CN113200022A - Cleaning method, device and equipment of sensor and storage medium - Google Patents
Cleaning method, device and equipment of sensor and storage medium Download PDFInfo
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- CN113200022A CN113200022A CN202110469175.7A CN202110469175A CN113200022A CN 113200022 A CN113200022 A CN 113200022A CN 202110469175 A CN202110469175 A CN 202110469175A CN 113200022 A CN113200022 A CN 113200022A
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- 239000007921 spray Substances 0.000 claims description 58
- 239000012459 cleaning agent Substances 0.000 claims description 24
- 239000002689 soil Substances 0.000 claims description 20
- 238000005507 spraying Methods 0.000 claims description 11
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/62—Other vehicle fittings for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
- B60S1/48—Liquid supply therefor
- B60S1/481—Liquid supply therefor the operation of at least part of the liquid supply being controlled by electric means
- B60S1/485—Liquid supply therefor the operation of at least part of the liquid supply being controlled by electric means including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
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- Water Supply & Treatment (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention discloses a cleaning method, a device, equipment and a storage medium of a sensor, wherein the method comprises the following steps: acquiring a vehicle state and image data detected by a sensor on the vehicle to an external environment of the vehicle; determining a first cleaning mode according to a preset time length and a vehicle state; determining a second cleaning mode from the image data; the sensor is cleaned according to the first cleaning mode and/or the second cleaning mode. The method provides a non-single type cleaning mode by combining the operation mode and the working state of the vehicle, widens the selectable range of the cleaning mode, simultaneously determines the cleaning mode matched with the vehicle according to different detection conditions, can avoid the defect that the sensor cannot be cleaned in time under the condition of single mode failure, can effectively execute the corresponding cleaning mode aiming at different stain types, realizes low-power consumption, low-cost and high-efficiency cleaning of the sensor, and further improves the identification accuracy of the sensor.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a cleaning method, a cleaning device, cleaning equipment and a storage medium of a sensor.
Background
In the field of autopilot, sensors are the main devices in vehicle autopilot systems for acquiring information about the surroundings, wherein sensors (e.g. cameras, lidar) are the main forces thereof.
In the operation process of the unmanned vehicle, the sensor is difficult to avoid being interfered by the outside world, for example, when raining, the surface of the sensor has rain residue; when snowing, the surface of the sensor is covered by snow; after raining, the muddy water splashes to the surface of the sensor, and then is dried and condensed; in normal times, insect corpses and bird droppings may also fall onto the surface of the sensor. The above conditions all affect the quality of data generated by the sensor, cause the sensor to be unable to accurately and comprehensively describe the information of the surrounding environment, and affect and even mislead the judgment of the unmanned sensing system on the surrounding environment.
Disclosure of Invention
The invention provides a cleaning method, a cleaning device, cleaning equipment and a storage medium of a sensor, which are used for cleaning the sensor and improving the identification accuracy of the sensor.
In a first aspect, an embodiment of the present invention provides a cleaning method for a sensor, where the method includes:
acquiring a vehicle state and image data detected by a sensor on the vehicle to an external environment of the vehicle;
determining a first cleaning mode according to a preset time length and the vehicle state;
determining a second cleaning mode from the image data;
cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
In a second aspect, an embodiment of the present invention further provides a cleaning device for a sensor, the cleaning device including:
the system comprises an information acquisition module, a display module and a display module, wherein the information acquisition module is used for acquiring a vehicle state and image data detected by a sensor on the vehicle to the external environment of the vehicle;
the first cleaning mode determining module is used for determining a first cleaning mode according to a preset time length and the vehicle state;
a second cleaning mode determination module for determining a second cleaning mode based on the image data;
a cleaning module for cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
In a third aspect, an embodiment of the present invention further provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of cleaning a sensor of the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the method for cleaning a sensor according to the first aspect.
The invention obtains the vehicle state and the image data detected by the sensor on the vehicle to the external environment of the vehicle; determining a first cleaning mode according to a preset time length and a vehicle state; determining a second cleaning mode from the image data; cleaning the sensor according to the first cleaning mode and/or the second cleaning mode; the method provides a non-single type of cleaning mode by combining the operation mode and the working state of the vehicle, widens the selectable range of the cleaning mode, simultaneously determines the cleaning mode matched with the vehicle according to different detection conditions, can avoid the defect that the sensor cannot be cleaned in time and the recognition precision of the sensor is reduced under the condition of single cleaning mode failure, can effectively execute the corresponding cleaning mode aiming at different stain types, can realize low-power consumption, low-cost and high-efficiency cleaning of the sensor, and further improves the recognition accuracy of the sensor.
Drawings
Fig. 1 is a flowchart of a cleaning method for a sensor according to an embodiment of the present invention;
fig. 2 is a flowchart of a cleaning method for a sensor according to a second embodiment of the present invention;
fig. 3 is a flowchart of a camera cleaning method according to a second embodiment of the present invention;
fig. 4 is a flowchart of a camera cleaning method according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a cleaning device for a sensor according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a cleaning method for a sensor according to an embodiment of the present invention, where the embodiment is applicable to a case where semantic analysis is performed on image data according to a time sequence and semantic information representing an obstacle is given to a point cloud, and the method may be performed by a cleaning device for a sensor, which may be implemented by software and/or hardware, and which may be configured in a computer device, for example, an unmanned device such as an unmanned vehicle, a robot, an unmanned aerial vehicle, and the like, and a computing device such as a server, a personal computer, and the like, and the method specifically includes the following steps:
s110, acquiring the vehicle state and image data detected by a sensor on the vehicle to the external environment of the vehicle.
