59 results about "Contamination zone" patented technology

The invention discloses a method for depicting and analyzing a heavy non-aqueous phase pollution site based on microbial structure information, which comprises the following steps of: based on a historical geological survey report and a historical leakage event, defining a pollution analysis area, and constructing a site pollution conceptual model by combining high-density resistivity with a stable isotope tracer method; performing sample collection and detection on the target area to obtain area sample detection information; performing microflora analysis according to the regional sample detection information, and judging a potential pollution retention region of the target region to obtain pollution region analysis information; carrying out multi-source data coupling by combining pollution area analysis information and area sample detection information, and carrying out pollution field three-dimensional description on a target area to obtain an area DNAPLs pollution condition diagram; a degradation function gene interaction network is constructed, restoration potential grading is performed on a target area, and area restoration suggestion is performed, so that the limitation of a traditional investigation method is broken through, and accurate analysis and restoration assistance of pollution distribution are realized.

The invention relates to the technical field of soil treatment, and provides a heavy metal contaminated soil treatment device which comprises a mounting plate, a treatment barrel is fixedly welded to the top end face of the mounting plate, a fixing frame is fixedly welded to the top end face of the treatment barrel, and a soil sampling backfilling assembly is mounted in the treatment barrel. A multifunctional processing assembly is installed in the processing cylinder, the soil taking and backfilling assembly comprises a servo motor and a conveying cylinder, a first smashing blade and a drilling cylinder are welded and fixed to the conveying cylinder, a cutting blade is welded and fixed to the bottom end face of the drilling cylinder, and the multifunctional processing assembly comprises a rotating frame and a first connecting pipe; a first through hole is formed in the first connecting pipe, and a second connecting pipe is fixedly connected to the first connecting pipe. By means of the technical scheme, the problems that in the prior art, a heavy metal contaminated soil treatment device cannot conduct deep treatment on soil in a contaminated area, and chemicals cannot be evenly mixed with the soil are solved.

A robot cleaner which performs a re-cleaning to allow a mop to re-clean over a contaminated area again after performing a drying operation on the mop, based on determining dry mopping is required for the contaminated area and a humidity of the mop being greater than a reference humidity.

The invention discloses a train cargo compartment intelligent cleaning robot and a control method, and the method comprises the steps: obtaining and processing a visual image in a train cargo compartment to obtain a first gray image, carrying out the image analysis of the first gray image, and determining a pollution region in the train cargo compartment and pollution characteristic parameters of the pollution region; evaluating the pollution degree of the polluted area based on the pollution characteristic parameters to obtain a pollution degree evaluation value, and setting cleaning working conditions according to the pollution degree evaluation value; carrying out first cleaning according to a set cleaning working condition, and obtaining a second grayscale image after the first cleaning; comparing and analyzing the first grayscale image and the second grayscale image, determining the cleaning efficiency of the first cleaning, and determining a correction coefficient according to the cleaning efficiency; and according to the correction coefficient, the set sweeping working condition is corrected, and according to the corrected sweeping working condition, the train cargo compartment is swept again. According to the invention, the efficiency and quality of cleaning work can be improved, the labor cost is reduced, and the automation and intelligence of cleaning are realized.

The invention discloses a VOCs steam invasion risk assessment method for a bedrock fracture site. The method comprises the following steps: S1, identifying an area where VOCs pollution exists in bedrock and underground water in the site; s2, establishing a pollutant transmission flux simulation test system; s3, carrying out a target pollutant transmission flux test in the polluted area by using the pollutant transmission flux simulation test system, setting a first transmission flux test point at the central position of the polluted area, and calculating a maximum influence area of the first transmission flux test point during a test period; s4, selecting a second transmission flux test point in a polluted area outside the maximum influence area of the first transmission flux test point, repeating the step S3, and calculating the maximum influence area of the second transmission flux test point during the test period; s5, repeating the steps S3 to S4 until the maximum influence areas of all the transmission flux test points are overlapped and then cover the whole pollution area; and S6, predicting the indoor steam invasion health risk of future crowds in the polluted area.

