it's often used for edge detection. In normal images, edges are clear, so the variance is high. However, blurred images contain little edge information, so the variance is low.

[0147] First, the image is grayscale processed, and then the grayscale image is convolved with a specific Laplacian kernel to calculate the variance value of the response. In this solution, the embodiment of the present application can use this variance value as a parameter to measure the clarity of the image.

[0148] This application performs real-time camera occlusion detection and can use the following process:

[0149] 1. Image preprocessing: Use median filtering to eliminate large noise in the image and smooth the background of the collected image;

[0150] 2. Image opening operation: low-pass filtering is performed on the image after the opening operation to eliminate holes in the image and obtain a smooth background image;

[0151] 3. Extract high-frequency components from the image to obtain a high-frequency component distribution map;

[0152] 4. Combine the preprocessed images for image enhancement to establish a generalized image and extract the convolution edges;

[0153] 5. Compare the convolution result with the preset threshold. If it is higher than the threshold, it is determined that there is occlusion.

[0154] Currently, most cameras on the market have built-in application programming interfaces (APIs) for detecting working parameters. Camera working parameters such as temperature, zoom capability, infrared, and depth camera capabilities can be obtained through the API.

[0155] S403: Input the clarity, working parameters, and occlusion detection results into a repair strategy model to obtain a repair strategy of the camera output by the repair strategy model.

[0156] The embodiment of the present application obtains three dimensions: clarity, working parameters and occlusion detection results, and inputs them into a pre-trained repair measurement model to obtain a repair strategy for the camera with repair measurement output. Subsequently, by executing the repair strategy, the camera can be automatically repaired.

[0157] It should be understood that before executing step S403, a repair strategy model may be pre-trained. Specifically, the repair strategy model may be trained in the following manner:

[0158] First, a certain number of sample images captured by a sample camera are collected, and the clarity, operating parameters, and occlusion detection results of each sample image are obtained. The repair strategy of the sample camera is then determined. Then, an initial model is trained based on the clarity, operating parameters, occlusion detection results, and repair strategy of each sample image. The clarity, operating parameters, and occlusion detection results of each sample image are used as training samples, and the repair strategy of the sample camera is used as the sample label to obtain the repair strategy model. The initial model can be a single neural network model or a combination of multiple neural network models.

[0159] The camera repair method of the embodiment of the present application obtains an image set captured by the camera, detects the clarity of the image set, the working parameters of the camera, and the occlusion detection results, and inputs them into a pre-trained repair strategy model to obtain the camera repair strategy output by the repair strategy model. Compared with the existing technology that analyzes camera failures based only on software layer error codes, it has greater flexibility and can provide more accurate repair strategies.

[0160] Based on the above embodiments, the repair strategy of the embodiment of the present application may include cleaning the camera. If the repair strategy includes cleaning the camera, the camera cleaning device of the above embodiment is controlled according to the control method of the above embodiment to complete the cleaning of the camera.

[0161] Based on the above embodiments, as an optional embodiment, the output of the repair strategy model of the embodiment of the present application also includes the fault type of the camera; accordingly, when training the neural network, the sample label also includes the fault type of the sample camera.

[0162] The fault types in the embodiments of the present application may include abnormal camera function, stains on the camera, camera overheating, aging of the camera firmware version, etc.

[0163] Based on the above embodiments, as an optional embodiment, in addition to cleaning the camera, the embodiment of the present application can also include software-level repairs, such as upgrading the camera firmware. Through the firmware upgrade, the camera's shooting logic can be optimized to avoid unclear problems.

[0164] See Figure 12 , which exemplarily shows a flowchart of a camera repair method according to another embodiment of the present application, as shown in the figure, including:

[0165] Get the image set captured by the camera to be tested;

[0166] Perform imaging quality detection on the image set;

[0167] If the image quality score is not less than the threshold, the camera is determined to be normal;

[0168] If the program quality score is less than the threshold, the camera is determined to be faulty and repairs are attempted;

[0169] Obtain the clarity, occlusion detection results, and working parameters of the image set, and input them into the pre-trained repair strategy model to obtain the fault type and repair strategy output by the repair strategy model:

[0170] Fault types in the embodiments of the present application may include camera malfunction, camera obstruction by stains, camera overheating, etc. Repair strategies include online repair strategies and offline repair strategies. Online repair strategies include firmware upgrades, software policy adjustments, algorithm updates, etc. Offline repair strategies may include cleaning the camera using the camera cleaning device of the above embodiment, adjusting the camera's shooting angle, replacing spare parts, etc.

