CN110430361B

CN110430361B - Window cleaning method and device

Info

Publication number: CN110430361B
Application number: CN201910732546.9A
Authority: CN
Inventors: 胡连强; 周锋; 汪茂盛; 周庆伟; 王燕文; 钱锋
Original assignee: SAIC Motor Corp Ltd
Current assignee: SAIC Motor Corp Ltd
Priority date: 2019-08-09
Filing date: 2019-08-09
Publication date: 2021-07-27
Anticipated expiration: 2039-08-09
Also published as: CN110430361A

Abstract

The application discloses clean method and device of window, the window is the sharing window of camera and radar, and the window scope of camera has the repetitive area with the window scope of radar, at first acquires the first image that the camera was shot, then confirms according to first image whether have the shelter from the thing on the window, when having, confirms the type of shelter from the thing, at last based on shelter from the thing the type, control clean system is right the window carries out cleaning, clean system includes two at least different cleaning device. In the window cleaning method and device, the radar and the camera share one window, so that whether a shielding object exists on the shared window can be judged through a window image collected by the camera, and the type of the shielding object is further judged, so that a proper cleaning mode is selected according to the determined shielding object control to timely and effectively clean the shared window, the radar can continuously and accurately work, and the requirement of system safety is met.

Description

Window cleaning method and device

Technical Field

The invention relates to a data processing technology, in particular to a window cleaning method and device.

Background

In an intelligent driving automobile, a camera, a laser radar and the like are vital sensors, can provide perception information of the surrounding environment of the automobile, and are important information sources for decision control of the automobile. In the current automotive market, if a lidar detects a shadow region, it cannot determine whether the shadow region is caused by a radar window obstruction or a detected front reflector; even if the type of the blocking object cannot be determined even if the blocking object is further determined to be caused by the window blocking object, the blocking object cannot be subjected to timely and effective targeted cleaning treatment, and the safety requirement of an intelligent driving automobile cannot be met.

Disclosure of Invention

In view of the above, the present invention provides a window cleaning method and device for accurately identifying radar window obstruction.

In order to achieve the purpose, the invention provides the following technical scheme:

a window cleaning method, wherein a window is a common window of a camera and a radar, and the window range of the camera and the window range of the radar have repeated areas, and the method comprises the following steps:

acquiring a first image shot by the camera, wherein the first image is an image corresponding to a window range of the camera;

determining whether a shelter exists on the common window according to the first image;

if yes, determining the type of the obstruction;

based on the type of the covering, controlling a cleaning system to perform a cleaning operation on the common viewing window, the cleaning system comprising at least two different cleaning devices.

Optionally, the window range of the camera partially or completely covers the window range of the radar.

Optionally, before the acquiring the first image captured by the camera, the method further includes:

and acquiring a detection result of the radar, and entering a step of acquiring a first image shot by the camera when the detection result meets a first condition.

and acquiring environment data, and entering a step of acquiring a first image shot by the camera when the environment data meets a second condition.

Optionally, the camera includes a first camera and a second camera.

Optionally, the first camera and the second camera are located on two sides of the radar.

Optionally, the cleaning system comprises a cleaning device and a purging device.

A window cleaning device, the window is the common window of camera and radar, the window scope of camera with the window scope of radar has the region of repetition, the device includes:

the image acquisition module is used for acquiring a first image shot by the camera, wherein the first image is an image corresponding to a window range of the camera;

the occlusion determining module is used for determining whether an occlusion object exists on the window according to the first image;

the type determining module is used for determining the type of the occlusion object when the occlusion determining module determines that the occlusion object exists on the window;

a cleaning control module for controlling a cleaning system to perform a cleaning operation on the window based on the type of the covering, the cleaning system including at least two different cleaning devices.

Optionally, the method further includes:

the first judgment module is used for acquiring a detection result of the radar and judging whether the detection result meets a first condition.

Optionally, the method further includes:

and the second judgment module is used for acquiring the environmental data and judging whether the environmental data meets a second condition.