A vehicle includes a system for cleaning contaminants from a vehicle surface. The system includes a camera for obtaining an image of a surface including a contaminant, a plurality of cleaning devices for cleaning the contaminant from the surface, and a processor. The processor is configured to determine a contamination measure from the image, the contamination measure indicating a contamination level of the surface from the image, determine a contamination area and a contamination type from the image, select a cleaning method for cleaning the surface based on the contamination measure, the contamination area, and the contamination type, the cleaning method comprising selecting a cleaning device from a plurality of cleaning devices, selecting a cleaning direction and a cleaning duration, and controlling the cleaning device using the cleaning method.

The invention discloses a soil heavy metal portable XRF intelligent detection and early warning system integrated with a risk assessment function, and relates to the technical field of environment monitoring. According to the invention, data are collected through a portable equipment system integrating multispectral sensing and an environment probe, a pollution area is accurately locked in combination with an improved clustering algorithm, accurate positioning of a pollution point location is realized by means of cooperative operation of the unmanned aerial vehicle, and the problem of blindness of traditional sampling is effectively solved; a dynamic interference correction and multi-stage calibration mechanism is established, a deep learning and machine learning fusion model is adopted to extract an environmental interference factor, and spectral line processing and an environmental compensation algorithm are combined, so that the accuracy of a detection result in a complex environment is remarkably improved; the efficiency and precision of soil heavy metal pollution treatment are greatly improved by realizing full-process intelligence from risk evaluation to treatment decision, establishing a multi-dimensional risk evaluation system, automatically generating an optimal operation path and intelligently recommending a treatment scheme based on pollution characteristic data.

The invention relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle lens microfluidic cleaning method and system based on stain recognition are provided, and the method comprises the steps that pollution area coordinate information and pollution level data of the surface of a lens are acquired; generating a cleaning solution distribution scheme based on the pollution area coordinate information and the pollution level data; micro-fluidic liquid conveying is executed according to the cleaning liquid distribution scheme, and real-time liquid distribution state data are generated; optimizing the liquid coverage parameters, and generating an optimized liquid distribution scheme; evaluating the preliminary cleaning effect and iteratively adjusting the parameters, and generating an adjusted cleaning execution scheme; and cleaning is completed based on the adjusted cleaning execution scheme, and cleaning state data is generated, so that the adaptive deviation between pollution detection and a cleaning liquid distribution scheme is improved, the real-time feedback capability of liquid coverage control is enhanced, and the verification reliability of cleaning residue evaluation is optimized.

This invention discloses a method and system for delineating soil contaminated areas. The method includes: generating a first pollution feature layer by fusing historical pollution data and remote sensing spectral features, and generating a second pollution concentration layer based on an anisotropic pollution diffusion model; analyzing whether pixel spectral features indicate pollution using a trained discriminant model, and marking pixels as core, suspicious, or clean pixels based on concentration exceeding the standard; determining the diffusion correlation between suspicious areas and adjacent core areas by calculating boundary migration feature similarity; merging highly correlated areas according to pollution diffusion fusion rules based on the correlation results to form pollution diffusion areas; and finally optimizing, aggregating, and classifying all contaminated areas based on preset rules to generate a final soil contaminated area delineation map with risk levels. This invention achieves automated and high-precision identification and delineation of soil contaminated areas.

An approach for a computer program to retrieve historical incident data associated with a contaminated site to predict a future incident at the contaminated site. In the approach, the computer program evaluates the historical incident data to determine a deployment of a plurality of unmanned vehicles to form a virtual fence around the contaminated site. Furthermore, in the approach, the computer program determines instructions for the deployment of each of the plurality of unmanned vehicles to form the virtual fence around the contaminated site. In the approach, the computer program sends the instructions to form the virtual fence to each of the plurality of unmanned vehicles.

The application discloses a pollution source detection method and system based on water environment treatment, and relates to the technical field of intelligent detection, and comprises the following steps: emitting laser with a first Brillouin linewidth in combination with a distribution range; adjusting the first Brillouin linewidth based on feedback data of the laser; moving the coordinates of the pollution source based on a pollution diffusion model, a three-point positioning method and pollution parameters of a current detection point; and obtaining new coordinates of the pollution source. The application greatly improves positioning accuracy by detecting changes in trace pollution concentration and combining model inversion, does not need to be close to a pollution area, supports a closed-loop mechanism of detection and updating, can realize three-dimensional positioning by only using three detection points, does not need to densely arrange a sensor network, greatly reduces hardware cost and maintenance burden, is suitable for emergency and rapid deployment, and can maintain stable performance under complex conditions such as wind field changes, terrain undulations and water layering.

The present application relates to a kind of natural conditions under the estimation method of superuranic nuclide resuspension release source term.This application obtains the environmental characteristic parameter of the place of contaminated area, calculates the related parameter of superuranic nuclide pollution condition, calculates the surface covering layer factor of contaminated area soil, calculates the resuspension release source term of superuranic nuclide, can start from the characteristics of soil environment, nuclide characteristics, natural condition three aspects, based on the mass load theory of particulate matter, using the release flux of particulate matter in contaminated area soil and the level of radioactivity concentration in soil, the resuspension release source term of superuranic nuclide is calculated, realizes the resuspension release amount of superuranic nuclide in soil environment pollution under natural conditions is scientifically and accurately evaluated.

The invention relates to a probe device (20) and the use thereof, the probe device comprising:-a gasket (21a) dividing the probe device (20) into a contaminated region (22) and a sterile region (23) and sealingly isolating the contaminated region (22) from the sterile region (23); a probe (24) having a probe tip (31); a probe chamber (29) having a probe inlet (30), in which a probe tip (31) of the probe (24) is fixedly arranged; wherein:-the probe arrangement further comprises a switch member (25) movable relative to the detection chamber (29) and having a fluid inlet (80) and two positions: a first position (27) and a second position (28); -the switching member (25) is configured to close the detection inlet (30) of the detection chamber (29) in its first position (27) and to open the detection inlet (30) in its second position (28) such that the detection inlet (30) of the detection chamber (29) is in fluid communication with the fluid inlet (80); and-the sterile region (23) accommodates the detection chamber (29) and the switching means (25).

This invention discloses a water-based plasma jet cleaning method and apparatus. The method involves collecting multi-modal contamination detection data from the workpiece surface, analyzing the physicochemical properties of the contamination to generate a contamination characteristic spectrum, matching a pre-stored material specification library to generate a discharge safety margin coefficient, and then performing plasma discharge treatment on deionized water under its constraint to generate a plasma-activated water flow, establishing a water-based plasma composite cleaning domain. Multi-path collaborative cleaning flow is generated through decoupling and regulating the jet intensity and water-air ratio. The cleaning effect is monitored to identify residual deviation characteristics, extracting the schedulable margin in lightly contaminated areas to trigger a compensation mechanism, generating cleaning compensation parameters, and constructing an enhanced cleaning configuration. Based on the enhanced cleaning configuration, the cleanliness convergence curve is monitored, and the optimal cleaning termination time is determined by identifying the decreasing convergence slope. Adaptive passivation processing is then performed based on the cleanliness convergence curve, achieving closed-loop adaptive control throughout the entire process, including contamination perception, safety margin configuration, process compensation, and convergence termination.

The invention discloses a pollution source detection method and system based on water environment treatment, and relates to the technical field of intelligent detection, and the method comprises the following steps: combining a distribution range, emitting laser with a first Brillouin line width, adjusting the first Brillouin line width based on the feedback data of the laser, and obtaining a first Brillouin line width and a second Brillouin line width; and based on the constructed pollutant diffusion model, the three-point positioning method and the pollutant parameters of the current detection point, moving the coordinates of the pollution source, and obtaining the coordinates of a new pollution source. By detecting the concentration change of the trace pollutants and combining model inversion, the positioning precision is greatly improved, a closed loop mechanism which does not need to approach a polluted area and supports detection and updating at the same time is supported, three-dimensional positioning can be realized only by three detection points, a sensor network does not need to be densely arranged, the hardware cost and the maintenance burden are greatly reduced, and the method is suitable for emergency rapid deployment. The stable performance can be kept under the complex conditions of wind field change, topographic relief, water layering and the like.

The invention provides a strip steel cleaning treatment method, a strip steel production system and a storage medium, and relates to the technical field of steel production. Further, the collected surface state data can be automatically recognized, and if it is recognized that the surface of the Nth section of strip steel comprises a polluted area, the area of the polluted area is determined; inputting the area of the polluted area and the corresponding cleaning process parameters into a scale function model to fit to obtain a new target function model; according to the new cleaning process parameters, the cleaning executing mechanism of the cleaning section is controlled, and the N + 1th section of strip steel located in the cleaning section and in the transmission state is cleaned, whether the Nth section of strip steel cleaned by the cleaning executing mechanism is cleaned or not can be automatically monitored on line, a strip steel production system does not need to be controlled to stop, the yield of the Nth section of strip steel is guaranteed, and the production efficiency is improved. And cleaning parameters of the cleaning executing mechanism are automatically optimized, so that the polluted area of the Nth section of strip steel passing through the cleaning section is smaller and smaller along with time change after being cleaned.