[0171] The embodiment of the present application provides a controller for a camera cleaning device, such as Figure 13 As shown, the controller may include: an initialization module 1301, a first-stage control module 1302, a second-stage control module 1303, and a termination module 1304, wherein:

[0172] An initialization module 1301 is used to control the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera;

[0173] The first stage control module 1302 is configured to, if it is determined that the camera needs to be cleaned, control the first sliding rail to move toward the other side of the fixed rail, and control the two electrically controlled rollers to rotate in the same direction, so that the clean cleaning film released by the first electrically controlled roller is wound around the second electrically controlled roller for recovering the cleaning film that has wiped the camera as the first sliding rail moves;

[0174] The second stage control module 1303 controls the second sliding rail to move toward the other side if it is determined that the first sliding rail has reached the other side, and controls the second electrically controlled roller to rotate to wrap the cleaning film between the second sliding rail and the first sliding rail;

[0175] The termination module 1304 controls all the sliding rails and the electrically controlled rollers to stop moving if it is determined that the distance between the second sliding rail and the first sliding rail meets a preset condition;

[0176] The first sliding rail is a sliding rail closer to the other side before cleaning the camera, and the second sliding rail is a sliding rail farther away from the other side before cleaning the camera.

[0177] The device of the embodiment of the present application can execute the control method of the camera cleaning device provided in the embodiment of the present application. The implementation principle is similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, and will not be repeated here.

[0178] The embodiment of the present application provides a camera repair device, such as Figure 14 As shown, the camera repair device may include: an image acquisition module 1401, a multiple detection module 1402 and a prediction module 1403, wherein:

[0179] Image acquisition module 1401, used to obtain an image set captured by a camera;

[0180] A multiple detection module 1402 is configured to detect the clarity of the image set, obtain operating parameters of the camera, and perform occlusion detection on the camera based on the image set to obtain an occlusion detection result;

[0181] The prediction module 1403 is configured to input the clarity, working parameters, and occlusion detection results into a repair strategy model to obtain a repair strategy of the camera output by the repair strategy model;

[0182] The repair strategy model is trained using the corresponding clarity, working parameters and occlusion detection results of sample cameras as training samples, and the repair strategy of the sample cameras as sample labels.

[0183] The device of the embodiment of the present application can execute the camera repair method provided by the embodiment of the present application, and its implementation principle is similar. The actions performed by each module in the device of each embodiment of the present application correspond to the steps in the method of each embodiment of the present application. For the detailed functional description of each module of the device, please refer to the description in the corresponding method shown in the previous text, and will not be repeated here.

[0184] An embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the above-mentioned computer program to implement the control method of the camera cleaning device and / or the steps of the camera repair method. Compared with the related art, it can achieve: there is no need for the maintenance party to manually determine and repair the repair strategy. When the camera needs to be cleaned, it is only necessary to remotely control the camera cleaning device provided by the present application. At the same time, when determining the repair strategy, the clarity of the image taken by the camera, the occlusion detection result of the camera, and the working parameters are also remotely obtained. The pre-trained neural network model can be used to quickly obtain the fault type and repair strategy, which greatly improves the efficiency of the repair.

[0185] In an alternative embodiment, an electronic device is provided, such as Figure 15 As shown, Figure 15 The electronic device 4000 shown includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which may be used for data exchange between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the number of transceivers 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0186] Processor 4001 can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, or a combination of a DSP and a microprocessor.

[0187] Bus 4002 may include a path for transmitting information between the above components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 15 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0188] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation here.

[0189] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0190] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0191] An embodiment of the present application also provides a computer program product, including a computer program, which can implement the steps and corresponding contents of the aforementioned method embodiment when executed by a processor.

[0192] The terms "first," "second," "third," "fourth," "1," "2," and the like (if any) in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than that shown or described in the drawings.

[0193] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the order of implementation of these steps is not limited to the order indicated by the arrows. Unless otherwise clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart can include multiple sub-steps or multiple stages based on actual implementation scenarios. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. Under different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0194] The above description is only an optional implementation method for some implementation scenarios of this application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of this application, the use of other similar implementation methods based on the technical ideas of this application also falls within the protection scope of the embodiments of this application.

Claims

1. A camera cleaning device, characterized in that: include: A slide rail assembly, comprising a sliding rail and a fixed rail that are slidably connected, wherein the fixed rail extends from one side of the camera to the other side, and there are two sliding rails; Two electrically controlled rollers are correspondingly arranged on the two sliding rails; A cleaning film, wherein both ends of the cleaning film are respectively wrapped around two electrically controlled rollers in multiple layers, and the cleaning film wrapped around the electrically controlled rollers is tangent to the plane where the camera is located; In the process of cleaning the camera, the positional relationship of the two sliding rails sequentially exists in the following stages: being located on one side of the camera, being located on both sides of the camera, and being located on the other side of the camera.

2. A control method for a camera cleaning device according to claim 1, characterized in that: include: Controlling the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera; If it is determined that the camera is to be cleaned, the first sliding rail is controlled to move toward the other side of the fixed rail, and the two electrically controlled rollers are controlled to rotate in the same direction, so that the clean cleaning film released by the first electrically controlled roller is wound around the second electrically controlled roller for recovering the cleaning film that has wiped the camera as the first sliding rail moves; If it is determined that the first sliding rail reaches the other side, controlling the second sliding rail to move toward the other side, and controlling the second electrically controlled roller to rotate to wind the cleaning film between the second sliding rail and the first sliding rail; If it is determined that the distance between the second sliding rail and the first sliding rail meets the preset condition, all sliding rails and the electrically controlled rollers are controlled to stop moving; The first sliding rail is a sliding rail closer to the other side before cleaning the camera, and the second sliding rail is a sliding rail farther away from the other side before cleaning the camera.

3. The control method according to claim 2, characterized in that: The controlling the first sliding rail to move toward the other side of the fixed rail and simultaneously controlling the two electrically controlled rollers to rotate in the same direction also includes: Controlling the absolute value of a first linear velocity of the outer surface of the cleaning film on the first electrically controlled roller to be not less than the absolute value of a moving velocity of the first sliding rail; The absolute value of the second linear velocity of the outer surface of the cleaning film on the second electrically controlled roller is controlled to be equal to the difference between the absolute value of the first linear velocity and the absolute value of the moving velocity.

4. The control method according to claim 3, characterized in that: The step of controlling the absolute value of the first linear velocity of the outer surface of the cleaning film on the first electrically controlled roller to be not less than the absolute value of the moving velocity of the first sliding rail comprises: determining a moving speed of the first sliding rail; determining a first average distance between the outer surface of the cleaning film wrapped around the first electrically-controlled roller and the axis center of the first electrically-controlled roller during the current cleaning of the camera; determining a minimum angular velocity of the first electrically-controlled roller according to the first average distance and the moving speed, and determining an actual first angular velocity of the first electrically-controlled roller according to the minimum angular velocity; The first electrically controlled roller is controlled to rotate at the actual first angular velocity so that an absolute value of the first linear velocity is not less than an absolute value of a moving velocity of the first sliding rail.

5. The control method according to claim 4, characterized in that: The step of controlling the absolute value of the second linear velocity of the outer surface of the cleaning film on the second electrically controlled roller to be equal to the difference between the absolute value of the first linear velocity and the absolute value of the moving velocity comprises: determining an absolute value of the first linear velocity according to the first average distance and the actual first angular velocity; determining a speed difference between an absolute value of the first linear speed and an absolute value of the moving speed; determining a second average distance between the outer surface of the cleaning film wrapped around the second electric-controlled roller and the axis center of the second electric-controlled roller during the current cleaning of the camera; determining an actual second angular velocity of the second electronically-controlled roller according to the second average distance and the velocity difference; The second electrically-controlled roller is controlled to rotate at the actual second angular velocity.

6. The control method according to claim 2, characterized in that: The controlling the first sliding rail to move toward the other side of the fixed rail and simultaneously controlling the two electrically controlled rollers to rotate in the same direction comprises: If it is determined that the first electrically controlled roller corresponds to the first sliding rail, controlling the two electrically controlled rollers to rotate clockwise; If it is determined that the second electrically-controlled roller corresponds to the first sliding rail, the two electrically-controlled rollers are controlled to rotate counterclockwise.

7. The control method according to claim 6, characterized in that: The controlling of the two electrically controlled rollers to rotate in the same direction also includes: According to the slide rail identifier of the first slide rail for cleaning the camera this time, the electronically controlled roller corresponding to the slide rail identifier is determined according to pre-established slide rail-roller correspondence information; If it is determined that the distance between the second sliding rail and the first sliding rail meets the preset condition, the method further includes: Updating the slide rail identifier of the first slide rail used to clean the camera to the slide rail identifier of the second slide rail; The slide rail-roller correspondence information is used to record the correspondence between the slide rail identifiers of the two slide rails and the roller identifiers of the electrically controlled rollers provided on the corresponding slide rails.

8. A camera repair method, characterized in that: include: Get the image set collected by the camera; detecting the clarity of the image set, obtaining the working parameters of the camera, and performing occlusion detection on the camera according to the image set to obtain an occlusion detection result; Inputting the clarity, working parameters and occlusion detection results into a repair strategy model to obtain a repair strategy of the camera output by the repair strategy model; The repair strategy model is trained using the corresponding clarity, working parameters and occlusion detection results of the sample camera as training samples, and the repair strategy of the sample camera as sample labels; If the repair strategy includes cleaning the camera, the camera cleaning device according to claim 1 is controlled to clean the camera according to the control method according to any one of claims 2 to 7.

9. The camera repair method according to claim 8, characterized in that: The output of the repair strategy model also includes the fault type of the camera; The sample label also includes the fault type of the sample camera.

10. The camera repair method according to claim 8, characterized in that: The repair strategy also includes upgrading the firmware of the camera.

11. A controller for a camera cleaning device according to claim 1, characterized in that: include: an initialization module, configured to control the two sliding rails to be located on the same side of the fixed rail before starting to clean the camera; a first-stage control module configured to, if it is determined that the camera is to be cleaned, control the first sliding rail to move toward the other side of the fixed rail, and control the two electrically controlled rollers to rotate in the same direction, so that a clean cleaning film released by the first electrically controlled roller is wound around a second electrically controlled roller for recovering the cleaning film that has wiped the camera as the first sliding rail moves; The second stage control module controls the second sliding rail to move toward the other side if it is determined that the first sliding rail has reached the other side, and controls the second electrically controlled roller to rotate so as to wrap the cleaning film between the second sliding rail and the first sliding rail; a termination module, controlling all the sliding rails and the electrically controlled rollers to stop moving if it is determined that the distance between the second sliding rail and the first sliding rail meets a preset condition; The first sliding rail is a sliding rail closer to the other side before cleaning the camera, and the second sliding rail is a sliding rail farther away from the other side before cleaning the camera.

12. A camera repair device, characterized in that: include: An image acquisition module is used to obtain an image set captured by a camera; a multiple detection module, configured to detect the clarity of the image set, obtain the operating parameters of the camera, and perform occlusion detection on the camera based on the image set to obtain an occlusion detection result; A prediction module, configured to input the clarity, operating parameters, and occlusion detection results into a repair strategy model to obtain a repair strategy for the camera output by the repair strategy model; The repair strategy model is trained using the corresponding clarity, working parameters and occlusion detection results of the sample camera as training samples, and the repair strategy of the sample camera as sample labels; If the repair strategy includes cleaning the camera, the camera cleaning device according to claim 1 is controlled to clean the camera according to the control method according to any one of claims 2 to 7.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory, wherein: The processor executes the computer program to implement the steps of the method according to any one of claims 2 to 10.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 10 are implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 2 to 10 are implemented.

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