According to the technical scheme, compared with the prior art, the embodiment of the invention discloses a window cleaning method and device, wherein the window is a common window of a camera and a radar, the window range of the camera and the window range of the radar have repeated areas, a first image shot by the camera is firstly obtained, then whether a shielding object exists on the window is determined according to the first image, when the shielding object exists, the type of the shielding object is determined, and finally a cleaning system is controlled to perform cleaning work on the window based on the type of the shielding object, wherein the cleaning system comprises at least two different cleaning devices. In the window cleaning method and device, the radar and the camera share one window, so that whether a shielding object exists on the shared window can be judged through a window image collected by the camera, and the type of the shielding object is further judged, so that a proper cleaning mode is selected according to the determined shielding object control to timely and effectively clean the shared window, the radar can continuously and accurately work, and the requirement of system safety is met.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flowchart illustrating a window cleaning method according to an embodiment of the present invention;

FIG. 2 is a flowchart of another window cleaning method according to an embodiment of the present invention;

FIG. 3 is a flowchart illustrating another window cleaning method according to an embodiment of the present invention;

FIG. 4 is a schematic view of a camera and a radar window according to an embodiment of the present invention;

FIG. 5 is a schematic view of a window cleaning apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural view of another window cleaning device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a flowchart of a window cleaning method according to an embodiment of the present invention, in this embodiment, the window is a common window of a camera and a radar, and a window range of the camera and a window range of the radar have an overlapping region. Referring to FIG. 1, a window cleaning method may include:

step 101: and acquiring a first image shot by the camera, wherein the first image is an image corresponding to the window range of the camera.

In this embodiment, the window range of the camera partially or completely covers the window range of the radar. What camera and radar adopted is the sharing window, need to guarantee that there is the repetitive area in the window scope of camera and radar, and window scope between them can not the distance than far away. When a shielding object exists on the common window, the camera can acquire an image with the shielding object, and then the system judges that the shielding object exists on the common window; in practical situations, most of the shelters are basically uniformly distributed, such as rain, snow, sand and wind, so that when the system judges that a shelter exists on the common window, the system can determine that the sheltering condition exists in the window range of the camera and the sheltering condition also exists in the window range of the radar.

It should be noted that, the specific implementation of judging whether the window range of the camera is blocked or not according to the image acquired by the camera can be implemented by adopting the existing related technology. The camera may be a camera of an environmental perception sensor.

In this step, the camera directly collects the image information within the window range, i.e. the first image, and from the perspective of vision, if the outside of the window within the window range of the camera is shielded, the first image shot by the camera can be reflected, for example, in daily work and life, when the camera window is shielded by a finger, the shadow of the finger is generated in the shot image.

Step 102: and determining whether an occlusion object exists on the common window according to the first image.

After the first image is acquired, whether an occlusion exists in the first image can be determined based on existing visual recognition correlation techniques. Specifically, the acquiring of the first image may be acquiring a plurality of first images, that is, a plurality of first images at different times, and then, whether the occlusion exists on the common window may be determined by determining whether a shadow region exists in the first image, whether a fixed invariant region exists in different first images, and the like.

Step 103: if so, determining the type of the obstruction.

When the system judges that the common window has the sheltering object, the type of the sheltering object can be identified and determined based on the existing identification technology, such as wind, sand, dust, snow, sewage and the like.

If not, no special or additional operations are performed.

Step 104: based on the type of the covering, controlling a cleaning system to perform a cleaning operation on the common viewing window, the cleaning system comprising at least two different cleaning devices.

In this embodiment, the cleaning system may include cleaning devices with different cleaning functions, so that, for different types of shielding objects, a suitable cleaning device may be controlled to be selected to clean the common window according to a preset logic, so that the common window no longer has the shielding object, the camera and the radar can accurately acquire information without obstacles, and reliable basic data is provided for safety control.