The invention discloses a construction land soil characteristic pollutant intelligent identification system and method based on multi-source information fusion, and belongs to the field of pollutant identification. The invention discloses a multi-source information fusion-based intelligent identification system for specific pollutants of soil of a construction land. The system comprises a multi-source information acquisition module, a multi-source information fusion module, an intelligent identification model and an identification early warning module. The method solves the problems that in the prior art, in the detection process, a single data source is depended, and identification is one-sided due to narrow data coverage and insufficient information dimension, the pollution area can be locked through remote sensing, the concentration can be calibrated through sensor data, misjudgment caused by single data abnormity is avoided, data continuity is ensured, and the detection accuracy is improved. According to the method, the recognition precision is remarkably improved, the pollution state can be represented more comprehensively, the pollutant recognition accuracy is greatly improved, the time and cost of large-range preliminary screening are greatly reduced, interference is eliminated through multi-data cross validation in multi-source fusion, and misjudgment caused by scene interference is avoided.

This invention discloses a machine vision-based method for detecting contaminant residues after duodenoscope reprocessing, specifically in the field of machine vision, to address the problem of accurately locating and removing contaminant residues after existing duodenoscope reprocessing. The method involves applying controlled incident angle, wavelength, and polarization state light perturbations to the outer surface and inner lumen of the duodenoscope, acquiring image sequences under perturbation, and extracting temporal brightness response features of pixel blocks. Brightness difference residuals and consistency weights are calculated at different incident angles to identify candidate abnormal regions and generate a difference map reflecting their response characteristics to a clean baseline. The difference map is segmented, analyzed for connectivity, and clustered. Combining three-dimensional coordinate continuity and surface normal consistency, the three-dimensional spatial boundary of the suspected contamination area is delineated. Within this range, directional cleaning and retesting are performed, with repeated detection until the contamination area disappears, achieving high-precision detection and efficient cleaning.

The present invention provides a method, device and equipment for detecting interface contamination before cold spraying. The method includes: the timing of the detection is after sandblasting treatment and before cold spray additive manufacturing; photographing the sandblasted surface of the part at a preset photographing multiple to obtain a sandblasted surface image; determining the contaminated area from the sandblasted surface image; selecting a quantitative analysis area from the contaminated area; counting the pollutant parameters in the quantitative analysis area; calculating a surface contamination ratio, a pollutant isolation determination coefficient and a pollutant continuity determination coefficient according to the pollutant parameters; and judging whether the contamination degree of the sandblasted surface of the part is qualified according to the surface contamination ratio, the pollutant isolation determination coefficient and the pollutant continuity determination coefficient. Through the present invention, a quantitative contamination detection method for specimens or parts is carried out after sandblasting pretreatment and before cold spraying, which greatly improves the efficiency and accuracy of contamination detection, and provides an opportunity for corrective rework of products with excessive contamination degree.

The invention discloses an object surface radioactive pollution measuring system and method and relates to the technical field of nuclear radiation detection. The object surface radioactive pollution measuring system comprises a nuclear robot, a detector and a PC (Personal Computer), the nuclear robot comprises a movable machine base and a multi-degree-of-freedom mechanical arm, and a clamping jaw is installed at the tail end of the multi-degree-of-freedom mechanical arm. The detector comprises a CMOS sensor, a circuit board, a chip board and a shell. The shell is clamped on the clamping jaw; and the PC is in communication connection with the chip board. An object surface alpha and beta particle pollution measurement method is based on an object surface radiation pollution measurement system, and comprises the following steps: data acquisition; extracting features; and pollution positioning. The device is used for automatically measuring alpha and beta polluted surfaces; the method can realize rapid identification, positioning and quantitative analysis of a polluted area, has the characteristics of high automation, high precision and high sensitivity, and is suitable for various application scenes, such as radioactive waste liquid surface pollution measurement and part surface pollution scanning.

