Cleaning control method, system, equipment and medium
By using an intelligent driving system to identify the areas of dirt on the sensing device and control the air outlet mechanism to spray air for cleaning, the problem of obstructed vision of the sensing device is solved, ensuring driving safety.
Patent Information
- Application Number
- CN202610153821.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-03
- Publication Date
- 2026-03-13
AI Technical Summary
The performance of sensing devices deteriorates when visibility is obstructed, affecting driving safety.
The intelligent driving system acquires environmental perception information, identifies the stained area, and controls the air outlet mechanism to adjust its position and spray gas for cleaning until the stained area reaches the preset cleaning conditions.
The automatic cleaning of the sensing devices has been achieved, ensuring driving safety.
Smart Images
Figure CN121647550A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving technology, and in particular to a cleaning control method, system, device and medium. Background Technology
[0002] Intelligent driving systems rely heavily on sensing devices for environmental perception. However, the performance of these devices deteriorates significantly when visibility is obstructed (e.g., by dirt), thus impacting driving safety. Summary of the Invention
[0003] The purpose of this application is to provide a cleaning control method, system, device, and medium that can automatically clean sensing devices to ensure driving safety.
[0004] To address the aforementioned technical problems, the first aspect of this application provides the following technical solution: A cleaning control method is applied to a cleaning control system, which includes an intelligent driving system, a cleaning system, a cabin domain system, and a sensing device. The cleaning system includes a cleaning controller and multiple adjustable air outlet mechanisms disposed around the sensing device. The cleaning control method includes: the intelligent driving system acquiring first environmental perception information through the sensing device and determining whether there is dirt on the sensing device based on the first environmental perception information; if the intelligent driving system confirms the presence of dirt, determining a first dirt area on the sensing device; the intelligent driving system sending a first cleaning command to the cleaning controller based on the first dirt area; and in response to the cleaning controller receiving the first cleaning command, controlling the air outlet mechanisms to adjust their position to a first cleaning position and spraying gas onto the sensing device to clean the first dirt area.
[0005] Optionally, after spraying gas onto the sensing device to clean the first stained area, the cleaning control method further includes: after spraying gas onto the sensing device to clean the first stained area, the method further includes: the intelligent driving system acquiring second environmental perception information through the sensing device and determining whether the second stained area obtained by cleaning the first stained area meets preset cleaning conditions; if the intelligent driving system determines that the second stained area does not meet the preset cleaning conditions, it sends a second cleaning command to the cleaning controller; in response to the cleaning controller receiving the second cleaning command, it controls the air outlet mechanism to adjust its posture to a second cleaning posture corresponding to the second stained area, and sprays gas onto the sensing device to clean the second stained area.
[0006] Optionally, the cleaning control method further includes: if the intelligent driving system determines that the second stained area meets the preset cleaning conditions, it sends a stop cleaning command to the cleaning controller; in response to the cleaning controller receiving the stop cleaning command, it controls the air outlet mechanism to adjust its posture to the initial posture and stops spraying gas to the sensing device.
[0007] Optionally, the cleaning system also includes a cleaning power unit; and the ability to spray gas onto the sensing device, including: a cleaning controller controlling the cleaning power unit to turn on and spraying gas onto the sensing device through an air outlet mechanism.
[0008] Optionally, the cleaning system also includes a cleaning power unit; and a method for stopping the jetting of gas through the air outlet mechanism to the sensing device, including: the cleaning controller controlling the cleaning power unit to shut down to stop the jetting of gas through the air outlet mechanism to the sensing device.
[0009] Optionally, the air outlet mechanism includes: a motor, a lifting and rotating component, and an air outlet duct; wherein, the cleaning controller is connected to the motor, the lifting and rotating component is connected to the air outlet duct, and the motor rotates to drive the air outlet duct to lift and / or rotate.
[0010] Optionally, the cleaning control system further includes: a cabin domain system; the intelligent driving system sends a first cleaning instruction to the cleaning controller based on the first stained area, including: the intelligent driving system sending the first stained area to the cabin domain system; the cabin domain system generating a first prompt message based on the first stained area; wherein the first prompt message is used to prompt whether to clean the first stained area; in response to the intelligent driving system receiving confirmation information returned by the cabin domain system, sending the first cleaning instruction to the cleaning system; wherein the confirmation information is the information generated by confirming the first prompt message.