In the present embodiment, the vehicle state includes a passenger-carrying state of the vehicle (e.g., empty, passenger carrying), an operation state of the vehicle (e.g., system test, road test, performing a predetermined task, rental operation, trouble shooting, etc.), wherein the operation state of the vehicle includes a speed, an acceleration, a trip, a period of normal running, and the like of the vehicle. In a specific implementation, for example, the current running state of the vehicle can be judged to be a road test state or a rental running state by detecting the speed and the acceleration of the vehicle, and the running state of the vehicle is taken as the vehicle state; the passenger carrying state of the vehicle can be judged to be empty or the current vehicle state by detecting the travel planning and the load of the vehicle. This embodiment is not limited to this.
Preferably, the sensor in this embodiment refers to a sensor for detecting optical information outside the vehicle, and may include a camera, a laser radar, and the like, the sensor may be disposed outside the vehicle, and the number of the sensors may be plural, and the number and the kind of the sensors are not limited in this embodiment.
The image data detected by the acquisition sensor for the external environment of the vehicle may include depth image data generated by optical information acquired by the camera for the external environment of the vehicle, and may also include point cloud image data generated by optical information acquired by the lidar for the external environment of the vehicle, that is, the image data in this embodiment may be image data directly generated by the camera, or may be image data generated by converting point cloud data acquired by the lidar into a depth point cloud image, which is not particularly limited.
And S120, determining a first cleaning mode according to the preset time length and the vehicle state.
After the vehicle state is acquired, a first cleaning mode for cleaning the sensor on the vehicle may be determined according to the vehicle state and a preset time period.
The specific manner of setting the preset duration may include: a timer is installed on the sensor, or a timer for performing countdown is set in the sensor, or a preset time length may be set in a cleaning instruction issued by the vehicle controller, or a counter may be set in a thread responsible for performing a cleaning decision to determine the preset time length, which is not limited in this embodiment.
In a preferred embodiment of this embodiment, a timer may be disposed inside the sensor, a countdown operation is performed on the sensor start timer on the vehicle every a preset time period, when the countdown operation is completed, the vehicle status is queried, and if the vehicle status is in an idle state, the first cleaning mode is determined to be the first level of the solid dirt cleaning mode, and the first amount of gas and the second amount of liquid cleaning liquid are disposed in the first level of the solid dirt cleaning mode.
It should be noted that the first level soil fixation cleaning mode may be regarded as a cleaning mode for performing daily cleaning of the sensors on the vehicle, as the surface of the sensor can be attached with dust, bird droppings, muddy water and other solid stains in the daily operation of the vehicle, when solid stains are cleaned, the stains need to be softened and dissolved, a liquid cleaning agent with the functions of softening the stains, removing oil, preventing freezing and the like is adopted, the solid stains can leave liquid traces on the surface of the sensor after being softened and dissolved by the liquid detergent, in order to remove these traces of liquid and air dry the surface of the sensor as quickly as possible, it is also necessary to clean the sensor with a pressure-controlled gas as a gaseous cleaning agent, therefore, the present embodiment adopts a mixed manner of gas cleaning and liquid cleaning as the first level of soil fixation cleaning mode, and can effectively treat the soil of the sensor on the vehicle.
In another preferred embodiment of the present invention, if the vehicle status is the test operation status, a counter in a thread for executing a cleaning decision in the vehicle is started, and when the counter reaches a preset time period, it is determined that the first cleaning mode is the first level of the solid dirt cleaning mode, and the first amount of gas and the second amount of liquid cleaning liquid are configured in the first level of the solid dirt cleaning mode. The embodiment does not limit the specific implementation manner of S120.
And S130, determining a second cleaning mode according to the image data.
In this embodiment, after the image data detected by the sensor is acquired, the image data may be processed by using an image processing method, a pixel gray value in the image data is analyzed, an abnormal pixel gray value in the image data is detected by using an image method such as feature extraction, edge detection, and the like, so as to determine whether the surface of the sensor is stained, and the second cleaning mode is determined according to the type of the stained.
For example, in one implementation, the image data may be processed by using a region segmentation algorithm to obtain target image data, extract target pixels in the target image data, where a gray scale value of the target pixels is greater than a preset threshold, determine a pixel region composed of the target pixels, determine stains existing on the sensor based on the pixel region, determine that the stains are liquid stains or solid stains, and determine a second cleaning mode according to a form of the stains, where the second cleaning mode may include a cleaning mode for liquid stains and a cleaning mode for solid stains, and the second cleaning mode may further include a cleaning mode that is divided into multiple levels according to an area size of stains attached to the sensor, and multiple cleaning modes with different amounts of cleaning agents, and so on. The present embodiment does not limit the kind and components of the second cleaning mode.