The present invention discloses an air flow control device, comprising: a circulation system and a disinfection system controlled by a controller; the circulation system and the disinfection system share an air duct. The air flow control device provided by the present invention can be used in hospitals or places where contamination zoning is required, and air supply and disinfection are performed by the controller. Taking places where contamination zoning is required as an example, they are usually divided into clean areas (usually sterile rooms or areas that require fewer pollution sources), semi-contaminated areas (transition areas between clean areas and contaminated areas) and contaminated areas (areas with no requirements for air supply conditions, only the most basic ventilation requirements need to be met). When setting up the circulation system and the disinfection system, it is necessary to ensure that the clean area is located at the upwind port and the contaminated area is located at the downwind port. The air flow regulator can be used to circulate the air in the clean area without dead angles. The disinfection system can use atomized disinfectant to disinfect the entire area.

The invention discloses a steam intrusion risk rapid assessment method based on an interface process. The method comprises the following steps: S1, finding out a site pollution condition and a hydrogeological condition; s2, constructing a site indoor steam intrusion risk conceptual model; s3, calculating the attenuation coefficient of the pollutants in the soil or underground water in the polluted area during volatilization and transmission to the interior of the building; s4, calculating carcinogenic health risks and non-carcinogenic health risks of indoor steam invasion exposure of different volatile organic pollutants; s5, evaluating the carcinogenic health risk of the target pollutant by using 1 * 10 <-6 > as an acceptable carcinogenic risk level, and evaluating the non-carcinogenic health risk of the target pollutant by using 1 as an acceptable hazard entropy; and S6, determining the target pollutant with the health risk exceeding the acceptable level through evaluation, calculating the repair target value of the target pollutant under the acceptable carcinogenic risk level condition and the repair target value of the target pollutant under the acceptable non-carcinogenic risk level condition, and taking the lower value of the two as the final repair target value of the target pollutant.

The invention relates to the technical field of groundwater pollution control and remediation, in particular to a low-temperature airflow improved groundwater pollution air disturbance technical interception barrier system which comprises at least two refrigeration cycle mechanisms, a low-temperature airflow control system, a low-temperature airflow control system and a low-temperature airflow control system. Each refrigeration cycle mechanism comprises a first air compressor, a condenser, a liquid gas tank, a refrigeration pipe, a reflux valve and a water-gas separator, the output end of the first air compressor is communicated with the input end of the condenser, and the output end of the condenser is communicated with the liquid gas tank; the complex construction process of building a blocking wall on a large scale in a traditional blocking technology is avoided, so that the construction period is shortened, the cost is reduced, meanwhile, the influence of stratum disturbance on the blocking effect is reduced, and the technology has the advantages of being easy to operate, high in efficiency and small in damage to the stratum; and meanwhile, physical interception can be achieved for the extreme underground water polluted stratum.

The invention relates to a construction method for excavating a foundation pit in a polluted area, which comprises the following steps of: dividing a construction area on the ground, and positioning the design position of an enclosure structure; the prefabricated plate piles are pressed in along the positioning line, and a first enclosure structure is formed; opposite reinforced concrete walls are poured on the inner side of the first enclosure structure in a segmented mode, and a second enclosure structure is formed; a foundation pit is excavated between the first enclosure structure and the second enclosure structure; an impermeable layer is constructed in the foundation pit; and sealing treatment is conducted on the joints of the impermeable layer and the first enclosure structure and the joints of the impermeable layer and the second enclosure structure. According to the construction method for excavating the foundation pit in the polluted area, the vertical barrier is formed through the first enclosure structure and the second enclosure structure, the anti-seepage layer is arranged in the foundation pit, the anti-seepage effect is improved, and complex construction loads and long-term environmental erosion can be effectively dealt with.

The application discloses a bedrock fissure site VOCs vapor invasion risk assessment method, comprising the following steps: S1, identifying the area where the bedrock and groundwater in the site exist VOCs pollution; S2, establishing a pollutant transport flux simulation test system; S3, using the pollutant transport flux simulation test system, carrying out the target pollutant transport flux test of the pollution area, setting a first transport flux test point at the center position of the pollution area, and calculating the maximum influence area of the first transport flux test point during the test; S4, selecting a second transport flux test point in the pollution area outside the maximum influence area of the first transport flux test point, and repeating step S3 to calculate the maximum influence area of the second transport flux test point during the test; S5, repeating steps S3 to S4 until the maximum influence areas of all transport flux test points are superimposed and cover the whole pollution area; and S6, predicting the future indoor vapor invasion health risk of the population in the pollution area.

The invention relates to the technical field of environmental pollution monitoring, and particularly discloses an automatic monitoring system and method for environmental pollutants, and the method comprises the steps: arranging a plurality of monitoring nodes in a target monitoring region, collecting different types of environmental pollutant data in real time, and obtaining the geographic position information of the monitoring nodes; the collected data is transmitted to the data processing unit for preprocessing; the preprocessed data is transmitted to a data aggregation center; analyzing and dividing different pollution areas through a clustering algorithm; establishing a relation model between the pollutant concentration and the environmental factors by using a regression algorithm, and predicting the change trend of the pollutant concentration; generating a pollution map and a monitoring report according to the analysis result; and when the data exceeds a threshold value, an alarm is given and related departments are notified to generate an emergency processing scheme. According to the invention, automatic monitoring, accurate analysis and rapid response of environmental pollutants are realized, the monitoring efficiency and accuracy are improved, and powerful support is provided for environmental protection decision making.

The invention relates to the technical field of image analysis, in particular to a radioactive contamination area identification method and system based on image segmentation. The method comprises the following steps: acquiring multiband image data; carrying out false contamination highlight area detection and false contamination dark area identification on the multiband image data to respectively obtain false contamination highlight area data and false contamination dark area data; generating a pseudo-contamination graph according to the pseudo-contamination highlight area data and the pseudo-contamination dark area data to obtain pseudo-contamination graph data; interference suppression processing is carried out according to the pseudo-contamination graph data to obtain graph data after interference suppression; according to the image data after interference suppression, performing false contamination area shielding to obtain contamination area data; and carrying out pollution area fine segmentation on the pollution area data to obtain pollution area identification data. According to the method, by constructing artifact elimination and attention guidance recognition, the radioactive contamination area can be extracted under illumination and reflection conditions, false detection interference is reduced, and the method is suitable for high-interference environments such as nuclear emergency.

This invention provides an experimental method and apparatus for testing the oil production characteristics after hydraulic fracturing and plugging. The experimental method includes: preparing two target contaminated cores; preparing a target uncontaminated core; selecting the two target contaminated cores and the target uncontaminated core for one-dimensional combination and displacement until a preset water cut is reached; unloading and processing one of the target contaminated cores to form a fractured contaminated zone; combining the target uncontaminated core, the fracture-free target contaminated core, and the fractured target contaminated core to form a simulated core; and displacing the simulated core to simulate the changes in production rate, water cut, and pressure differential after hydraulic fracturing and plugging. The experimental method for testing the oil production characteristics after hydraulic fracturing and plugging in this invention can be used to more realistically simulate the production process of hydraulic fracturing and plugging in contaminated reservoirs, thereby allowing for more reliable application of this experiment for the study and analysis of the effectiveness of measures and parameter optimization.

The invention discloses a volatile soil pollutant detection method and device, and the method comprises the steps: selecting a rectangular region as a measurement region of pollutants in soil, and laying a plurality of measurement points in the measurement region; the measuring area comprises a polluted area and an unpolluted area; starting from a preset measurement starting point, sequentially passing through each measurement point in the measurement area, and finally reaching a preset measurement ending point to obtain a measurement point route; acquiring resistivity data of each measuring point acquired by the electromagnetic instrument along the measuring point route, and drawing isoline plane images of the polluted area and the unpolluted area at different depths based on the resistivity data of each measuring point; and comparing the resistivity data of the measuring points in the polluted area and the non-polluted area respectively, and judging the pollutant distribution condition in combination with the isoline plane image. According to the invention, the distribution condition of volatile pollutants in soil can be detected, and a basis is provided for risk management and control of pollutants.

Provided are a method and a system for detecting contaminants attached to a camera lens. A camera contaminant detection method according to an embodiment includes: receiving an image through a camera; pre-processing the inputted image; and identifying a contamination region to which contaminants are attached and a normal region to which contaminants are not attached in the pre-processed image. Accordingly, by automatically detecting whether contaminants are attached to a camera for autonomous driving and the location of attachment, auto-cleaning or contamination alarms may be performed to prevent degradation of recognition performance caused by contaminants on the camera for autonomous driving.