[0011] To address the aforementioned technical problems, the second aspect of this application provides the following technical solution: A cleaning control system includes: an intelligent driving system, a cleaning system, a cabin domain system, and a sensing device installed on a vehicle; wherein the cleaning system includes at least a cleaning controller and multiple adjustable air outlet mechanisms disposed around the sensing device; wherein the intelligent driving system is used to acquire first environmental perception information through the sensing device and determine whether there are stains on the sensing device based on the first environmental perception information; if stains are confirmed to exist, a first stain area is identified on the sensing device; and a first cleaning command is sent to the cleaning controller based on the first stain area; the cleaning controller is used to control the air outlet mechanisms to adjust their positions to a first cleaning position and spray gas onto the sensing device to clean the first stain area upon receiving the first cleaning command.
[0012] To address the aforementioned technical problems, the third aspect of this application provides the following technical solution: An electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to perform a cleaning control method described in any of the first aspects.
[0013] To address the aforementioned technical problems, the fourth aspect of this application provides the following technical solution: A computer-readable storage medium, when the instructions in the storage medium are executed by a processor corresponding to an electronic device, enables the electronic device to implement the cleaning control method described in any aspect of the first aspect.
[0014] The technical solution of this application has the following technical advantages over the prior art: In the cleaning control method provided in this application, the intelligent driving system obtains first environmental perception information through a sensing device, and when it determines that there are stains on the sensing device based on the environmental perception information, it determines the first stain area on the sensing device and sends a first cleaning command to the cleaning controller based on the first stain area; when the cleaning controller receives the first cleaning command, it controls the air outlet mechanism to adjust its position to the first cleaning position and sprays gas onto the sensing device to clean the first stain area, thereby completing the automatic cleaning of the sensing device and ensuring driving safety. Attached Figure Description
[0015] The preferred embodiments of this application will be described in detail below with reference to the accompanying drawings, which will help to understand the purpose and advantages of this application, wherein: Figure 1 A flowchart illustrating a cleaning control method provided in this application embodiment; Figure 2 An installation plan view of the sensing device and multiple air outlet mechanisms provided in the embodiments of this application; Figure 3 A schematic diagram of the cleaning posture of the air outlet mechanism during cleaning, provided in the embodiments of this application; Figure 4 A timing diagram of a cleaning control method provided in an embodiment of this application; Figure 5 This is a schematic diagram of the hardware connection relationship of the electronic device for the cleaning control method provided in the embodiments of this application. Detailed Implementation
[0016] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0017] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0018] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0019] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0020] The collection, storage, use, processing, transmission, provision, and disclosure of environmental perception information involved in the technical solution of this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.
[0021] Figure 1 This application provides a cleaning control method applied to a cleaning control system. The cleaning control system includes an intelligent driving system, a cleaning system, a cabin domain system, and sensing devices. The cleaning system includes a cleaning controller and multiple adjustable air outlet mechanisms arranged around the sensing devices. Figure 1 As shown, the cleaning control method may include the following steps: Step 101: The intelligent driving system obtains first environmental perception information through the sensing device and determines whether there are stains on the sensing device based on the first environmental perception information.
[0022] Step 103: If the intelligent driving system confirms the presence of stains, then the first stain area on the sensing device is determined.
[0023] Step 105: The intelligent driving system sends a first cleaning command to the cleaning controller based on the first stained area.
[0024] Step 107: In response to the cleaning controller receiving the first cleaning command, the air outlet mechanism is controlled to adjust its position to the first cleaning position and spray gas onto the sensing device to clean the first stain area.
[0025] The cleaning control method provided in this application embodiment involves an intelligent driving system acquiring first environmental perception information through a sensing device. When the system determines that there are stains on the sensing device based on the environmental perception information, it identifies a first stain area on the sensing device and sends a first cleaning command to the cleaning controller based on the first stain area. When the cleaning controller receives the first cleaning command, it controls the air outlet mechanism to adjust its position to the first cleaning position and sprays gas onto the sensing device to clean the first stain area, thereby completing the cleaning of the sensing device and ensuring the safety of vehicle driving.
[0026] It should be noted that the intelligent driving system, cleaning system, and cockpit domain system can be connected wirelessly or via wired connection; the intelligent driving system domain perception device can be connected wirelessly or via wired connection.
[0027] The following describes step 101 (i.e., the intelligent driving system obtains first environmental perception information through the sensing device and determines whether there are stains on the sensing device based on the first environmental perception information) in detail.
[0028] In step 101, the sensing device is used to collect first environmental perception information, and the intelligent driving system uses the first environmental perception information to determine whether there are stains on the sensing device.
[0029] Here, sensing devices are those used in vehicles to detect, identify, and measure the physical characteristics of the environment or targets. Dirt or grime within the sensing devices themselves (such as dust on camera lenses or radar antenna obstructions) can interfere with signal acquisition, leading to abnormal output data. Analyzing these anomalies can indirectly detect the presence of dirt.
[0030] Taking cameras as an example, dirt can obstruct the lens or alter the light path, causing noise or distortion in the captured images. For instance, regularly evaluating the quality of images captured by the camera can help identify if dirt is present on the lens when the quality assessment fails. If dirt is found, further investigation can determine if the failure to meet quality standards is due to it, thus pinpointing the cause of the camera malfunction.
[0031] Optionally, this environmental perception information is information obtained by sensing devices (such as cameras, radar, lidar, temperature sensors, etc.) after detecting the environment or target, and then undergoing signal conversion, preprocessing, and feature extraction, such as video (or images) captured by a camera, or point cloud data collected by radar. It reflects dynamic and / or static attributes and is the basis for vehicle decision-making and control.
[0032] Taking a camera as an example, image detection is performed on the first environmental perception information (such as images) collected by the camera using a preset model. For example, contour detection is used to determine whether there are stains on the camera lens.
[0033] Taking radar as an example, deep learning algorithms are used to identify the characteristics of dirt on the radar surface, such as the shape, size, and reflectivity of the dirt, in order to determine whether there is dirt on the radar.
[0034] Here, the sensing device and the intelligent driving system can transmit environmental perception information via wired or wireless means. The sensing device uploads environmental perception information to the intelligent driving system in real time and / or at regular intervals. Optionally, the accuracy of the environmental perception information collected by the sensing device can be adjusted or configured.
[0035] The intelligent driving system in this application embodiment is the core of the vehicle's autonomous driving function. Through sensors, computing platforms and algorithms, it completes tasks such as environmental perception, decision planning, and control execution, enabling the vehicle to drive safely in specific scenarios with little or no human intervention.
[0036] The following is a detailed description of step 103 (i.e., if the intelligent driving system confirms the presence of a stain, then the first stain area on the sensing device is determined).
[0037] In step 103, the intelligent driving system confirms the presence of stains on the sensing device, and the intelligent driving system determines the area on the sensing device where the stains are distributed (i.e., the first stain area) based on the first environmental perception information.
[0038] After determining the first stain area of the sensing device, if it is determined that the first stain area needs to be cleaned, the first cleaning posture of the air outlet mechanism is determined based on the first stain area. Specifically, the position of the first stain area on the surface of the sensing device is located, and the air jet position and angle of the air outlet mechanism corresponding to the first stain area (i.e., the first cleaning posture) are calculated based on the position of the first stain area on the surface of the sensing device and the position of the air jet point of the air outlet mechanism.
[0039] In one example, reference environmental perception information is obtained from a sensing device that is free of stains. The collected environmental perception information is then compared with the reference environmental perception information to determine whether the sensing device is free of stains.
[0040] Taking images captured by a camera as an example: compare the reference image with multiple captured images, analyze the differences between the reference image and multiple images from the pixel dimension, and if the difference meets the preset threshold, it can be confirmed that there are stains on the camera.
[0041] It should be noted that the aforementioned reference sensing information and collected sensing information refer to information collected by the sensing device targeting the same object. The aforementioned reference image and multiple collected images refer to information collected by the camera targeting the same object. This object could be the edge of the vehicle's hood, headlights, etc.
[0042] In some examples of this application, after spraying gas onto the sensing device to clean the first stained area, the cleaning control method further includes: the intelligent driving system acquiring second environmental perception information through the sensing device and determining whether the second stained area obtained by cleaning the first stained area meets preset cleaning conditions; if the intelligent driving system determines that the second stained area does not meet the preset cleaning conditions, it sends a second cleaning command to the cleaning controller; in response to the cleaning controller receiving the second cleaning command, it controls the air outlet mechanism to adjust its posture to a second cleaning posture corresponding to the second stained area, and sprays gas onto the sensing device to clean the second stained area.
[0043] In other words, after the cleaning controller controls the air outlet mechanism to adjust its position to the first cleaning position, the air outlet mechanism cleans the first stained area. The environmental perception information collected by the sensing device will continuously detect whether the cleaning meets the standard. The specific process is as follows: after the cleaning controller controls the air outlet mechanism to clean the sensing device in one round, the intelligent driving system collects environmental perception information (i.e., the second environmental perception information) to determine whether there is still dirt on the sensing device, or to determine whether the second stained area obtained by cleaning the first stained area meets the preset cleaning conditions. If it is determined that the second stained area does not meet the preset cleaning conditions, the intelligent driving system will trigger the next round of cleaning. That is, based on the position of the second stained area on the surface of the sensing device, the second cleaning position is determined, and a second control command is sent to the cleaning controller, so that the cleaning controller controls the air outlet mechanism to adjust its position to the second cleaning position for the second stained area to perform the next cleaning operation.
[0044] The following example uses a camera: After the cleaning controller controls the air outlet mechanism to clean the camera in one round, the intelligent driving system collects second environmental perception information (i.e., a second image). Using real-time image detection technology, it performs image detection on the second image to determine if there is still dirt on the camera, or whether the second dirty area obtained after cleaning the first dirty area meets the preset cleaning conditions. If the second dirty area does not meet the preset cleaning conditions, the intelligent driving system triggers the next round of cleaning. This involves calculating the second cleaning pose based on the position of the second dirty area on the camera surface and the position of the air jet point of the cleaning controller. Based on the second cleaning pose, a second control command is sent to the cleaning controller, causing it to perform the next round of cleaning on the second dirty area. Furthermore, the intelligent driving system records the image detection results and the second cleaning pose for this round.
[0045] Here, the aforementioned first (or second) cleaning command can be used to instruct the cleaning controller to adjust the position of the air outlet mechanism to the first (or second) cleaning position. The cleaning position refers to the position in which the air outlet mechanism can quickly and efficiently clean stains. In this cleaning position, the air outlet mechanism is directed towards the first (or second) stain area and sprays gas onto the first (or second) stain area for cleaning.
[0046] It should be noted that the cleaning posture corresponding to the aforementioned stained area can be determined by the intelligent driving system or the cleaning controller. After the intelligent driving system determines the cleaning posture, it sends a cleaning command to the cleaning controller; or, after the intelligent driving system determines that the first stained area or the second stained area does not meet the preset cleaning conditions, it sends a first (or second) cleaning command to the cleaning controller. After receiving the cleaning command, the cleaning controller determines the cleaning posture corresponding to the stained area and controls the air outlet mechanism to adjust its posture to that cleaning posture.
[0047] In one example, the process of determining whether the second stained area meets the preset cleaning conditions is as follows: if the area of the second stained area is greater than the first preset area, then the second stained area is determined not to meet the preset cleaning conditions; if the area of the second stained area is less than or equal to the first preset area, then the second stained area is determined to meet the preset cleaning conditions. The first preset area can be set according to the preset cleaning conditions. These preset cleaning conditions can be set based on the accuracy of the environmental sensing information collected by the sensing device and / or the user's cleaning needs.
[0048] After cleaning the second stained area once, the above steps are repeated: the intelligent driving system acquires third environmental perception information through the sensing device and determines whether the third stained area obtained from cleaning the second stained area meets the preset cleaning conditions; if the intelligent driving system determines that the third stained area does not meet the preset cleaning conditions, it sends a second cleaning command to the cleaning controller; in response to the cleaning controller receiving the second cleaning command, it controls the air outlet mechanism to adjust its posture to the second cleaning posture corresponding to the third stained area and sprays gas towards the sensing device to clean the third stained area. This process continues until the preset cleaning conditions are met. It should be noted that the preset cleaning conditions for each round of the above steps can be the same.
[0049] Optionally, after performing multiple rounds of cleaning for each stained area (such as the first stained area), each round focuses on cleaning the same stained area, and each round may include one or more cleaning sessions. After each round of cleaning, the cleaning posture is determined based on the newly identified stained area, thereby enabling the cleaning posture of the air outlet mechanism to be dynamically adjusted according to changes in the stained area during the cleaning sensing process, thus improving cleaning efficiency.
[0050] Additionally, if the intelligent driving system determines that the second stained area meets preset cleaning conditions, the cleaning control method further includes: sending a stop cleaning command to the cleaning controller; and in response to the cleaning controller receiving the stop cleaning command, controlling the air outlet mechanism to adjust its position to the initial position to stop spraying gas onto the sensing device. At the initial position, multiple air outlet mechanisms surround the sensing device (e.g., Figure 2 (As shown).
[0051] Once the intelligent driving system determines that the second stained area meets the preset cleaning conditions, it sends a stop cleaning command to the cleaning controller. This instructs the cleaning controller to adjust the air outlet mechanism back to its initial position, thereby stopping the spraying of gas onto the sensing device. This description can also be used for other stained areas (such as the third stained area).
[0052] Here, the aforementioned initial pose refers to the initial pose of the air handling mechanism before cleaning, such as maintaining a horizontal position relative to the sensing device (e.g., ...). Figure 2 The initial pose is the position of the air outlet mechanism when it is horizontal with the lidar or camera.
[0053] The following describes step 105 (i.e., the intelligent driving system sends a first cleaning instruction to the cleaning controller based on the first stained area) in detail.
[0054] In step 105, the intelligent driving system sends the first cleaning command directly to the cleaning controller.
[0055] Optionally, the cleaning control system further includes: a cabin domain system; before the intelligent driving system sends a first cleaning instruction to the cleaning controller based on the first stained area, the intelligent driving system sends the stained area (i.e., the first stained area or the second stained area mentioned above) to the cabin domain system, and the cabin domain system sends a cleaning instruction (i.e., the first cleaning instruction or the second cleaning instruction) to the cleaning controller based on the stained area, that is, the intelligent driving system sends a cleaning instruction to the cleaning controller.
[0056] Optionally, the cleaning control system further includes: a cabin domain system; the intelligent driving system sends a first stained area to the cabin domain system; the cabin domain system generates a first prompt message based on the first stained area; wherein the first prompt message is used to prompt whether to clean the first stained area; in response to the intelligent driving system receiving confirmation information returned by the cabin domain system, a first cleaning instruction is sent to the cleaning system; wherein the confirmation information is the information generated by confirming the first prompt message.
[0057] Here, the cabin domain system generates a first prompt message based on the first stained area, prompting the occupants whether to clean the first stained area. Optionally, the prompt can be given to the occupants via voice and / or text, such as through a voice player or by displaying the first prompt message on a screen in the vehicle. After the occupants confirm the first prompt message (i.e., confirm that the first stained area needs to be cleaned), a confirmation message is generated. The cabin domain system returns the confirmation message to the intelligent driving system, which then sends a first cleaning command to the cleaning controller upon receiving the confirmation message.
[0058] The cockpit domain system, also known as the intelligent cockpit domain controller, is a core component of modern automotive electronic architecture, responsible for integrating and managing various in-vehicle functions directly related to the occupant experience. Optionally, the cockpit domain system may include: Infotainment system: Provides multimedia playback, radio listening, navigation, application installation and other functions; Digital instrument panel and display system: responsible for driving the full LCD instrument panel, head-up display, central control screen, streaming media rearview mirror, etc., and displaying key vehicle data such as vehicle speed, mileage, fuel / battery level, navigation guidance, and driving assistance information in real time; Intelligent interaction and monitoring: Human-vehicle interaction is achieved through technologies such as voice recognition, gesture control, and facial recognition.
[0059] For example, the cockpit domain system can display the first prompt information through the digital instrument panel and display system. After the occupants manually operate or confirm the first prompt information on the instrument panel (i.e., generate confirmation information), the confirmation information is returned to the intelligent driving system, which then sends the first cleaning command to the cleaning controller.
[0060] Before the intelligent driving system sends the first cleaning command to the cleaning controller, the above process adds a "cabin domain system" to display the first prompt information to the occupants of the vehicle. This first prompt information is used by the occupants of the vehicle to confirm whether to clean the first stained area. This operation achieves a balance between automation and humanization, giving full play to the efficiency of the intelligent driving system while ensuring the core control of the vehicle by the occupants of the vehicle. It is an important direction for the interaction design of future intelligent vehicles.
[0061] Following the above, the cabin domain system is also used to generate a second prompt message based on the second stained area, to prompt the occupants of the vehicle whether to clean the second stained area; optionally, the prompt can be given to the occupants of the vehicle in the form of voice and / or text, such as through a voice player or by displaying the second prompt message on a display screen in the vehicle.
[0062] In addition, to minimize disturbance to passengers, a notification message can be generated for passengers through the cabin domain system only during the first round of cleaning operations.
[0063] Following the previous text, after the stained area meets the preset cleaning conditions, the intelligent driving system sends a stop cleaning command to the cleaning controller. The cleaning controller then controls the cleaning power unit to shut down according to the stop cleaning command, so as to stop the spraying of gas to the sensing device through the air outlet mechanism. After the stained area meets the preset cleaning conditions, the intelligent driving system is also used to send cleaning completion information to the cabin domain system.
[0064] Step 107 (i.e., in response to the cleaning controller receiving the first cleaning command, controlling the air outlet mechanism to adjust its position to the first cleaning position, and spraying gas onto the sensing device to clean the first soiled area) will be described in detail below.
[0065] In step 107, after the cleaning controller receives the first cleaning command, the cleaning controller controls the air outlet mechanism to adjust its position to the first cleaning position (e.g., ...). Figure 3 (The positions of the multiple air outlet mechanisms shown) are shown, and the air outlet mechanisms spray gas toward the sensing device to clean the first stained area.
[0066] Following the previous text, after the cleaning controller receives the second cleaning command, the cleaning controller controls the air outlet mechanism to adjust its position to the second cleaning position, and the air outlet mechanism sprays gas towards the sensing device to clean the second stain area.
[0067] In some examples of this application, the cleaning system also includes a cleaning power unit for providing pneumatic power, such as a blower, a hair dryer, an air compressor, etc.
[0068] For example, the cleaning controller is connected to the switch of the hair dryer and is used to turn on the switch based on whether preset cleaning conditions are met.
[0069] Optionally, in this example, the gas is injected into the sensing device, including: The cleaning controller activates the cleaning power unit and sprays gas onto the sensing device via the air outlet mechanism.
[0070] For example, the cleaning controller turns on the hair dryer and sprays gas onto the sensing device through the air outlet mechanism.
[0071] In some examples of this application, the cleaning system also includes a cleaning power unit; and stopping the jetting of gas to the sensing device through the air outlet mechanism, including: The cleaning controller shuts down the cleaning power unit to stop the jetting of gas through the air outlet mechanism to the sensing device.
[0072] For example, the cleaning controller shuts off the blower to stop the gas from being sprayed onto the sensing device through the air outlet mechanism.
[0073] In this embodiment, the air outlet mechanism includes a structure that can adjust its position and orientation, such as a lifting and rotating component, or a lifting component and a rotating component.
[0074] Optionally, in this example, the air outlet mechanism includes: a motor, a lifting and rotating component, and an air outlet duct; wherein, The cleaning controller is connected to the motor, and the lifting and rotating parts are connected to the air outlet duct. When the motor rotates, it drives the air outlet duct to lift and / or rotate.
[0075] Here, the cleaning controller controls the motor to rotate according to a first (or second) cleaning command, thereby driving the air outlet connected to the lifting and / or rotating component to rise and / or rotate. The air outlet duct is used to deliver the gas ejected by the cleaning power unit to the sensing device.
[0076] Optionally, in this example, the air outlet structure includes: a first motor, a lifting component, a second motor, a rotating component, and an air outlet duct; wherein, the first motor is connected to the lifting component, the second motor is connected to the rotating component, the cleaning controller is electrically connected to the first motor and the second motor respectively, the air outlet duct is mounted on the rotating component, and the rotating component is mounted on the lifting component (or, the air outlet duct is mounted on the lifting component, and the lifting component is mounted on the rotating component); the cleaning controller controls the first motor to rotate according to the cleaning command, so as to drive the air outlet duct to rise and fall, and controls the second motor to rotate, so as to drive the air outlet duct to rotate.
[0077] It should be noted that the control of the air outlet duct lifting and lowering can be performed first, followed by the rotation; or the rotation can be performed first, followed by the lifting and lowering of the air outlet duct; or the control of the air outlet lifting and lowering and rotation can be performed simultaneously.
[0078] In this example, the air outlet dynamically adjusts its position according to the constantly changing area of dirt, which can improve cleaning efficiency.
[0079] In one example, the first cleaning pose can be determined as follows: Perform edge detection on the first stain area to determine the minimum bounding rectangle of the first stain area; The first clean pose is determined based on the position coordinates of the four vertices of the minimum bounding rectangle.
[0080] When necessary, the clean pose corresponding to the position coordinates of the four vertices of different bounding rectangles can be determined by simulation, that is, the correspondence between the position coordinates of the four vertices of the minimum bounding rectangle and the first clean pose can be established in advance.
[0081] In this example, the cleaning pose of the air outlet mechanism can be accurately determined using the minimum bounding rectangle, which improves cleaning efficiency and saves resources.
[0082] Further reference Figure 4 This application provides a timing diagram of a cleaning control method; in Figure 4 The cleaning control method includes: The first step is for the intelligent driving system to acquire first environmental perception information through the sensing device, and to determine whether there are stains on the sensing device based on the first environmental perception information. The second step is to determine the first stain area on the sensing device if the intelligent driving system confirms the presence of stains. The third step is for the intelligent driving system to send the first stained area to the cockpit domain system; Fourth, the cabin domain system generates the first alert message based on the first stained area; The fifth step is for the cockpit domain system to receive the confirmation information and then send the confirmation information to the intelligent driving system. Step 6: The intelligent driving system sends the first cleaning command to the cleaning controller; Step 7: The cleaning controller controls the air outlet mechanism to adjust its position to the first cleaning position and sprays gas towards the sensing device to clean the first stain area. Step 8: The intelligent driving system acquires the second perception information, environmental perception information, through the sensing device, and determines whether the second stain area obtained by cleaning the first stain area meets the preset cleaning conditions; if not, proceed to step 9; if so, proceed to step 10. In the ninth step, the intelligent driving system sends a second cleaning command to the cleaning controller, controls the air outlet mechanism to adjust its position to the second cleaning position corresponding to the second stain area, and sprays gas to the sensing device to clean the second stain area. Step 10: The intelligent driving system sends a stop cleaning command to the cleaning controller, controls the air outlet mechanism to adjust its position to the initial position, and stops spraying gas to the sensing device. Step 11: The intelligent driving system sends a cleaning completion message to the cockpit domain system.
[0083] In this embodiment, steps eight and nine can be executed multiple times until the stains on the sensing device are removed, at which point the intelligent driving system sends a cleaning completion message to the cockpit domain system.
[0084] In this embodiment, during vehicle operation, a sensing device is used to detect the presence of dirt and completes self-cleaning through the process, ensuring the normal use of LCC (Lane Centering Control), ACC (Lane Centering Control), and NOA (Navigation-based On-road Autonomous Driving) functions, thus ensuring driving safety.
[0085] This application provides an embodiment of a cleaning control system, which is similar to... Figure 1 , Figure 4 The cleaning control system shown in this embodiment can be applied to various electronic devices.
[0086] The cleaning control system of this embodiment may include: an intelligent driving system, a cleaning system, a cabin domain system, and a sensing device installed on the vehicle; wherein, the cleaning system includes at least a cleaning controller and multiple adjustable air outlet mechanisms, which are arranged around the sensing device; wherein, the intelligent driving system is used to acquire first environmental perception information through the sensing device and determine whether there are stains on the sensing device based on the first environmental perception information; if stains are confirmed to exist, a first stain area is determined on the sensing device; and a first cleaning command is sent to the cleaning controller based on the first stain area; the cleaning controller is used to control the air outlet mechanisms to adjust their position to a first cleaning position and spray gas onto the sensing device to clean the first stain area when receiving the first cleaning command.
[0087] The cleaning control system provided in this application embodiment acquires first environmental perception information through a sensing device. When the system determines that there are stains on the sensing device based on the environmental perception information, it identifies a first stain area on the sensing device and sends a first cleaning command to the cleaning controller based on the first stain area. When the cleaning controller receives the first cleaning command, it controls the air outlet mechanism to adjust its position to the first cleaning position and sprays gas onto the sensing device to clean the first stain area, thereby completing the automatic cleaning of the sensing device and ensuring driving safety.
[0088] Optionally, after spraying gas onto the sensing device to clean the first stained area, the intelligent driving system obtains second environmental perception information through the sensing device and determines whether the second stained area obtained by cleaning the first stained area meets the preset cleaning conditions; if the intelligent driving system determines that the second stained area does not meet the preset cleaning conditions, it sends a second cleaning command to the cleaning controller; in response to the cleaning controller receiving the second cleaning command, it controls the air outlet mechanism to adjust its posture to the second cleaning posture corresponding to the second stained area, and sprays gas onto the sensing device to clean the second stained area.
[0089] Optionally, if the intelligent driving system determines that the second stained area meets the preset cleaning conditions, it sends a stop cleaning command to the cleaning controller; in response to the cleaning controller receiving the stop cleaning command, it controls the air outlet mechanism to adjust its position to the initial position and stops spraying gas to the sensing device.
[0090] Optionally, the cleaning system also includes a cleaning power unit; and the ability to spray gas onto the sensing device, including: a cleaning controller controlling the cleaning power unit to turn on and spraying gas onto the sensing device through an air outlet mechanism.
[0091] Optionally, the cleaning system also includes a cleaning power unit; and a cleaning controller controls the cleaning power unit to shut down to stop the jetting of gas to the sensing device through the air outlet mechanism.
[0092] Optionally, the air outlet mechanism includes: a motor, a lifting and rotating component, and an air outlet duct; wherein, the cleaning controller is connected to the motor, the lifting and rotating component is connected to the air outlet duct, and the motor rotates to drive the air outlet duct to lift and / or rotate.
[0093] Optionally, the cleaning control system further includes: a cabin domain system; the intelligent driving system sends a first stained area to the cabin domain system; the cabin domain system generates a first prompt message based on the first stained area; wherein the first prompt message is used to prompt whether to clean the first stained area; in response to the intelligent driving system receiving confirmation information returned by the cabin domain system, a first cleaning instruction is sent to the cleaning system; wherein the confirmation information is the information generated by confirming the first prompt message.
[0094] This application provides a computer-readable storage medium storing program information. After reading the program information, the computer executes the steps of the cleaning control method described in any of the above schemes.
[0095] This application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the steps of the cleaning control method described in any of the above solutions.
[0096] This application also provides an electronic device, such as... Figure 5As shown, the electronic device includes at least one processor 31 and at least one memory 32. The at least one memory 32 stores program information. After reading the program information, the at least one processor 31 executes the cleaning control method described in any of the above method embodiments. The device may further include an input device 33 and an output device 34. The processor 31, memory 32, input device 33, and output device 34 can be communicatively connected. The memory 32, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 31 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 32, thereby implementing the cleaning control method provided in any of the above embodiments. The memory 32 may include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the cleaning control method, etc. Furthermore, the memory 32 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 32 may optionally include memory remotely located relative to the processor 31, and this remote memory may be connected via a network to the apparatus performing the cleaning control method. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The input device 33 may receive user clicks and generate signal inputs related to user settings and function control of the cleaning control method. The output device 34 may include a display device such as a display screen. When the one or more modules are stored in the memory 32 and are run by the one or more processors 31, the cleaning control method in any of the above method embodiments is executed.
[0097] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this application.
Claims
1. A cleaning control method, characterized in that, An application is made to a cleaning control system, the system comprising an intelligent driving system, a cleaning system, a cabin domain system, and sensing devices. The cleaning system includes a cleaning controller and multiple adjustable air outlet mechanisms disposed around the sensing devices. The cleaning control method includes: The intelligent driving system acquires first environmental perception information through the sensing device and determines whether there are stains on the sensing device based on the first environmental perception information. If the intelligent driving system confirms the presence of stains, it determines the first stain area on the sensing device; The intelligent driving system sends a first cleaning instruction to the cleaning controller based on the first stained area; In response to the cleaning controller receiving the first cleaning command, it controls the air outlet mechanism to adjust its position to the first cleaning position and sprays gas toward the sensing device to clean the first stained area.
2. The cleaning control method according to claim 1, characterized in that, After spraying gas onto the sensing device to clean the first stained area, the method further includes: The intelligent driving system obtains second environmental perception information through the sensing device and determines whether the second stain area obtained by cleaning the first stain area meets the preset cleaning conditions. If the intelligent driving system determines that the second stained area does not meet the preset cleaning conditions, it sends a second cleaning command to the cleaning controller. In response to the cleaning controller receiving a second cleaning command, it controls the air outlet mechanism to adjust its position to a second cleaning position corresponding to the second stain area, and sprays gas onto the sensing device to clean the second stain area.
3. The cleaning control method according to claim 2, characterized in that, The method further includes: If the intelligent driving system determines that the second stained area meets the preset cleaning conditions, it sends a stop cleaning command to the cleaning controller; In response to the cleaning controller receiving the stop cleaning command, it controls the air outlet mechanism to adjust its position to the initial position and stops spraying gas onto the sensing device.
4. The cleaning control method according to claim 1, characterized in that, The cleaning system also includes a cleaning power unit; And the method of injecting gas into the sensing device, including: The cleaning controller controls the cleaning power unit to start and sprays gas onto the sensing device through the air outlet mechanism.
5. The cleaning control method according to claim 3, characterized in that, The cleaning system also includes a cleaning power unit; And stopping the jetting of gas through the air outlet mechanism to the sensing device includes: The cleaning controller shuts down the cleaning power unit to stop the gas from being sprayed onto the sensing device through the air outlet mechanism.
6. The cleaning control method according to claim 4 or 5, characterized in that, The air outlet mechanism includes: a motor, a lifting and rotating component, and an air outlet duct; wherein... The cleaning controller is connected to the motor, and the lifting and rotating component is connected to the air outlet pipe. When the motor rotates, it drives the air outlet pipe to lift and / or rotate.
7. The cleaning control method according to claim 1, characterized in that, The cleaning control system further includes: a cabin domain system; the intelligent driving system sends a first cleaning command to the cleaning controller based on the first stained area, including: The intelligent driving system sends the first stained area to the cockpit domain system; The cockpit domain system generates a first prompt message based on the first stained area; wherein the first prompt message is used to prompt whether the first stained area should be cleaned; In response to the intelligent driving system receiving confirmation information returned by the cockpit domain system, a first cleaning instruction is sent to the cleaning system; wherein the confirmation information is information generated by confirming the first prompt information.
8. A cleaning control system, characterized in that, include: The vehicle includes an intelligent driving system, a cleaning system, a cabin domain system, and sensing devices; wherein the cleaning system includes at least a cleaning controller and multiple adjustable air outlet mechanisms arranged around the sensing devices; wherein... The intelligent driving system is used to acquire first environmental perception information through the sensing device, and determine whether there are stains on the sensing device based on the first environmental perception information; if stains are confirmed to exist, a first stain area is determined on the sensing device; and a first cleaning command is sent to the cleaning controller based on the first stain area. The cleaning controller is used to control the air outlet mechanism to adjust its position to the first cleaning position when it receives the first cleaning instruction, and to spray gas onto the sensing device to clean the first stained area.
9. An electronic device, characterized in that, include: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to implement the cleaning control method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor corresponding to the electronic device, the electronic device is able to implement the cleaning control method as described in any one of claims 1-7.