And S140, cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
It is to be understood that the first cleaning mode and the second cleaning mode are cleaning modes except that the conditions for initiating the trigger are different, and thus for the sake of convenience of distinction, the cleaning modes determined by the different conditions are prefixed with "first" and "second".
In this embodiment, the first cleaning mode and the second cleaning mode may both be preset in the cleaning system in the vehicle interior, and the sensor may be cleaned only according to the first cleaning mode, may also be cleaned only according to the second cleaning mode, and may also be cleaned synchronously according to the first cleaning mode and the second cleaning mode.
In a specific implementation, a first thread and a second thread can be arranged in the vehicle, wherein the first thread is used for executing a first cleaning mode, and the second thread is used for executing a second cleaning mode; when the first thread meets a preset first trigger condition, starting a first cleaning mode to clean the sensor; when the second thread meets a preset second trigger condition, starting a first cleaning mode to clean the sensor; the first trigger condition and the second trigger condition are preset trigger conditions, the first trigger condition and the second trigger condition are only convenient for distinguishing description, and the trigger conditions can be set according to cleaning decisions issued by vehicles; if the first thread meets a preset first trigger condition and the second thread meets a preset second trigger condition, the first thread and the second thread can be respectively started to start the first cleaning mode and the second cleaning mode in parallel.
The embodiment of the invention obtains the vehicle state and the image data detected by the sensor on the vehicle to the external environment of the vehicle; determining a first cleaning mode according to a preset time length and a vehicle state; determining a second cleaning mode from the image data; cleaning the sensor according to the first cleaning mode and/or the second cleaning mode; the method provides a non-single type of cleaning mode by combining the operation mode and the working state of the vehicle, widens the selectable range of the cleaning mode, simultaneously determines the cleaning mode matched with the vehicle according to different detection conditions, can avoid the defect that the sensor cannot be cleaned in time and the recognition precision of the sensor is reduced under the condition of single cleaning mode failure, can effectively execute the corresponding cleaning mode aiming at different stain types, can realize low-power consumption, low-cost and high-efficiency cleaning of the sensor, and further improves the recognition accuracy of the sensor.
Example two
Fig. 2 is a flowchart of a cleaning method for a sensor according to a second embodiment of the present invention, which is further detailed and supplemented by the technical solution proposed by the present invention based on the foregoing embodiment, and the embodiment may be applied to an unmanned vehicle, and specifically may include the following steps:
s210, acquiring the state of the vehicle and image data detected by a sensor on the vehicle to the external environment of the vehicle.
And S220, determining a first cleaning mode according to the preset time length and the vehicle state.
And S230, carrying out fuzzy detection on the image data.
In this embodiment, the performing of the blur detection on the image data refers to detecting and identifying a blur degree of the image data, and in one implementation, the image data may be subjected to laplacian transform to obtain target image data, the target image data is subjected to mean square error removal, a blur degree of the target image data is defined, the blur degree is compared with a preset blur threshold, and the target image data with the blur degree greater than the blur threshold is determined as image data after the blur detection. In another implementation, the image data is converted into grayscale image data, a gradient function (including but not limited to Brenner gradient function and Tenengrad gradient function) adapted to the grayscale image data is determined, the grayscale image data is substituted into the gradient function to be calculated, and the sharpness is obtained, and the grayscale image data with the sharpness smaller than a preset threshold is used as the image data after the blur detection. The embodiment does not limit the specific implementation manner of the blur detection on the image data.
And S240, distinguishing whether the dirt existing in the sensor is liquid dirt or solid dirt based on the gray value in the image data after the fuzzy detection.
After the image data after the blur detection is acquired, the abnormal gray value can be detected by acquiring the gray value of the pixel in the image data, and the stain existing in the sensor is distinguished to be liquid stain or solid stain based on the abnormal gray value.
In this embodiment, when the stain existing in the sensor is detected through the image data, a second cleaning mode for cleaning the stain may be queried, and the second cleaning mode is configured with parameters for controlling one or more cleaning agents, and the parameters may include the type of the cleaning agent and the amount of the cleaning agent.
The stains in this embodiment can be divided into liquid stains and solid stains, when the stains are determined to be liquid stains, the second cleaning mode for cleaning the liquid stains is queried as a liquid stain cleaning mode, and when the stains are determined to be solid stains, the second cleaning mode for cleaning the solid stains is queried as a solid stain cleaning mode. It is understood that both the liquid-soil cleaning mode and the solid-soil cleaning mode are cleaning modes, and are distinguished only for the type of soil to be cleaned.
And S250, when the stain is the liquid stain, determining that the second cleaning mode is a liquid stain cleaning mode for cleaning the liquid stain.
Wherein, the configured gas in the liquid dirt cleaning mode is a cleaning agent.
And S260, when the stains are solid stains, determining that the second cleaning mode is a solid stain cleaning mode for cleaning the solid stains.
Wherein, the solid dirt cleaning mode is provided with gas and liquid cleaning liquid as cleaning agent.
Since the areas of the solid-state stains attached to the surface of the sensor are different, the purpose of effectively cleaning a large area of the solid-state stains can be achieved only by cleaning the large area of the solid-state stains more strongly, and the small area of the solid-state stains can be cleaned in a softer cleaning manner without wasting a large amount of cleaning agent.