In the embodiment, in the window cleaning method, because the radar and the camera share one window, whether a shielding object exists on the shared window can be judged through a window image collected by the camera, and the type of the shielding object is further judged, so that a proper cleaning mode is selected according to the determined shielding object control to timely and effectively clean the shared window, the radar can continuously and accurately work, and the requirement of system safety is met.

Based on the disclosure of the above embodiments, fig. 2 is a flowchart of another window cleaning method disclosed in the embodiments of the present invention, and referring to fig. 2, the window cleaning method may include:

step 201: and acquiring a detection result of the radar.

Step 202: and when the detection result meets a first condition, acquiring a first image shot by the camera, wherein the first image is an image corresponding to the window range of the camera.

The detection result of the radar may indicate the detection of a shadow region, but in general, the radar detects a shadow region, which may be caused by a radar window obstruction or by a detected front reflector. In this embodiment, the first condition may be that a detection result of the radar indicates that the radar detects a shadow region, and thus, whether the common window has a blocking object is further determined by using an image of a window range of the camera, which is collected by using the common window with the radar, subsequently.

Step 203: and determining whether an occlusion object exists on the common window according to the first image.

Step 204: if so, determining the type of the obstruction.

Step 205: based on the type of the covering, controlling a cleaning system to perform a cleaning operation on the common viewing window, the cleaning system comprising at least two different cleaning devices.

In this embodiment, when the detection result of the radar meets a certain condition, whether the shielding object exists in the common window is judged, instead of monitoring whether the shielding object exists in real time, so that resource waste is avoided. In view of the fact that the radar detects the state in the working process all the time, the scheme can also guarantee timely judgment and processing of the shelters, and the requirement for system safety is met.

Fig. 3 is a flowchart of another window cleaning method according to an embodiment of the disclosure, as shown in fig. 3, the window cleaning method may include:

step 301: environmental data is acquired.

Step 302: and when the environment data meet a second condition, acquiring a first image shot by the camera, wherein the first image is an image corresponding to the window range of the camera.

For example, when it is detected that the environment starts raining or snowing, a first image captured by the camera starts to be acquired for judging whether a shelter exists.

Step 303: and determining whether an occlusion object exists on the common window according to the first image.

Step 304: if so, determining the type of the obstruction.

Step 305: based on the type of the covering, controlling a cleaning system to perform a cleaning operation on the common viewing window, the cleaning system comprising at least two different cleaning devices.

Similar to the second embodiment, when the environmental data meets a certain condition, the method starts to judge whether the common window has the obstruction instead of monitoring whether the obstruction exists in real time, thereby avoiding resource waste. When the environment data indicates that the common window is in the environment easy to be shielded, subsequent judgment is carried out, timely judgment and processing of shielding objects are guaranteed, and the requirement of system safety is met.

In the above embodiments, the camera may include at least one camera, for example, a monocular camera, a binocular camera, or a trinocular camera.

When the camera is a binocular camera, the camera may include a first camera and a second camera. The first camera and the second camera may be located at both sides of the radar. The window ranges of the first camera, the second camera and the radar can be seen in fig. 4, where the area indicated by 1 is the window range of the first camera, the area indicated by 2 is the window range of the second camera, and the area indicated by 3 is the window range of the radar.

In each of the above embodiments, the cleaning system may include a cleaning device and a purging device. The cleaning device can comprise a water pump for clean water or cleaning solution and a spray head used in cooperation, and the spray head is aligned with the common window; the blowing device comprises an air pump and a nozzle matched with the air pump for drying the common window or blowing away impurities such as dust and the like on the common window.

While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

The method is described in detail in the embodiments disclosed above, and the method of the present invention can be implemented by various types of apparatuses, so that the present invention also discloses an apparatus, and the following detailed description will be given of specific embodiments.

Fig. 5 is a schematic structural diagram of a window cleaning device according to an embodiment of the present invention, in which the window is a common window for a camera and a radar, and a window range of the camera and a window range of the radar have a repetition region. Referring to FIG. 5, the window cleaning apparatus 50 may include:

the image obtaining module 501 is configured to obtain a first image captured by the camera, where the first image is an image corresponding to a window range of the camera.

