CN113996623B - Remote sensor cleaning method, system and storage medium - Google Patents
Remote sensor cleaning method, system and storage medium Download PDFInfo
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- CN113996623B CN113996623B CN202111252051.XA CN202111252051A CN113996623B CN 113996623 B CN113996623 B CN 113996623B CN 202111252051 A CN202111252051 A CN 202111252051A CN 113996623 B CN113996623 B CN 113996623B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000002159 abnormal effect Effects 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 description 15
- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 101000595182 Homo sapiens Podocan Proteins 0.000 description 1
- 102100036036 Podocan Human genes 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
The invention discloses a remote sensor cleaning method, a remote sensor cleaning system and a storage medium, wherein the method comprises the following steps: judging the automatic cleaning state of a sensor on a vehicle; if the automatic cleaning state is the forbidden state, reporting an automatic cleaning failure event of the sensor to the server; sensor auto-cleaning failure events include: a first sensor identification, a failure cause, a first cleaning mode; receiving a remote cleaning instruction issued by a server, wherein the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode; and selecting a cleaning device to clean the sensor corresponding to the second sensor mark according to the second cleaning mode. According to the embodiment of the invention, after the automatic cleaning of the sensor on the vehicle fails, the remote cleaning instruction instructs the vehicle to clean the sensor, so that the reliability of vehicle cleaning is improved, and the risk of cleaning device failure caused by continuous automatic cleaning is avoided.
Description
Technical Field
The invention relates to the technical field of unmanned operation, in particular to a remote sensor cleaning method, a remote sensor cleaning system and a storage medium.
Background
In the unmanned field, sensors are the main devices used for acquiring external environment information in a vehicle automatic driving system, wherein sensors such as cameras, laser radars and the like are the main forces. During the operation of the unmanned vehicle, the sensor is inevitably disturbed by the outside, for example, when raining, the surface of the sensor has rainwater residues; when snowing, the surface of the sensor is covered by snow; after rain, the muddy water splashes to the surface of the sensor, and then the muddy water is dried and condensed; at ordinary times, insect carcasses and bird droppings may also fall to the surface of the sensor.
When oil stains, pollen, bird feces and the like drop on the vehicle sensor and influence the perception, the automatic sensor is cleaned, and when the stains are not removed after multiple times of cleaning, the automatic cleaning of the sensor can be stopped in order to avoid the normal cleaning of other sensors.
The above situation can affect the quality of data generated by the sensor, so that the sensor cannot accurately and comprehensively describe information of the surrounding environment, and even mislead the unmanned driving perception system to judge the surrounding environment.
Disclosure of Invention
The invention mainly aims to provide a remote cleaning method, a remote cleaning system and a storage medium for a sensor, and aims to solve the problem that the quality of data generated by the sensor is affected after the sensor fails to automatically clean for many times in the prior art, so that the sensor cannot accurately and comprehensively describe surrounding environment information.
In order to achieve the above object, the present invention provides a remote sensor cleaning method, which is applied to a vehicle-mounted terminal, and the method includes:
determining an auto-cleaning status of a sensor on a vehicle, the auto-cleaning status comprising: an enabled state, a disabled state;
if the automatic cleaning state is the forbidden state, reporting an automatic cleaning failure event to a server; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
receiving a remote cleaning instruction issued by the server, wherein the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
and selecting a cleaning device to clean the sensor corresponding to the second sensor mark according to the second cleaning mode.
Optionally, the automatic cleaning state is set by:
judging whether the number of the automatic cleaning failures of the sensor is larger than a threshold value, and if the number of the automatic cleaning failures is larger than the threshold value, setting the automatic cleaning state as the forbidden state; or alternatively, the first and second heat exchangers may be,
judging whether the cleaning device corresponding to the sensor is abnormal or not, and if the cleaning device is abnormal, setting the automatic cleaning state as the forbidden state;
And after the automatic cleaning state is set to be the forbidden state, adding the sensor into a cleaning blacklist, and automatically cleaning the sensor.
Optionally, the method further comprises the steps of:
judging whether the remote cleaning of the sensor corresponding to the second sensor identifier is successful or not; if the remote cleaning of the sensor corresponding to the second sensor identifier fails, reporting a remote cleaning failure event to a server; the remote cleaning failure event includes: the second sensor identification, the number of remote cleaning failures, and the second cleaning mode.
In addition, in order to achieve the above object, the present invention also provides a remote sensor cleaning method, applied to a server, the method comprising:
receiving a sensor auto-cleaning failure event, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
acquiring a vehicle state and/or a vehicle position, and judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
The second cleaning mode is selected based on the vehicle status and/or the vehicle position and/or the sensor auto cleaning failure event.
Optionally, the method further comprises the steps of:
the sensor identification and/or the second cleaning mode requiring remote cleaning is selected manually.
Optionally, the method further comprises the steps of:
determining whether to send a remote cleaning instruction according to the vehicle environment information;
and selecting the second cleaning mode according to the vehicle environment information.
In addition, in order to achieve the above object, the present invention also proposes a vehicle-mounted terminal, including:
a terminal judging unit for judging an automatic cleaning state of a sensor on a vehicle, the automatic cleaning state including: an enabled state, a disabled state;
the terminal reporting unit is used for reporting an automatic cleaning failure event to the server if the automatic cleaning state is a forbidden state; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
the terminal receiving unit is used for receiving a remote cleaning instruction issued by the server, and the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
And the terminal cleaning unit is used for selecting a cleaning device to clean the sensor corresponding to the sensor identifier according to the second cleaning mode.
In addition, to achieve the above object, the present invention also proposes a server including:
a server receiving unit for receiving a sensor auto-cleaning failure event, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
the server judging unit is used for acquiring a vehicle state and/or a vehicle position, and judging whether a remote cleaning instruction is sent or not according to the vehicle state and/or the vehicle position and/or the automatic cleaning failure event of the sensor; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
and the server selection unit is used for selecting the second cleaning mode according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event.
In addition, to achieve the above object, the present invention also proposes a remote sensor cleaning system comprising: the system comprises a vehicle-mounted terminal and a server;
the server is used for receiving the automatic cleaning failure event of the sensor reported by the vehicle-mounted terminal;
The server is also used for sending a remote cleaning instruction to the vehicle-mounted terminal;
the vehicle-mounted terminal is used for reporting a sensor automatic cleaning failure event to the server;
the vehicle-mounted terminal is also used for receiving a remote cleaning instruction sent by the server;
the vehicle-mounted terminal is further used for cleaning the sensor according to the remote cleaning instruction.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of remote cleaning of a sensor as described above.
From the above technical method, the application has the following advantages:
in the application, based on the sensor automatic cleaning failure event reported by the vehicle-mounted terminal, whether a remote cleaning instruction is issued or not is judged by combining the vehicle state, the position information and the environment information, and the vehicle-mounted terminal cleans the sensor according to the remote cleaning instruction. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
Drawings
Fig. 1 is a schematic flow chart of a remote sensor cleaning method applied to a vehicle-mounted terminal.
Fig. 2 is a schematic diagram of an automatic cleaning state setting flow provided by the present invention.
Fig. 3 is another schematic flow chart of the remote sensor cleaning method applied to the vehicle-mounted terminal.
Fig. 4 is a schematic flow chart of a remote sensor cleaning method applied to a server.
Fig. 5 is a block diagram of an embodiment of the vehicle-mounted terminal of the present invention.
Fig. 6 is a block diagram of a server embodiment of the present invention.
FIG. 7 is a schematic diagram of a remote sensor cleaning system according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear and obvious, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the particular embodiments described herein are illustrative only and are not limiting upon the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
It should be appreciated that the present application applies to a sensor remote cleaning system, and referring to FIG. 7, FIG. 7 is a schematic diagram of an embodiment of a sensor remote cleaning system according to an embodiment of the present application, as shown in FIG. 7, where FIG. 7 includes an in-vehicle terminal 1101 and a server 1102;
the vehicle-mounted terminal 1101 is configured to report a sensor automatic cleaning failure event to the server 1102, and further configured to receive a remote cleaning instruction sent by the server 1102, and clean the sensor according to the remote cleaning instruction. The server 1102 is configured to receive a sensor auto-cleaning failure event reported by the in-vehicle terminal 1101 and to send a remote cleaning command to the in-vehicle terminal 1101.
In one embodiment, as shown in FIG. 1, the present invention provides a sensor remote cleaning method, applied to an in-vehicle terminal 1101 of a sensor remote cleaning system, comprising:
The sensor in the present embodiment refers to a sensor for detecting optical information outside the vehicle, may include a camera, a laser radar, and the like, may be provided outside the vehicle, may be provided in a plurality, and is not limited in number and kind.
The image data detected by the acquisition sensor on the external environment of the vehicle may include depth image data generated by optical information acquired by the camera on the external environment of the vehicle, or may include point cloud image data generated by optical information acquired by the laser radar on 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 laser radar into a depth point cloud image, which is not limited specifically.
The unmanned system on the vehicle judges that a certain sensor is polluted by the outside, for example, in daily operation of the vehicle, dust, bird droppings, muddy water, leaves and other stains possibly adhere to the surface of the sensor. The unmanned system calls corresponding cleaning devices (such as an air pump, a liquid spraying device and the like) to clean the sensor according to the external pollution condition.
The flow of setting the automatic cleaning state is shown in fig. 2.
The unmanned system is called automatic cleaning (only used for distinguishing from remote cleaning issued by a server) when the sensor is cleaned according to the condition that the sensor is polluted. After the unmanned system automatically cleans the sensor, judging whether the cleaning is successful or not according to image data (such as a camera) acquired by the sensor; if the cleaning fails, the number of cleaning failures is recorded, and then whether the current number of the cleaning failures of the sensor is larger than a certain threshold value is judged, if so, the number of the cleaning failures of the sensor is larger than 3. The threshold value can be set manually according to the application scene, and can also be issued by a server. If the number of times of automatic cleaning failure is greater than the threshold value 3, the automatic cleaning state of the sensor is set to the prohibition state, and the sensor is not automatically cleaned later.
The cleaning of the sensor many times may cause overheating of the controller due to the continuous current, and because the cleaning system is mostly composed of electrical systems, the failure of the electrical systems and the protection measures after the failure need to be considered. After the in-vehicle terminal 1101 cleans the sensor using the cleaning device (air pump, liquid ejecting device, etc.), it is necessary to detect the cleaning device to detect whether or not there is an abnormality in the cleaning device.
(1) Air pump detection
a. The air pump cannot be inflated
Fault information: "Pump unable to close"
Triggering conditions: when the electromagnetic valve of the air pump is opened, the pressure of the air tank is compared with that before 10s, if the pressure value of the pressure sensor is not changed, a fault is reported, and the fault is uploaded to the computing unit and printed.
b. The air pump cannot be turned off
Fault information: "Pump unable to inflatable"
Triggering conditions: when an instruction to turn off the air pump is sent, the pressure of the air tank is compared with that before 10s, and if the air tank is still rising continuously, a fault is reported to the computing unit and printed.
The automatic inflation of the air pump is realized by taking a pressure sensor of the air cylinder as a signal, and the pressure value corresponds to the voltage value. When the voltage value is less than 3.5V, the current gas tank is considered to be too small in gas pressure, and when the voltage exceeds 5V, the gas tank is considered to be already filled with gas.
(2) Solenoid valve controller detection
a. Overload with high load
Fault information: "Valve controller over power happened"
Triggering conditions: when the solenoid valve controller power exceeds the normal operating power.
b. Control panel overheat
Fault information: "Valve controller board over temperature"
Triggering conditions: when the value of the temperature sensor of the solenoid valve controller exceeds 150 degrees, a fault is reported to the computing unit for the protection control to work normally, and printing is performed.
c. Controller overvoltage
Fault information: "Valve controller over voltage"
Triggering conditions: when the power supply voltage is unstable, the voltage of the solenoid valve exceeds 15V.
d. Controller low voltage
Fault information: "Valve controller low voltage"
Triggering conditions: when the power supply voltage is unstable, the voltage of the electromagnetic valve is lower than 8V.
When the electromagnetic valve controller fails, the power output can be suspended, and the function can be restored again when the normal value is recovered.
If the cleaning device fails, the automatic cleaning state of the sensor is set to the inhibit state.
And 203, after the automatic cleaning state is set to the forbidden state, adding the sensor to a cleaning blacklist, and automatically cleaning the sensor.
After the automatic cleaning state of the sensor is set to the disabled state, the sensor needs to be added into a cleaning blacklist, so that the vehicle-mounted terminal 1101 is prevented from continuously automatically cleaning the sensor, and therefore the problems that a cleaning device is abnormal, such as insufficient gas of an air pump, insufficient cleaning liquid of a hydraulic injection device and the like, are avoided, and other normal sensors can be prevented from being incapable of cleaning. Clean blacklist the following table shows:
| sequence number | Sensor identification |
| 1 | WY-C-001 |
| 2 | WY-L-003 |
The in-vehicle terminal 1101 determines whether the sensor is blacklisted for cleaning each time before the sensor is automatically cleaned. If the sensor has been added to the clean blacklist, then no automatic cleaning of the sensor is performed. The subsequent vehicle-mounted terminal 1101 receives the remote cleaning command issued by the server 1102, and deletes the sensor from the cleaning blacklist after the sensor is cleaned successfully.
If the unmanned system determines that the automatic cleaning state of the sensor is in the disabled state, the vehicle-mounted terminal 1101 (the unmanned system is mounted on the vehicle-mounted terminal 1101) reports a sensor automatic cleaning failure event to the server 1102, and the server 1102 determines whether the sensor needs to be cleaned again. The automatic cleaning failure event carries: first sensor identification, failure cause, first cleaning mode. The specific contents are shown in the following table:
The reasons for failure include: the number of times of automatic cleaning failure is larger than a threshold value, and the cleaning device corresponding to the sensor is failed. The air pump of the cleaning device and the air pump of the liquid cleaning device corresponding to the sensor A have faults.
The first cleaning mode comprises: the cleaning device comprises gas cleaning, liquid cleaning and gas and liquid mixing cleaning, and also comprises the gas or liquid consumption corresponding to each cleaning mode.
The server 1102 may determine whether to issue a remote cleaning instruction according to an automatic cleaning failure event reported by the vehicle-mounted terminal; parameters such as a sensor, a cleaning mode and the like needing to be remotely cleaned can be selected in the UI interface by a user, and then a remote cleaning instruction is issued.
After receiving the remote cleaning instruction issued by the server 1102, the vehicle-mounted terminal 1101 stores information carried by the remote cleaning instruction to the local. The remote cleaning instructions carry the following: a second sensor identification, a second cleaning mode. The specific contents are shown in the following table:
the second cleaning mode comprises: the cleaning device comprises gas cleaning, liquid cleaning and gas and liquid mixing cleaning, and also comprises the gas or liquid consumption corresponding to each cleaning mode.
The second sensor identification may be the same as or different from the first sensor identification in the event of an automatic cleaning failure. The server 1102 may also issue a remote cleaning instruction when the in-vehicle terminal 1101 does not report an auto cleaning failure event.
After receiving the remote cleaning instruction issued by the server 1102, the vehicle-mounted terminal 1101 cleans the corresponding sensor according to the information carried by the remote cleaning instruction. As the remote cleaning instructions are shown in the following table:
the in-vehicle terminal 1101 finds a corresponding sensor according to the second sensor identification WY-C-001, and then finds a cleaning device, such as an air pump, a liquid spraying device, that can be used on the in-vehicle terminal according to the second cleaning mode.
The remote cleaning process comprises the following steps: after the vehicle-mounted computing unit of the vehicle-mounted terminal 1101 receives the remote cleaning instruction, a drive-by-wire (DBW) module of the computing unit generates a CAN signal and sends the CAN signal to a drive-by-wire (DBW) controller through a PCAN, and the drive-by-wire (DBW) controller calculates which electromagnetic valves need to be opened and then transmits the command to the electromagnetic valve controller in a CAN mode. The solenoid valve controller will directly open the solenoid valve to accomplish remote cleaning.
After the vehicle-mounted terminal fails to automatically clean the sensor for a plurality of times, the vehicle-mounted terminal reports the event of the automatic cleaning failure of the sensor to the server, and the server determines whether remote cleaning is needed. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
In addition, another method for remote cleaning of a sensor is provided in an embodiment of the present invention, which is applied to a vehicle-mounted terminal 1101 of a remote cleaning system of a sensor, and referring to fig. 3, the method further includes the following steps in the method described in fig. 1:
After the vehicle-mounted terminal 1101 cleans the corresponding sensor (such as a camera) according to the remote cleaning instruction, judging whether the cleaning is successful or not according to the image data acquired by the sensor (such as the camera); if the cleaning fails, recording remote cleaning failure, and counting the remote cleaning failure times of the sensor.
After the remote cleaning of the sensor fails, the in-vehicle terminal 1101 needs to report a remote cleaning failure event to the server 1102. Remote cleaning failure events include: the second sensor identification, the number of remote cleaning failures, and the second cleaning mode. See in particular the following table:
when the vehicle-mounted terminal detects that the cleaning device is abnormal, reporting the abnormality of the cleaning device to a server; and meanwhile, after the remote cleaning fails, reporting a remote cleaning failure event to the server. Therefore, the server can judge that the cleaning devices are available, and the sensors also need to remotely clean again, so that the application convenience of remote cleaning is improved, and the user experience is improved.
In addition, an embodiment of the present invention further provides another remote sensor cleaning method, which is applied to a server 1102 of a remote sensor cleaning system, referring to fig. 4, and includes the following steps:
The server 1102 receives the sensor auto-cleaning failure event sent by the in-vehicle terminal 1101 via a wireless network (4G/5G/WIFI, etc.). Sensor auto-cleaning failure events include: the first sensor identification, the failure reason and the first cleaning mode are specifically shown in the following table:
The server 1102 saves the received sensor auto-cleaning failure event to the local.
In the present embodiment, the vehicle state includes a passenger carrying state (e.g., no load, passenger carrying), an operation state of the vehicle (e.g., system test, road test, execution of a predetermined task, rental operation, trouble shooting, etc.), a sensor state, a cleaning device state, etc., wherein the operation state of the vehicle includes a speed, acceleration, a stroke, a time period of normal running of the vehicle, the sensor state includes in-operation, idle, abnormal, the cleaning device state includes in-operation, idle, abnormal, and cleaning device gas or liquid remaining capacity, etc. In a specific implementation, for example, the current running state of the vehicle can be judged to be a road test state or a renting running state by detecting the speed and the acceleration of the vehicle, and the running state of the vehicle is taken as a vehicle state; the passenger carrying state of the vehicle can be judged to be no-load or the passenger carrying state can be judged to be the current vehicle state by detecting the journey planning and the load of the vehicle. The present embodiment is not limited in this regard.
The vehicle state is reported to the server 1102 by the vehicle-mounted terminal 1101 in real time, and the server 1102 receives the vehicle state information reported by the vehicle-mounted terminal 1101 and stores the vehicle state information locally. The in-vehicle terminal 1101 also reports the current location of the unmanned vehicle to the server 1102 in real time.
The remote cleaning failure event and the cleaning device abnormality message reported from the vehicle-mounted terminal 1101 are stored locally after the server 1102 receives them, and then the vehicle status information is updated.
After receiving the sensor automatic cleaning failure event reported by the vehicle-mounted terminal 1101, the server 1102 acquires vehicle state and position information corresponding to the vehicle-mounted terminal 1101, and then determines whether to send a remote cleaning instruction to the vehicle-mounted terminal 1101 for remote cleaning according to the content of the first cleaning mode in the sensor automatic cleaning failure event.
The server 1102 may not issue a remote cleaning command to the in-vehicle terminal 1101 to perform remote cleaning if the vehicle is empty according to the passenger carrying status of the vehicle and the corresponding sensor in the sensor auto cleaning failure event does not affect the traveling of the vehicle. If the automatic cleaning of the camera used in reverse fails, the remote cleaning may not be performed when the vehicle is idling.
The server 1102 may also incorporate current vehicle location, time, etc. information, such as when the unmanned vehicle is in suburban areas and is on daytime, and may not remotely clean certain sensors, such as headlights.
The server 1102 may also determine whether remote cleaning needs to be issued in conjunction with current vehicle location and vehicle environment information (weather conditions). If the first cleaning mode in the event of failure of automatic cleaning of the sensor is liquid cleaning, and the area is raining in the future or at the current time according to the vehicle position information and weather information, the remote cleaning instruction can not be issued, and the cleaning of the sensor can be realized through raining.
The server 1102 may also determine whether to issue a remote cleaning command in conjunction with the cleaning device status of the unmanned vehicle, or may not issue a remote cleaning command if the cleaning device is in an anomaly or has little gas or liquid remaining.
After the server 1102 determines comprehensively according to the vehicle state, the vehicle position, the environmental information, etc., it is required to issue a remote cleaning command, and then determine which cleaning mode is suitable for the sensor according to the vehicle state, the vehicle position, the environmental information. If the cleaning mode that failed the automatic cleaning before was gas cleaning, the cleaning mode in the remote cleaning instruction needs to be adjusted to gas and liquid mixed cleaning.
After receiving the sensor auto-cleaning failure event, the server 1102 presents the event in the UI interface. The user can manually select whether the remote cleaning instruction needs to be issued or not and the remote cleaning mode needs to be issued.
When the vehicle-mounted terminal 1101 does not report the sensor automatic cleaning failure event, a sensor which needs to perform remote cleaning can be manually selected in the UI interface to issue a remote cleaning command. When the vehicle-mounted terminal 1101 does not report the sensor automatic cleaning failure event, the server 1102 may also manually select a sensor and a cleaning mode in the UI interface, and then issue a remote cleaning instruction to the vehicle-mounted terminal for remote cleaning.
According to the embodiment server disclosed by the invention, whether a remote cleaning instruction needs to be issued to the vehicle-mounted terminal is comprehensively judged according to the vehicle state, the position, the environmental information and the sensor automatic cleaning failure event, so that the server can flexibly judge, and the judgment is more reasonable than that of the vehicle-mounted terminal, and the unmanned user experience is improved.
In addition, an embodiment of the present invention further provides a vehicle-mounted terminal, referring to fig. 5, where the vehicle-mounted terminal includes:
A terminal judging unit 10 for judging an automatic cleaning state of a sensor on a vehicle, the automatic cleaning state including: an enabled state, a disabled state;
the terminal reporting unit 20 is configured to report an automatic cleaning failure event to the server if the automatic cleaning state is a disabled state; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
the terminal receiving unit 30 is configured to receive a remote cleaning instruction issued by the server, where the remote cleaning instruction includes: a second sensor identification, a second cleaning mode;
and a terminal cleaning unit 40, configured to select a cleaning device according to the second cleaning mode to clean the sensor corresponding to the sensor identifier.
After the vehicle-mounted terminal fails to automatically clean the sensor for a plurality of times, the vehicle-mounted terminal reports the event of the automatic cleaning failure of the sensor to the server, and the server determines whether remote cleaning is needed. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
In addition, an embodiment of the present invention further provides a server, referring to fig. 6, where the server includes:
a server receiving unit 50 for receiving a sensor automatic cleaning failure event, the sensor automatic cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
a server judging unit 60 for acquiring a vehicle state and/or a vehicle position, and judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
a server selection unit 70 for selecting the second cleaning mode based on the vehicle status and/or the vehicle position and/or the sensor auto cleaning failure event.
According to the embodiment server disclosed by the invention, whether a remote cleaning instruction needs to be issued to the vehicle-mounted terminal is comprehensively judged according to the vehicle state, the position, the environmental information and the sensor automatic cleaning failure event, so that the server can flexibly judge, and the judgment is more reasonable than that of the vehicle-mounted terminal, and the unmanned user experience is improved.
In addition, an embodiment of the present invention further provides a remote sensor cleaning system, referring to fig. 7, the system includes: an in-vehicle terminal 1101, a server 1102.
The server 1102 is configured to receive a sensor automatic cleaning failure event reported by the vehicle-mounted terminal;
the server 1102 is further configured to send a remote cleaning instruction to the vehicle-mounted terminal;
the vehicle-mounted terminal 1101 is configured to report a sensor automatic cleaning failure event to the server;
the vehicle-mounted terminal 1101 is further configured to receive a remote cleaning instruction sent by the server;
the vehicle-mounted terminal 1101 is further configured to clean the sensor according to the remote cleaning instruction.
It can be understood that the vehicle-mounted terminal can be a mobile phone, a tablet, etc., and can also be a central control system of the vehicle.
After the vehicle-mounted terminal fails to automatically clean the sensor for a plurality of times, the vehicle-mounted terminal reports the event of the automatic cleaning failure of the sensor to the server, and the server determines whether remote cleaning is needed. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
Referring to FIG. 8, FIG. 8 is a schematic diagram illustrating a hardware operating environment of an in-vehicle terminal 1101 and a server 1102 according to an embodiment of the present invention.
As shown in fig. 8, the hardware runtime environment may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include standard wired interfaces, wireless interfaces (e.g., WI-FI, 4G, 5G interfaces). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 does not constitute a limitation of the in-vehicle terminal 1102 and the server 1102, and may include more or less components than those illustrated, or may combine certain components, or may be a different arrangement of components.
As shown in fig. 8, an operating system, a network communication module, a user interface module, and a sensor remote cleaning program may be included in a memory 1005, which is a computer storage medium.
In the hardware operating environment of the in-vehicle terminal 1101 shown in FIG. 8, the network interface 1004 is primarily used for data communication with an external network; the user interface 1003 is mainly used for receiving an input instruction of a user; the hardware running environment calls the sensor remote cleaning program stored in the memory 1005 through the processor 1001, and performs the following operations:
determining an auto-cleaning status of a sensor on a vehicle, the auto-cleaning status comprising: an enabled state, a disabled state;
if the automatic cleaning state is the forbidden state, reporting an automatic cleaning failure event to a server; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
receiving a remote cleaning instruction issued by the server, wherein the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
and selecting a cleaning device to clean the sensor corresponding to the second sensor mark according to the second cleaning mode.
Optionally, the automatic cleaning state is set by:
judging whether the number of the automatic cleaning failures of the sensor is larger than a threshold value, and if the number of the automatic cleaning failures is larger than the threshold value, setting the automatic cleaning state as the forbidden state; or alternatively, the first and second heat exchangers may be,
Judging whether the cleaning device corresponding to the sensor is abnormal or not, and if the cleaning device is abnormal, setting the automatic cleaning state as the forbidden state;
and after the automatic cleaning state is set to be the forbidden state, adding the sensor into a cleaning blacklist, and automatically cleaning the sensor.
Optionally, the method further comprises the steps of:
judging whether the remote cleaning of the sensor corresponding to the second sensor identifier is successful or not; if the remote cleaning of the sensor corresponding to the second sensor identifier fails, reporting a remote cleaning failure event to a server; the remote cleaning failure event includes: the second sensor identification, the number of remote cleaning failures, and the second cleaning mode.
In the hardware operating environment of the server 1102 shown in fig. 8, the network interface 1004 is mainly used for data communication with an external network; the user interface 1003 is mainly used for receiving an input instruction of a user; the hardware running environment calls the sensor remote cleaning program stored in the memory 1005 through the processor 1001, and performs the following operations:
receiving a sensor auto-cleaning failure event, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
Acquiring a vehicle state and/or a vehicle position, and judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
the second cleaning mode is selected based on the vehicle status and/or the vehicle position and/or the sensor auto cleaning failure event.
Optionally, the method further comprises the steps of:
the sensor identification and/or the second cleaning mode requiring remote cleaning is selected manually.
Optionally, the method further comprises the steps of:
determining whether to send a remote cleaning instruction according to the vehicle environment information;
and selecting the second cleaning mode according to the vehicle environment information.
After the vehicle-mounted terminal fails to automatically clean the sensor for a plurality of times, the vehicle-mounted terminal reports the event of the automatic cleaning failure of the sensor to the server, and the server determines whether remote cleaning is needed. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a sensor remote cleaning program, and the sensor remote cleaning program realizes the following operations when being executed by a processor:
determining an auto-cleaning status of a sensor on a vehicle, the auto-cleaning status comprising: an enabled state, a disabled state;
if the automatic cleaning state is the forbidden state, reporting an automatic cleaning failure event to a server; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
receiving a remote cleaning instruction issued by the server, wherein the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
and selecting a cleaning device to clean the sensor corresponding to the second sensor mark according to the second cleaning mode.
Optionally, the automatic cleaning state is set by:
judging whether the number of the automatic cleaning failures of the sensor is larger than a threshold value, and if the number of the automatic cleaning failures is larger than the threshold value, setting the automatic cleaning state as the forbidden state; or alternatively, the first and second heat exchangers may be,
judging whether the cleaning device corresponding to the sensor is abnormal or not, and if the cleaning device is abnormal, setting the automatic cleaning state as the forbidden state;
And after the automatic cleaning state is set to be the forbidden state, adding the sensor into a cleaning blacklist, and automatically cleaning the sensor.