In a preferred embodiment of this embodiment, the soil is determined to be a solid soil; dividing the solid stains into solid stains at a first level and solid stains at a second level, wherein the area of the solid stains at the first level is smaller than that of the solid stains at the second level;
if the solid stain is in a first level, determining that the second cleaning mode is a stain fixation cleaning mode of the first level, wherein gas and liquid cleaning liquid are configured as cleaning agents in the stain fixation cleaning mode of the first level, and a first dosage of the gas and a second dosage of the liquid cleaning liquid are configured;
if the solid stain is in a second level, determining that the second cleaning mode is a second-level stain fixation cleaning mode, wherein gas and liquid cleaning liquid are configured as cleaning agents in the second-level stain fixation cleaning mode, and a third dosage of the gas and a fourth dosage of the liquid cleaning liquid are configured;
wherein the third dosage is larger than the first dosage, and the fourth dosage is larger than the second dosage.
And S270, cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
In the present embodiment, the first cleaning mode determined according to the vehicle state and the preset period of time may be a first level of the solid-dirt cleaning mode. The second cleaning mode determined according to the image data may be a liquid-dirt cleaning mode or a solid-dirt cleaning mode, wherein the solid-dirt cleaning mode is divided into a first-level solid-dirt cleaning mode and a second-level solid-dirt cleaning mode, and the amount of the cleaning agent used in the first-level solid-dirt cleaning mode is different from the amount of the cleaning agent used in the second-level solid-dirt cleaning mode.
In a specific implementation of this embodiment, the sensor may be cleaned only according to the first cleaning mode, may also be cleaned only according to the second cleaning mode, and may also be cleaned according to the first cleaning mode and the second cleaning mode.
In a preferred embodiment of this embodiment, a first loop for transporting gas, a second loop for transporting liquid cleaning liquid, and a spray head are installed in the vehicle, the first loop is provided with a gas path solenoid valve, and the second loop is provided with a liquid path solenoid valve; cleaning the sensor according to a first cleaning mode, specifically comprising the steps of:
when the first cleaning mode is a first-level solid-dirt cleaning mode, the gas circuit electromagnetic valve is opened until the opening time reaches a preset first time, so that a first amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset second time so as to transmit a second amount of liquid cleaning liquid to the spray head through the second loop; wherein the second time is less than the first time;
and spraying gas and liquid cleaning liquid towards the sensor by using the spray head so as to clean dirt on the sensor.
In another preferred embodiment of this embodiment, a first loop and a nozzle for transmitting gas are installed in a vehicle, and a gas path electromagnetic valve is disposed on the first loop; cleaning the sensor according to the second cleaning mode, which specifically comprises the following steps:
when the second cleaning mode is a liquid-dirt cleaning mode, the gas path electromagnetic valve is opened to transmit gas to the spray head through the first loop;
the spray head sprays gas towards the sensor to clean dirt on the sensor.
In another preferred embodiment of this embodiment, a first loop for transporting gas, a second loop for transporting liquid cleaning liquid, and a spray head are installed in the vehicle, the first loop is provided with a gas path solenoid valve, and the second loop is provided with a liquid path solenoid valve; cleaning the sensor according to the second cleaning mode, which specifically comprises the following steps:
when the second cleaning mode is the solid-dirt cleaning mode, the gas path electromagnetic valve and the liquid path electromagnetic valve are respectively opened so as to respectively transmit gas to the spray head through the first loop and transmit liquid cleaning liquid to the spray head through the second loop;
and spraying gas and liquid cleaning liquid towards the sensor by using the spray head so as to clean dirt on the sensor.
It should be noted that, in the present embodiment, the gas and the liquid cleaning liquid may be stored in the same tank, the gas is transmitted by the first loop, and the liquid cleaning liquid is transmitted by the second loop; when the second cleaning mode is determined to be the solid dirt cleaning mode, the first loop and the second loop are driven to transmit the cleaning agent to the spray head, the spray head is enabled to spray gas-liquid mixed atomized fluid consisting of gas and liquid cleaning liquid to clean the sensor, namely the solid dirt is softened and dissolved by the liquid cleaning liquid continuously, and then the dirt is conveyed away by the liquid and the gas, in the cleaning mode, the consumption of the liquid cleaning liquid is below 1/3 of pure liquid cleaning, the liquid supplementing times can be reduced, the liquid cleaning liquid is saved, meanwhile, the influence of the empty tank problem on liquid cleaning can be weakened, and the maintenance cost of the cleaning device is reduced.
In a preferred embodiment of this embodiment, a first loop for transporting gas, a second loop for transporting liquid cleaning liquid, and a spray head are installed in the vehicle, the first loop is provided with a gas path solenoid valve, and the second loop is provided with a liquid path solenoid valve; a first thread and a second thread are arranged in the vehicle, the first thread is used for executing a first cleaning mode, and the second thread is used for executing a second cleaning mode; the method for cleaning the sensor according to the first cleaning mode and the second cleaning mode specifically comprises the following steps:
when the first thread meets a first trigger condition and the second thread meets a second trigger condition, enabling the first thread and the second thread in parallel;
in the running process of a first thread, when an identification number of a sensor to be cleaned and a code number of a first cleaning mode are received, the first cleaning mode is started to clean the sensor corresponding to the identification number, specifically, a gas path electromagnetic valve is started until the starting time reaches a preset first time, so that a first dosage of gas is transmitted to a spray head through a first loop, a liquid path electromagnetic valve is synchronously started until the starting time reaches a preset second time, so that a second dosage of liquid cleaning liquid is transmitted to the spray head through a second loop, wherein the second time is less than the first time; spraying gas and liquid cleaning liquid towards the sensor by using the spray head so as to clean stains on the sensor;
in the running process of the second thread, when the identification number of the sensor to be cleaned and the code of the second cleaning mode are received, the second cleaning mode is started to clean the sensor corresponding to the identification number, and specifically, when the second cleaning mode is a liquid pollution cleaning mode, the gas path electromagnetic valve is opened to transmit gas to the spray head through the first loop; spraying gas towards the sensor by the spray head to clean dirt on the sensor; when the second cleaning mode is the solid-dirt cleaning mode, the gas path electromagnetic valve and the liquid path electromagnetic valve are respectively opened so as to respectively transmit gas to the spray head through the first loop and transmit liquid cleaning liquid to the spray head through the second loop; and spraying gas and liquid cleaning liquid towards the sensor by using the spray head so as to clean dirt on the sensor.
It should be noted that the first cleaning mode and the second cleaning mode may be simultaneously started, and the two threads running in parallel may respectively respond to different sensors to execute related cleaning operations, but for the same sensor, one cleaning mode may be executed only in response to one thread to clean the sensor, that is, for the same sensor to be cleaned, when any one thread reaches a trigger condition, only the first cleaning mode or the second cleaning mode on the thread is invoked to clean the sensor, and the running of the other thread needs to be interrupted in the cleaning process of the thread.
In the above preferred embodiment, when the second cleaning mode is the solid-dirt cleaning mode, the gas path solenoid valve and the liquid path solenoid valve are respectively opened to respectively transmit gas to the spray head through the first loop and transmit liquid cleaning liquid to the spray head through the second loop, which specifically includes the following steps:
when the second cleaning mode is a first-level solid-dirt cleaning mode, the gas circuit electromagnetic valve is opened until the opening time reaches a preset first time, so that a first amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset second time so as to transmit a second amount of liquid cleaning liquid to the spray head through the second loop;
when the second cleaning mode is a second-level solid-dirt cleaning mode, the gas circuit electromagnetic valve is opened until the opening time reaches a preset third time, so that a third amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset fourth time so as to transmit a fourth amount of liquid cleaning liquid to the spray head through the second loop;
the second time is less than the first time, the third time is greater than the first time, and the fourth time is greater than the third time.
In order to make those skilled in the art better understand the technical solution of the present invention, two specific application examples are given below to illustrate the technical solution of the present invention.
In an application example, as shown in fig. 3, the sensor is a camera, a first cleaning mode of the camera is determined based on a preset time and a vehicle state, and stains on the camera are cleaned by using the first cleaning mode, which specifically includes the following steps:
and S310, when the automatic driving mode is started, starting a cleaning system arranged in the vehicle.
And S320, starting a timer arranged inside the camera to count down.
S330, judging whether the timer of the camera counts down and returns to zero; if yes, go to step S340, otherwise, go to step
S340, judging whether a passenger is on the vehicle or not; if yes, the process continues to step S340, otherwise, the process proceeds to step S350.
And S350, controlling the vehicle to stop at the side in the automatic driving mode.
And S360, when the vehicle is determined to be in the parking state, enabling a first cleaning mode for the camera with the timer reset to zero, and resetting the timer.
And S370, controlling the vehicle to continue to operate when the first cleaning mode is determined to be executed completely.
S380, confirming whether an operation instruction for closing the cleaning system is received or not; if yes, go to step S390, otherwise go to step S330.
And S390, starting a vehicle collecting cleaning module in the cleaning system, operating the first cleaning mode to clean the camera, and closing the cleaning system after the vehicle collecting cleaning module is operated.
In an application example, as shown in fig. 4, the sensor is a camera, acquires image data acquired by the camera, determines a second cleaning mode of the camera according to the image data, and cleans stains on the camera by using the second cleaning mode, which specifically includes the following steps:
and S410, when the automatic driving mode is started, starting a cleaning system arranged in the vehicle.
And S420, acquiring image data collected by the camera.
And S430, judging whether the camera is stained or not according to the image data.
S440, determining a second cleaning mode according to whether the stain is liquid stain or solid stain. If the stain is liquid stain, executing S450; if the soil is solid soil at the first level, executing S460; if the soil is solid soil at the second level, S470 is performed.
And S450, determining that the second cleaning mode is a liquid dirt cleaning mode.
And S460, determining that the second cleaning mode is the fixed-dirt cleaning mode of the first level.
And S470, determining that the second cleaning mode is a second level of solid dirt cleaning mode.
And S480, enabling a second cleaning mode to clean the camera.
And S490, determining that the second cleaning mode completes the cleaning operation.
S491, confirming whether an operation instruction for closing the cleaning system is received; if yes, go to step S492, otherwise, go to step S420.
And S492, starting a vehicle collecting cleaning module in the cleaning system, operating the first cleaning mode to clean the camera, and closing the cleaning system after the vehicle collecting cleaning module is operated.