In this embodiment, the window range of the camera partially or completely covers the window range of the radar. What camera and radar adopted is the sharing window, need to guarantee that there is the repetitive area in the window scope of camera and radar, and window scope between them can not the distance than far away. When the common window is provided with the shielding object, the camera can acquire an image with the shielding object, and then the system judges that the shielding object exists on the common window.

The camera directly collects image information, namely a first image, in a window range of the camera, and from the perspective of vision, if the outside of the window in the window range of the camera is shielded, the first image shot by the camera can be reflected, for example, in daily work and life, when a finger partially shields the window of the camera, the shot image has the shadow of the finger.

An occlusion determining module 502, configured to determine whether an occlusion exists on the shared window according to the first image.

A type determining module 503, configured to determine the type of the obstruction when the obstruction determining module determines that the obstruction exists on the shared window.

A cleaning control module 504 for controlling a cleaning system to perform a cleaning operation on the shared window based on the type of the obstruction, the cleaning system including at least two different cleaning devices.

In this embodiment, among the window cleaning device, because radar and camera sharing window, like this, can judge whether have the shelter from thing on the sharing window through the window image that the camera was gathered to further judge the shelter from the thing type, thereby select suitable clean mode to carry out timely effectual cleanness to the sharing window according to the control of the shelter from thing of confirming, guarantee that the radar can last accurate work, satisfy the security demand of system.

On the basis of the above disclosed embodiments, fig. 6 is a schematic structural diagram of another window cleaning device disclosed in the embodiments of the present invention, and as shown in fig. 6, the window cleaning device 60 may include:

the first determining module 601 is configured to obtain a detection result of the radar, and determine whether the detection result meets a first condition.

An image obtaining module 501, configured to obtain a first image captured by the camera when the determination result of the first determining module 601 is yes, where the first image is an image corresponding to a window range of the camera.

In other embodiments, in addition to the image obtaining module, the occlusion determining module, the type determining module, and the cleaning control module, the window cleaning device may further include a second determining module for obtaining environmental data and determining whether the environmental data satisfies a second condition. The image obtaining module is configured to obtain the first image captured by the camera if the determination result of the second determining module is yes.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A window cleaning method is characterized in that a window is a common window of a camera and a radar, and the range of the window of the camera and the range of the window of the radar have repeated areas, and the method comprises the following steps:

if yes, determining the type of the obstruction;

controlling a cleaning system to perform a cleaning job on the common window based on the type of the obstruction, the cleaning system including at least two different cleaning devices;

before the first image shot by the camera is obtained, the method further comprises the following steps:

acquiring a detection result of a radar, and entering a step of acquiring a first image shot by the camera when the detection result meets a first condition; wherein the first condition is that the detection result of the radar indicates that the radar detects a shadow area;

the camera is the binocular camera, the binocular camera includes first camera and second camera, first camera with the second camera is located the both sides of radar.

2. The window cleaning method of claim 1, wherein a window area of the camera partially or completely covers a window area of the radar.

3. The window cleaning method according to claim 1, further comprising, before the acquiring the first image captured by the camera:

4. The window cleaning method of claim 1, wherein the cleaning system comprises a cleaning device and a purging device.

5. A window cleaning device, characterized in that, the window is the common window of camera and radar, the window scope of camera with the window scope of radar has the region of repetition, the device includes:

a cleaning control module for controlling a cleaning system to perform a cleaning operation on the window based on the type of the covering, the cleaning system comprising at least two different cleaning devices;

further comprising:

the first judgment module is used for acquiring a detection result of the radar, judging whether the detection result meets a first condition or not, and calling the image acquisition module when the detection result meets the first condition; wherein the first condition is that the detection result of the radar indicates that the radar detects a shadow area;

6. The window cleaning apparatus of claim 5, further comprising: