Self-cleaning system and method for sensor window area of lens

Abstract

The invention relates to a lens sensor window area self-cleaning system and method, and the system comprises an image collection device which is used for collecting a plurality of sensor window area images at different positions; the dust monitoring module is configured to perform same position comparison on the plurality of acquired sensor window area images at different positions, and output a corresponding pollution detection result according to the type of the lens to be detected and a comparison result; and the self-cleaning assembly is configured to output vibration with the frequency of at least 20 kHz when the pollution detection result shows that at least one of water stains and dust exists, so that the vibration is conducted to the sensor window area to remove the pollution on the surface in a lossless manner. According to the invention, under the condition that too many external devices are not added to the lens structure, the precise pollutant removal work is completed, because the structure of the window area of the sensor is not changed, dust is shaken off under the condition that the sensing of the sensor is not interfered, and the influence on the sensing function of the lens is extremely small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lens cleaning, in particular to a sensor window area self-cleaning system and method of lens. BACKGROUND

[0002] In the world, machine vision is on the eve of a rapid growth explosion, and China has the largest market in the world, accounting for about 43% of the market share in 2022. According to the forecast of GGII, the market size of China's machine vision will exceed 38 billion yuan by 2025. As our world becomes more automated, more and more cameras and sensors are added to cars, robots, factories, etc., many of which are complex and heavily soiled. Similarly, as the heart of autonomous driving, laser radar also encounters scenes such as rain and mud when working outdoors. When the window sheet or lens is contaminated, many sensors will work abnormally.

[0003] Contaminants and moisture can hinder the camera's line of sight and harm real-time decision-making, so a reasonable and effective cleaning solution becomes increasingly important. The commonly used method is rain wiper dust removal, which has the disadvantage of increasing maintenance costs and low cleaning efficiency, making it difficult to remove dust and other stains completely. It should also be considered that when the rain wiper enters the sensor sensing range, it will cause sensing errors and affect the information collection effect of the sensor itself. SUMMARY

[0004] (I) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a sensor window area self-cleaning system and method of lens, which solves the technical problems of the existing lens dust removal solution increasing maintenance costs, low cleaning efficiency, poor cleaning effect, and affecting the collection function effect of the sensor itself.

[0006] (II) Technical solutions

[0007] In order to achieve the above-mentioned purposes, the main technical solutions adopted by the present application include:

[0008] In a first aspect, the present application provides a sensor window area self-cleaning system of lens, comprising:

[0009] An image acquisition device is configured in a set area range of a lens to be tested, for acquiring multiple sensor window area images at different positions;

[0010] A dust monitoring module is configured to compare multiple sensor window area images at different positions, and output a corresponding pollution detection result according to the type of the lens to be tested and the comparison result;

[0011] The self-cleaning assembly is configured to output a vibration of a frequency of at least 20 kHz according to a vibration instruction transmitted by the dust monitoring module to make the vibration conducted to the sensor window area to remove the pollution on the surface without damage when the pollution detection result indicates that there is at least one pollution including water stains and dust.

[0012] Optionally, the dust monitoring module comprises:

[0013] The monocular camera detection unit is configured to be started regularly or manually to compare the images of the sensor window area collected at different positions at the same position, and if there are spots at the same position of the images, it is determined that there is at least one pollution including water stains and dust.

[0014] The binocular camera detection unit is configured to be started regularly or manually to compare the images of the sensor window area from different cameras at the same position, and if the same data exist at the same position of the images, it is determined that there is no at least one pollution including water stains and dust, and if the same data do not exist at the same position of the images, it is determined that there is at least one pollution including water stains and dust.

[0015] Optionally, the self-cleaning assembly comprises:

[0016] The vibration motor;

[0017] The conducting column is arranged on one side of the window sheet of the sensor window area; and

[0018] The transmission device is connected with the output shaft of the vibration motor and the conducting column, respectively, and is used to convert the rotation of the vibration motor into linear reciprocating motion to drive the window sheet to perform linear reciprocating motion through the conducting column.

[0019] The transmission device comprises a rotating disc, a connecting rod and a piston block, the rotating disc is fixedly connected with the vibration motor, the rotating disc is provided with a protruding connecting column, one end of the connecting rod is hinged with the connecting column, the other end of the connecting rod is hinged with the piston block, the piston block is slidingly installed on the lens device, and the piston block is connected with the conducting column.

[0020] Optionally, the self-cleaning assembly comprises:

[0021] The magnet is arranged on one side of the window sheet of the sensor window area;

[0022] The coil is arranged between the magnet and the window sheet, receives currents in different directions at different times, and vibrates under the attraction or repulsion force of the magnet to drive the window sheet to vibrate at the same frequency; and

[0023] The current applying assembly is configured to apply currents in different directions to the coil at different times to change the magnetic pole of the coil.

[0024] Optionally, the self-cleaning assembly comprises:

[0025] a piezoelectric ceramic sheet arranged on one side of the window sheet in the sensor window area and configured to be deformed under the action of an electric field, thereby driving the window sheet to vibrate at the same frequency; and

[0026] an electric field application assembly configured to apply an electric field environment to the piezoelectric ceramic sheet.

[0027] Optionally, an elastic sealing gasket is arranged between the window sheet in the sensor window area and the self-cleaning assembly.

[0028] In a second aspect, the embodiments of the present application provide a self-cleaning method for a sensor window area of a lens, which applies the self-cleaning system as described above, and the self-cleaning method comprises:

[0029] acquiring multiple sensor window area images at different positions by using an image acquisition device;

[0030] comparing the acquired multiple sensor window area images at different positions at the same position, and outputting a corresponding pollution detection result according to the type of the lens to be measured and the comparison result;

[0031] when the pollution detection result is that there is at least one pollution including water stains and dust, controlling the self-cleaning assembly to output vibration at a frequency of at least 20 kHz, so that the vibration is conducted to the sensor window area to remove the water stains and dust pollution on the surface without damage, until the output pollution detection result is that there is no at least one pollution including water stains and dust.

[0032] Optionally, after acquiring multiple sensor window area images at different positions by using the image acquisition device, the method further comprises:

[0033] performing target segmentation, rotation and correction processing on the acquired sensor window area images to obtain a maximum edge profile area in the sensor window area image.

[0034] Optionally, the comparison of the acquired multiple sensor window area images at different positions at the same position by using the dust monitoring module, and the output of the corresponding pollution detection result according to the type of the lens to be measured and the comparison result, comprise:

[0035] for a monocular camera, comparing the maximum edge profile area in the sensor window area image at the same position, and if there are spots at the same position of the image, it is judged that there is at least one pollution including water stains and dust;

[0036] For the binocular camera, the maximum edge region in the reserved sensor window area image from different cameras is compared in the same position, if the same data exists in the same position of the image, it is judged that at least one pollution including water stain and dust does not exist, if the same data does not exist in the same position of the image, it is judged that at least one pollution including water stain and dust exists.

[0037] Optionally, the self-cleaning assembly is any one of the first model structure, the second model structure and the third model structure;

[0038] The first model structure comprises: a vibration motor; a conductive column arranged at one side of a window sheet of the sensor window area; and a transmission device connected with the output shaft of the vibration motor and the conductive column respectively, the transmission device is used for converting the rotation of the vibration motor into linear reciprocating motion, and driving the window sheet to perform linear reciprocating motion through the conductive column; wherein the transmission device comprises: a rotating disc, a connecting rod and a piston block, the rotating disc is fixedly connected with the vibration motor, the rotating disc is provided with a protruding connecting column, one end of the connecting rod is hinged with the connecting column, the other end of the connecting rod is hinged with the piston block, the piston block is slidingly installed on the lens device, and the piston block is connected with the conductive column;

[0039] The second model structure comprises: a magnet arranged at one side of a window sheet of the sensor window area; a coil arranged between the magnet and the window sheet, the coil receives currents in different directions at different moments, and vibrates under the attraction or repulsion force of the magnet to drive the window sheet to vibrate at the same frequency; and a current applying assembly configured to apply currents in different directions to the coil at different moments to change the magnetic pole of the coil;

[0040] The third model structure comprises: a piezoelectric ceramic sheet arranged at one side of a window sheet of the sensor window area, and configured to deform under the action of an electric field, and then drive the window sheet to vibrate at the same frequency; and an electric field applying assembly configured to apply an electric field environment to the piezoelectric ceramic sheet.

[0041] (III) Beneficial Effects

[0042] The beneficial effects of the present application are: the present application first accurately judges the dirt, water stain and other stains on the lens, removes the lens pollutants by a self-vibration cleaning scheme, solves the problem that the cleaning efficiency of the prior art is not high and it is difficult to remove all the dirt and other stains. At the same time, the present application completes the precise pollutant removal work without adding too many external devices to the lens structure, since the sensor window area structure is not changed, the dust is shaken off without interfering with the sensor sensing, and the influence on the sensing function of the lens itself is very small. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0044] Figure 2 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0045] Figure 3 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0046] Figure 4 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0047] Figure 5 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0048] Figure 6 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0049] Figure 7 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0050] Figure 8 A schematic diagram of a self-cleaning assembly of a lens sensor window area self-cleaning system according to the present application;

[0051]

Explanation of reference numerals

[0052] 1: self-cleaning assembly; 10: window sheet; 11: vibration motor; 12: transmission device; 121: rotating disc; 122: connecting rod; 123: piston block; 124: connecting column; 13: conducting column; 14: magnet; 15: coil; 16: piezoelectric ceramic sheet; 17: elastic sealing gasket; 18: lens;

[0053] 2: dust monitoring module;

[0054] 3: image acquisition device. DETAILED DESCRIPTION

[0055] In order to better explain the present application, so as to be understood, the present application is described in detail below through specific embodiments, combined with the accompanying drawings.

[0056] As Figure 1As shown, the lens sensor window area self-cleaning system provided by the embodiment of the present application comprises: an image acquisition device 3 configured in a set area range of a lens 18 to be measured, for acquiring multiple sensor window area images at different positions; a dust monitoring module 2 configured to compare the multiple sensor window area images at different positions, output a corresponding pollution detection result according to the type of the lens 18 to be measured and the comparison result; and a self-cleaning assembly 1 configured to output a vibration at a frequency of at least 20 kHz to remove the pollution on the surface without damage when the pollution detection result indicates that there is at least one pollution including water stains and dust.

[0057] The present application first accurately judges the dust, water stains and other stains on the lens, removes the lens pollution by a self-vibration cleaning scheme, and solves the problem that the cleaning efficiency of the prior art is not high and it is difficult to remove all the dust and other stains. Meanwhile, the present application completes the accurate pollution removal work without adding too many external devices to the lens structure, and since the sensor window area structure is not changed, the dust is shaken off without interfering with the sensor sensing, and the influence on the sensing function of the lens itself is minimal.

[0058] In order to better understand the above technical solutions, the exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer, more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0059] The dust monitoring module 2 comprises:

[0060] The monocular camera detection unit is configured to be started at a regular time or manually to compare the multiple sensor window area images at different positions, and if there are spots in the same position of the images, it is judged that there is at least one pollution including water stains and dust.

[0061] The binocular camera detection unit is configured to be started at a regular time or manually to compare the sensor window area images from different cameras, and if the same data exist in the same position of the images, it is judged that there is no at least one pollution including water stains and dust, and if the same data do not exist in the same position of the images, it is judged that there is at least one pollution including water stains and dust.

[0062] In specific embodiments, the monocular camera device dust detection can be through the collection of multiple images in different positions. If there are spots in the same position of the images, it is considered that there is dust. It can also be judged whether there is dust pollution through deep learning. During normal operation, it can be set to clean regularly. If it is a binocular camera device, the image data of the left and right cameras can be compared to determine whether the corresponding positions exist at the same time. If they do not exist at the same time, it is considered to be pollution.

[0063] With reference to Figure 2 , the window sheet 10 is arranged in the sensor window area of the lens 18, and the center line of the window sheet 10 is collinear with the center line of the lens 18. The window sheet 10 and the lens 18 can slide relative to each other, and the self-cleaning assembly 1 is connected with the window sheet 10 and can drive the window sheet 10 to reciprocate.

[0064] In an embodiment, with reference to Figure 2 , the self-cleaning assembly 1 comprises a vibration motor 11 and a transmission device 12. The transmission device 12 is connected with the output shaft of the vibration motor 11, and the transmission device 12 can convert the rotation of the vibration motor 11 into linear reciprocating motion. The window sheet 10 is connected with the transmission device 12, and the vibration motor 11 drives the window sheet 10 to move linearly through the transmission device 12. In this embodiment, the vibration motor 11 and the transmission device 12 are used to drive the window sheet 10 to reciprocate, thereby realizing the self-cleaning function. The vibration motor 11 is used as a power source, which is simple and reliable. In addition, the transmission device 12 can be a crank slider device, thereby realizing the conversion of the rotation of the vibration motor 11 into reciprocating motion. The transmission device 12 can also be in the form of a screw nut.

[0065] Specifically, the window sheet 10 is provided with a conductive column 13 connected with the transmission device 12. The conductive column 13 has a certain flexibility. The conductive column 13 having a buffering effect is arranged between the window sheet 10 and the transmission device 12, and the transmission device 12 does not directly contact the window sheet 10, thereby avoiding the damage to the window sheet 10 caused by the reciprocating movement of the transmission device 12.

[0066] With reference to Figure 2 and Figure 3 , the transmission device 12 comprises a rotating disc 121, a connecting rod 122 and a piston block 123. The rotating disc 121 is fixedly connected with the vibration motor 11, and the rotating disc 121 is provided with a protruding connecting column 124. The connecting column 124 is not located at the center of the rotating disc 121. One end of the connecting rod is hinged with the connecting column 124, and the other end of the connecting rod is hinged with the piston block 123. The piston block 123 is slidingly installed on the lens device, and the piston block 123 is connected with the conductive column 13.

[0067] In another embodiment, with reference to Figure 4 and Figure 5The self-cleaning assembly 1 comprises a magnet 14 arranged on one side of the window sheet 10 in the sensor window area, a coil 15 arranged between the magnet 14 and the window sheet 10 in the sensor window area, which receives currents of different directions at different time points to generate vibration relative to the attracting and repelling forces of the magnet 14 to drive the window sheet 10 to vibrate at the same frequency, and a current application assembly configured to apply currents of different directions to the coil 15 at different time points to change the magnetic pole of the coil 15. The piezoelectric ceramic will stretch and contract under the action of an electric field. By applying a high-frequency electric field to the piezoelectric ceramic, the piezoelectric ceramic will deform at a high frequency. Since one end of the piezoelectric ceramic is fixed or not fixed, the deformation of the piezoelectric ceramic will drive the window sheet 10 to vibrate at the same frequency, thereby shaking off the dust.

[0068] In addition, the magnet 14 is a permanent magnet, which is in the shape of a cylinder with a through hole in the middle. The window sheet 10 is in the shape of a disc, the winding direction of the coil 15 is consistent with the circumferential direction of the window sheet 10, and the center line of the window sheet 10, the center line of the coil 15 and the center line of the permanent magnet are collinear. The above arrangement facilitates the arrangement of the lens 18 in the through hole of the permanent magnet and does not affect the image acquisition work of the lens 18.

[0069] Reference Figure 6 It can be seen that the self-cleaning assembly 1 comprises a piezoelectric ceramic sheet 16 arranged on one side of the window sheet 10 in the sensor window area, which is configured to deform under the action of an electric field to drive the window sheet 10 to vibrate at the same frequency, and an electric field application assembly configured to apply an electric field environment to the piezoelectric ceramic sheet 16.

[0070] It is worth mentioning that an elastic sealing gasket 17 is arranged between the window sheet 10 in the sensor window area and the self-cleaning assembly 1. Since the elastic sealing gasket 17 is elastic and can be compressed, the window sheet 10 has a certain movement allowance, and the window sheet 10 and the self-cleaning assembly 1 vibrate at the same frequency to shake off the dust, thereby shaking off the dust on the window sheet 10 and realizing the self-cleaning function of the window sheet 10.

[0071] On the other hand, the embodiment of the present application provides a self-cleaning method for a sensor window area of a lens, which applies the self-cleaning system as described above, as shown in the figure, the self-cleaning method comprises: Figure 7 as shown in the figure, the self-cleaning method comprises:

[0072] S1, acquiring a plurality of sensor window area images at different positions by the image acquisition device 3.

[0073] Further, after step S1, it further comprises: performing target segmentation, rotation and correction processing on the acquired sensor window area image to obtain the maximum edge profile area in the reserved sensor window area image.

[0074] S2, the collected multiple different position sensor window area images are compared in the same position, and according to the type of the lens 18 to be measured and the comparison result, the corresponding pollution detection result is output.

[0075] Further, as shown in Figure 8 Step S2 includes:

[0076] S21, for a monocular camera, the maximum edge profile area in the reserved sensor window area image is compared in the same position, if the image exists in the same position, it is judged that there is at least one pollution containing water stain and dust.

[0077] S22, for a binocular camera, the maximum edge profile area in the reserved sensor window area image derived from different cameras is compared in the same position, if the image exists in the same position, it is judged that there is at least one pollution containing water stain and dust.

[0078] S3, when the pollution detection result is at least one pollution containing water stain and dust, the self-cleaning assembly 1 outputs a vibration of at least 20kHz frequency to make the vibration conduct to the sensor window area 10 to remove the surface water stain and dust pollution without damage until the output pollution detection result is at least one pollution containing water stain and dust.

[0079] In summary, the present application provides a lens sensor window area self-cleaning system and method, based on the above description, the present application can shake off the dust without interfering with the sensor perception, this method has the advantages of good dust removal effect, long service life, high system airtightness, no interference with the normal perception of the sensor, etc. Compared with the traditional wiper method.

[0080] Because the system / device described in the above embodiments of the present application is used to implement the method of the above embodiments of the present application, based on the method described in the above embodiments of the present application, those skilled in the art can understand the specific structure and modification of the system / device, so it is not repeated here. Any system / device used in the method of the above embodiments of the present application belongs to the scope of protection of the present application.

[0081] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0082] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions.

[0083] It should be noted that any reference numerals placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In claims that enumerate several means, several of these means may be embodied by the same hardware. The use of the terms first, second, third, etc., is merely for convenience of expression and does not indicate any order. These terms can be understood as part of the component names.

[0084] Furthermore, it should be noted that in the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0085] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the claims should be interpreted to include both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0086] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A self-cleaning system for the sensor window area of ​​a lens, characterized in that, include: An image acquisition device is configured within a set area of ​​the lens under test to acquire multiple images of the sensor window area at different locations. The dust monitoring module is configured to compare multiple sensor window area images collected from different locations at the same location, and output the corresponding pollution detection results based on the lens type to be tested and the comparison results. The self-cleaning component is configured to output vibration at a frequency of at least 20 kHz according to a vibration command transmitted from a dust monitoring module when the contamination detection result indicates the presence of at least one type of contamination, including water stains and dust, so that the vibration is transmitted to the sensor window area to remove the contamination from the surface without damage.

2. The self-cleaning system for the sensor window area of ​​the lens as described in claim 1, characterized in that, The dust monitoring module includes: The monocular camera detection unit is configured to start on a timed basis or manually to compare multiple images of sensor window areas at different locations at the same location. If spots are present at the same location in the images, it is determined that there is at least one type of contamination, including water stains and dust. The binocular camera detection unit is configured to start at a set time or manually to compare images of the same location from sensor window areas of different cameras. If the same data exists at the same location in the images, it is determined that there is no contamination including water stains and dust. If the same data does not exist at the same location in the images, it is determined that there is contamination including water stains and dust.

3. The self-cleaning system for the sensor window area of ​​a lens as described in claim 1, characterized in that, The self-cleaning components include: Vibration motor; A conductive post is disposed on one side of the window plate in the sensor window area; and, The transmission device is connected to the output shaft of the vibratory motor and the transmission column respectively. The transmission device is used to convert the rotation of the vibratory motor into linear reciprocating motion, and drive the window plate to perform linear reciprocating motion through the transmission column. The transmission device includes a turntable, a connecting rod, and a piston block. The turntable is fixedly connected to the vibration motor. A protruding connecting post is provided on the turntable. One end of the connecting rod is hinged to the connecting post, and the other end of the connecting rod is hinged to the piston block. The piston block is slidably mounted on the lens device and is connected to the transmission post.

4. The self-cleaning system for the sensor window area of ​​a lens as described in claim 1, characterized in that, The self-cleaning components include: A magnet is placed on one side of the window plate in the sensor window area; A coil, positioned between a magnet and a window plate, receives current from different directions at different times. Under the attraction or repulsion of the magnet, it vibrates, causing the window plate to vibrate at the same frequency; and... The current application component is configured to apply current in different directions to the coil at different times to change the coil's magnetic poles.

5. The self-cleaning system for the sensor window area of ​​a lens as described in claim 1, characterized in that, The self-cleaning components include: A piezoelectric ceramic sheet, disposed on one side of the window in the sensor window area, is configured to deform under the influence of an electric field, thereby causing the window to vibrate at the same frequency; and, An electric field applying component is configured to apply an electric field environment to a piezoelectric ceramic sheet.

6. The self-cleaning system for the sensor window area of ​​a lens as described in any one of claims 1-5, characterized in that, An elastic sealing gasket is provided between the window plate in the sensor window area and the self-cleaning component.

7. A self-cleaning method for the sensor window area of ​​a lens, using the self-cleaning system as described in any one of claims 1-6, characterized in that, This self-cleaning method includes: Multiple images of the sensor window area at different locations are acquired using an image acquisition device; Multiple sensor window area images from different locations are compared at the same location. Based on the lens type to be tested and the comparison results, the corresponding pollution detection results are output. When the contamination detection result indicates the presence of at least one type of contamination, including water stains and dust, the self-cleaning component is controlled to output vibration at a frequency of at least 20 kHz, so that the vibration is transmitted to the sensor window area to remove water stains and dust contamination from the surface without damage, until the output contamination detection result indicates the absence of at least one type of contamination, including water stains and dust.

8. The self-cleaning system for the sensor window area of ​​a lens as described in claim 1, characterized in that, After acquiring multiple images of the sensor window area at different locations using the image acquisition device, the process also includes: The acquired sensor window region image is subjected to target segmentation, rotation, and correction processing to obtain the maximum border region retained in the sensor window region image.

9. The self-cleaning system for the sensor window area of ​​a lens as described in claim 8, characterized in that, The dust monitoring module compares multiple sensor window area images from different locations at the same position. Based on the lens type under test and the comparison results, the corresponding pollution detection results are output, including: For a monocular camera, the largest border area in the image of the retained sensor window area is compared at the same location. If there are spots at the same location in the image, it is determined that there is at least one type of contamination, including water stains and dust. For binocular cameras, the largest outline area in the images of the retained sensor window areas from different cameras is compared at the same location. If the same data exists at the same location in the images, it is determined that there is no contamination including water stains and dust. If the same data exists at different locations in the images, it is determined that there is contamination including water stains and dust.

10. The self-cleaning system for the sensor window area of ​​a lens as described in any one of claims 7-9, characterized in that, The self-cleaning component can be any one of the first model structure, the second model structure, and the third model structure; The first module structure includes: a vibration motor; a transmission column, which is set on one side of the window plate in the sensor window area; and a transmission device, which is connected to the output shaft of the vibration motor and the transmission column respectively. The transmission device is used to convert the rotation of the vibration motor into linear reciprocating motion, and drive the window plate to perform linear reciprocating motion through the transmission column. The transmission device includes: a turntable, a connecting rod, and a piston block. The turntable is fixedly connected to the vibration motor. A protruding connecting column is provided on the turntable. One end of the connecting rod is hinged to the connecting column, and the other end of the connecting rod is hinged to the piston block. The piston block is slidably mounted on the lens device and is connected to the transmission column. The second model structure includes: a magnet, disposed on one side of the window in the sensor window area; a coil, disposed between the magnet and the window, receiving current in different directions at different times, vibrating under the attraction or repulsion of the magnet to drive the window to vibrate at the same frequency; and a current application component, configured to apply current in different directions to the coil at different times to change the magnetic poles of the coil. The third model structure includes: a piezoelectric ceramic sheet disposed on one side of the window sheet in the sensor window area, configured to deform under the action of an electric field, thereby causing the window sheet to vibrate at the same frequency; and an electric field applying component configured to apply an electric field environment to the piezoelectric ceramic sheet.

Images