The method comprises the steps of acquiring a vehicle state and image data detected by a sensor on the vehicle to an external environment of the vehicle, determining a first cleaning mode according to a preset time length and the vehicle state, carrying out fuzzy detection on the image data, distinguishing whether dirt existing in the sensor is liquid dirt or solid dirt based on a gray value in the image data after the fuzzy detection, determining a second cleaning mode as a liquid dirt cleaning mode for cleaning the liquid dirt when the dirt is the liquid dirt, determining the second cleaning mode as a solid dirt cleaning mode for cleaning the solid dirt when the dirt is the solid dirt, and cleaning the sensor according to the first cleaning mode and/or the second cleaning mode; the method provides a non-single type cleaning mode by combining the operation mode and the working state of the vehicle, widens the selectable range of the cleaning mode, simultaneously determines the cleaning mode adaptive to the vehicle according to different detection conditions, can avoid the defect that the sensor cannot be cleaned in time and the recognition precision of the sensor is reduced under the condition of single cleaning mode failure, determines the second cleaning mode according to image data subjected to fuzzy detection, can subdivide the second cleaning mode into a plurality of cleaning modes according to different forms of stains, can effectively execute the corresponding cleaning modes aiming at the liquid stains and the solid stains respectively, can realize effective cleaning of the liquid stains and the solid stains, realizes cleaning of the sensor under low power consumption and low cost, and further improves the recognition accuracy of the sensor.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a cleaning device for a sensor according to a third embodiment of the present invention, where the cleaning device specifically includes the following modules:
an information acquisition module 501, configured to acquire a vehicle state and image data detected by a sensor on the vehicle for an external environment of the vehicle;
a first cleaning mode determination module 502 for determining a first cleaning mode according to a preset time period and the vehicle state;
a second cleaning mode determination module 503 for determining a second cleaning mode according to the image data;
a cleaning module 504 for cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
In one embodiment of the present invention, the first cleaning mode determining module 502 includes:
the countdown starting submodule is used for executing countdown operation on a sensor starting timer on the vehicle every preset time period;
the vehicle state query submodule is used for querying the vehicle state when the countdown execution is finished; if the vehicle state is an idle state, calling a first cleaning mode determining submodule;
the cleaning system comprises a first cleaning mode determining submodule and a second cleaning mode determining submodule, wherein the first cleaning mode is a first level solid dirt cleaning mode, gas and liquid cleaning liquid are configured in the first level solid dirt cleaning mode to be cleaning agents, and the first dosage of the gas and the second dosage of the liquid cleaning liquid are configured in the first cleaning mode.
In one embodiment of the present invention, the second cleaning mode determining module 503 includes:
the fuzzy detection submodule is used for carrying out fuzzy detection on the image data;
the stain distinguishing submodule is used for distinguishing stains existing in the sensor into liquid stains or solid stains based on gray values in the image data after the fuzzy detection;
the liquid dirt cleaning mode determining submodule is used for determining that a second cleaning mode is a liquid dirt cleaning mode for cleaning the liquid dirt when the dirt is the liquid dirt, and gas is configured to be a cleaning agent in the liquid dirt cleaning mode;
and the solid dirt cleaning mode determining submodule is used for determining that the second cleaning mode is a solid dirt cleaning mode for cleaning the solid dirt when the dirt is solid dirt, and gas and liquid cleaning liquid are configured as cleaning agents in the solid dirt cleaning mode.
In one embodiment of the present invention, the soil fixation cleaning mode determination submodule includes:
a solid stain determination unit for determining that the stain is a solid stain;
the solid stain distinguishing unit is used for dividing the solid stains into solid stains at a first level and solid stains at a second level, and the area of the solid stains at the first level is smaller than that of the solid stains at the second level;
a first solid dirt cleaning mode determining unit, configured to determine that a second cleaning mode is a first-level solid dirt cleaning mode if the solid dirt is at a first level, where a gas and a liquid cleaning liquid are configured as a cleaning agent, and a first amount of the gas and a second amount of the liquid cleaning liquid are configured in the first-level solid dirt cleaning mode;
a second stain fixing and cleaning mode determining unit, configured to determine that the second cleaning mode is a second level stain fixing and cleaning mode if the solid stain is at a second level, where a gas and a liquid cleaning liquid are configured as a cleaning agent, and a third dosage of the gas and a fourth dosage of the liquid cleaning liquid are configured in the second level stain fixing and cleaning mode; wherein the third amount is greater than the first amount, and the fourth amount is greater than the second amount.
In one embodiment of the invention, the vehicle is provided with a first loop and a spray head for transmitting gas, and the first loop is provided with a gas path electromagnetic valve;
the cleaning module 504 includes:
the liquid-sewage cleaning starting submodule is used for starting the gas circuit electromagnetic valve to transmit the gas to the spray head through the first loop when the second cleaning mode is the liquid-sewage cleaning mode;
and the liquid dirt cleaning execution submodule is used for spraying the gas towards the sensor by the spray head so as to clean dirt on the sensor.
In one embodiment of the invention, the vehicle is provided with a first loop for transmitting gas, a second loop for transmitting liquid cleaning liquid and a spray head, wherein the first loop is provided with a gas path electromagnetic valve, and the second loop is provided with a liquid path electromagnetic valve;
the cleaning module 504 includes:
the solid-dirt cleaning starting submodule is used for respectively starting the gas circuit electromagnetic valve and the liquid circuit electromagnetic valve when the second cleaning mode is the solid-dirt cleaning mode so as to respectively transmit the gas to the spray head through the first loop and transmit the liquid cleaning liquid to the spray head through the second loop;
and the dirt fixing and cleaning execution submodule is used for spraying the gas and the liquid cleaning liquid towards the sensor by the spray head so as to clean dirt on the sensor.
In one embodiment of the invention, the soil fixation cleaning promoter module comprises:
the first-level solid-sewage cleaning gas circuit starting unit is used for starting the gas circuit electromagnetic valve until the starting time reaches a preset first time when the second cleaning mode is the first-level solid-sewage cleaning mode so as to transmit a first amount of gas to the spray head through the first loop;
the first-level solid-dirt cleaning liquid path starting unit is used for starting the liquid path electromagnetic valve until the starting time reaches a preset second time so as to transmit a second amount of liquid cleaning liquid to the spray head through the second loop;
the second-level solid-sewage cleaning gas circuit starting unit is used for starting the gas circuit electromagnetic valve until the starting time reaches a preset third time when the second cleaning mode is the second-level solid-sewage cleaning mode so as to transmit a third amount of gas to the spray head through the first circuit;
the second-level solid-dirt cleaning liquid path starting unit is used for starting the liquid path electromagnetic valve until the starting time reaches a preset fourth time so as to transmit a fourth amount of liquid cleaning liquid to the spray head through the second loop; wherein the second time is less than the first time, the third time is greater than the first time, and the fourth time is greater than the third time.
In one embodiment of the invention, the vehicle is provided with a first loop for transmitting gas, a second loop for transmitting liquid cleaning liquid and a spray head, wherein the first loop is provided with a gas path electromagnetic valve, and the second loop is provided with a liquid path electromagnetic valve;
the cleaning module 504 includes:
the gas path starting submodule in the first cleaning mode is used for starting the gas path electromagnetic valve until the starting time reaches a preset first time when the first cleaning mode is a first-level solid-dirt cleaning mode so as to transmit a first amount of gas to the spray head through the first loop;
the first cleaning mode liquid path starting submodule is used for starting the liquid path electromagnetic valve until the starting time reaches a preset second time so as to transmit a second dosage of the liquid cleaning liquid to the spray head through the second loop; wherein the second time is less than the first time;
a first cleaning mode execution submodule for spraying the gas and the liquid cleaning liquid toward the sensor by the spray head to clean stains on the sensor.
The cleaning device for the sensor provided by the embodiment of the invention can execute the cleaning method for the sensor provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 6 is a schematic structural diagram of a computer apparatus according to a fourth embodiment of the present invention, as shown in fig. 6, the computer apparatus includes a processor 610, a memory 620, an input device 630, and an output device 640; the number of processors 610 in the computer device may be one or more, and one processor 610 is taken as an example in fig. 6; the processor 610, the memory 620, the input device 630 and the output device 640 in the computer apparatus may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 6.
The memory 620, as a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the cleaning method in the embodiment of the present invention (for example, the information acquisition module 501, the first cleaning mode determination module 502, the second cleaning mode determination module 503, and the cleaning module 504 in the cleaning apparatus of the sensor). The processor 610 executes various functional applications of the computer device and data processing by executing software programs, instructions and modules stored in the memory 620, that is, implements the above-described cleaning method.
The memory 620 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 620 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 620 may further include memory located remotely from the processor 610, which may be connected to a computer device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 630 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 640 may include a display device such as a display screen.
EXAMPLE five
An embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method of cleaning a sensor, the method comprising:
acquiring a vehicle state and image data detected by a sensor on the vehicle to an external environment of the vehicle;
determining a first cleaning mode according to a preset time length and the vehicle state;
determining a second cleaning mode from the image data;
cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the method operations described above, and can also execute the related operations in the cleaning method of the sensor provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the cleaning device for the sensor, the units and modules included in the cleaning device are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be achieved; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A method of cleaning a sensor, comprising:
acquiring a vehicle state and image data detected by a sensor on the vehicle to an external environment of the vehicle;
determining a first cleaning mode according to a preset time length and the vehicle state;
determining a second cleaning mode from the image data;
cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
2. The method of claim 1, wherein determining a first cleaning mode based on a preset duration and the vehicle condition comprises:
starting a timer on a sensor on the vehicle at preset time intervals to execute countdown operation;
when the countdown operation is executed, inquiring the vehicle state;
and if the vehicle state is an unloaded state, determining that the first cleaning mode is a first level solid dirt cleaning mode, wherein gas and liquid cleaning liquid are configured as cleaning agents in the first level solid dirt cleaning mode, and the first dosage of the gas and the second dosage of the liquid cleaning liquid are configured.
3. The method of claim 1, wherein determining a second cleaning mode from the image data comprises:
performing blur detection on the image data;
distinguishing stains existing in the sensor as liquid stains or solid stains based on gray values in the image data after the fuzzy detection;
when the stain is liquid stain, determining that a second cleaning mode is a liquid stain cleaning mode for cleaning the liquid stain, wherein gas is configured as a cleaning agent in the liquid stain cleaning mode;
when the stains are solid stains, determining that a second cleaning mode is a stain fixing cleaning mode for cleaning the solid stains, wherein gas and liquid cleaning liquid are configured as cleaning agents in the stain fixing cleaning mode.
4. The method according to claim 3, wherein determining the second cleaning mode as a solid-soil cleaning mode for cleaning the solid-soil when the soil is the solid-soil comprises:
determining the soil is a solid soil;
dividing the solid stains into solid stains at a first level and solid stains at a second level, wherein the area of the solid stains at the first level is smaller than that of the solid stains at the second level;
if the solid stain is at a first level, determining that a second cleaning mode is a first-level stain fixation cleaning mode, wherein gas and liquid cleaning liquid are configured in the first-level stain fixation cleaning mode and used as cleaning agents, and a first dosage of the gas and a second dosage of the liquid cleaning liquid are configured in the first-level stain fixation cleaning mode;
if the solid stain is at a second level, determining that a second cleaning mode is a second-level stain fixation cleaning mode, wherein gas and liquid cleaning liquid are configured in the second-level stain fixation cleaning mode and are used as cleaning agents, and a third dosage of the gas and a fourth dosage of the liquid cleaning liquid are configured in the second-level stain fixation cleaning mode;
wherein the third amount is greater than the first amount, and the fourth amount is greater than the second amount.
5. A method according to claim 1, 3 or 4, characterized in that the vehicle is equipped with a first circuit for conveying gas, a showerhead, the first circuit being provided with a gas circuit solenoid valve;
the cleaning the sensor according to the first cleaning mode and/or the second cleaning mode includes:
when the second cleaning mode is a liquid-sewage cleaning mode, the gas path electromagnetic valve is opened to transmit the gas to the spray head through the first loop;
and spraying the gas towards the sensor by the spray head to clean dirt on the sensor.
6. The method according to claim 1, 3 or 4, characterized in that the vehicle is equipped with a first circuit for conveying gas, a second circuit for conveying liquid cleaning liquid, a spray head, the first circuit being provided with a gas circuit solenoid valve and the second circuit being provided with a liquid circuit solenoid valve;
the cleaning the sensor according to the first cleaning mode and/or the second cleaning mode includes:
when the second cleaning mode is a solid-dirt cleaning mode, the gas path electromagnetic valve and the liquid path electromagnetic valve are respectively opened so as to respectively transmit the gas to the spray head through the first loop and transmit the liquid cleaning liquid to the spray head through the second loop;
and spraying the gas and the liquid cleaning liquid towards the sensor by the spray head so as to clean dirt on the sensor.
7. The method of claim 6, wherein the opening the gas line solenoid valve and the liquid line solenoid valve to deliver the gas to the showerhead through the first circuit and the liquid cleaning solution to the showerhead through the second circuit, respectively, when the second cleaning mode is a solid dirt cleaning mode, comprises:
when the second cleaning mode is a first-level solid-dirt cleaning mode, the gas path electromagnetic valve is opened until the opening time reaches a preset first time, so that a first amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset second time so as to transmit a second amount of the liquid cleaning liquid to the spray head through the second loop;
when the second cleaning mode is a second-level solid-dirt cleaning mode, the gas path electromagnetic valve is opened until the opening time reaches a preset third time, so that a third amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset fourth time so as to transmit a fourth dosage of the liquid cleaning liquid to the spray head through the second loop;
wherein the second time is less than the first time, the third time is greater than the first time, and the fourth time is greater than the third time.
8. The method according to claim 1 or 2, characterized in that the vehicle is equipped with a first circuit for conveying gas, a second circuit for conveying liquid cleaning liquid, a spray head, the first circuit being provided with a gas circuit solenoid valve and the second circuit being provided with a liquid circuit solenoid valve;
the cleaning the sensor according to the first cleaning mode and/or the second cleaning mode includes:
when the first cleaning mode is a first-level solid-dirt cleaning mode, the gas path electromagnetic valve is opened until the opening time reaches a preset first time, so that a first amount of gas is transmitted to the spray head through the first loop;
opening the liquid path electromagnetic valve until the opening time reaches a preset second time so as to transmit a second amount of the liquid cleaning liquid to the spray head through the second loop; wherein the second time is less than the first time;
and spraying the gas and the liquid cleaning liquid towards the sensor by the spray head so as to clean dirt on the sensor.
9. A cleaning device for a sensor, comprising:
the system comprises an information acquisition module, a display module and a display module, wherein the information acquisition module is used for acquiring a vehicle state and image data detected by a sensor on the vehicle to the external environment of the vehicle;
the first cleaning mode determining module is used for determining a first cleaning mode according to a preset time length and the vehicle state;
a second cleaning mode determination module for determining a second cleaning mode based on the image data;
a cleaning module for cleaning the sensor according to the first cleaning mode and/or the second cleaning mode.
10. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of cleaning a sensor as recited in any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of cleaning a sensor according to any one of claims 1-8.
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| CN202110469175.7A CN113200022A (en) | 2021-04-28 | 2021-04-28 | Cleaning method, device and equipment of sensor and storage medium |
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