Optionally, the method further comprises the steps of:
judging whether the remote cleaning of the sensor corresponding to the second sensor identifier is successful or not; if the remote cleaning of the sensor corresponding to the second sensor identifier fails, reporting a remote cleaning failure event to a server; the remote cleaning failure event includes: the second sensor identification, the number of remote cleaning failures, and the second cleaning mode.
Optionally, a sensor auto-cleaning failure event is received, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
acquiring a vehicle state and/or a vehicle position, and judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
the second cleaning mode is selected based on the vehicle status and/or the vehicle position and/or the sensor auto cleaning failure event.
Optionally, the method further comprises the steps of:
the sensor identification and/or the second cleaning mode requiring remote cleaning is selected manually.
Optionally, the method further comprises the steps of:
determining whether to send a remote cleaning instruction according to the vehicle environment information;
and selecting the second cleaning mode according to the vehicle environment information.
After the vehicle-mounted terminal fails to automatically clean the sensor for a plurality of times, the vehicle-mounted terminal reports the event of the automatic cleaning failure of the sensor to the server, and the server determines whether remote cleaning is needed. Avoiding the influence on the cleaning of other sensors when the automatic cleaning is continued after the sensors of the vehicle-mounted terminal fail to be automatically cleaned for a plurality of times; meanwhile, the problem that the sensor is not cleaned after being cleaned automatically for many times is avoided. Thereby improving the reliability of the sensor cleaning.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a controller, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (6)
1. A method for remote cleaning of a sensor, characterized in that it is applied to a vehicle-mounted terminal, said method comprising:
judging an automatic cleaning state of a sensor on a vehicle, wherein the automatic cleaning state comprises an automatic cleaning permission state and an automatic cleaning prohibition state;
if the automatic cleaning state is an automatic cleaning prohibition state, reporting an automatic cleaning failure event to a server; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
receiving a remote cleaning instruction issued by the server, wherein the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
selecting a cleaning device to clean a sensor corresponding to the second sensor mark according to the second cleaning mode;
the automatic cleaning prohibition is set by the steps of:
judging whether the number of the automatic cleaning failures of the sensor is larger than a threshold value, and if the number of the automatic cleaning failures is larger than the threshold value, setting the automatic cleaning state as the automatic cleaning prohibition state; or alternatively, the first and second heat exchangers may be,
judging whether the cleaning device corresponding to the sensor is abnormal or not, and if the cleaning device is abnormal, setting the automatic cleaning state as the automatic cleaning prohibition state;
After the automatic cleaning state is set to the automatic cleaning prohibition state, adding the sensor into a cleaning blacklist, and automatically cleaning the sensor;
applied to a server, the method comprises the following steps:
receiving a sensor auto-cleaning failure event, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode; the failure causes include auto-clean inhibit;
acquiring a vehicle state and/or a vehicle position, and judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the remote cleaning instructions include: a second sensor identification, a second cleaning mode;
the second cleaning mode is selected according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event;
the acquiring the vehicle state and/or the vehicle position, judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event, and comprising the following steps:
the vehicle state includes at least one of: passenger carrying status of the vehicle, running status of the vehicle, sensor status, cleaning device status;
When the passenger carrying state of the vehicle is no-load and the corresponding sensor in the received sensor automatic cleaning failure event does not influence the running of the vehicle, a remote cleaning instruction is not sent; or alternatively, the first and second heat exchangers may be,
according to the vehicle position and/or the current time, when judging that the corresponding sensor in the received sensor automatic cleaning failure event does not influence the running of the vehicle, not sending a remote cleaning instruction; or alternatively, the first and second heat exchangers may be,
according to the environmental information of the vehicle position, judging that a corresponding sensor in the received sensor automatic cleaning failure event can clean through the environment of the vehicle position without sending a remote cleaning instruction; or alternatively, the first and second heat exchangers may be,
and when the states of all the cleaning devices used for cleaning the corresponding sensors in the received sensor automatic cleaning failure event are abnormal states, a remote cleaning instruction is not sent.
2. The method according to claim 1, characterized in that the method further comprises the steps of:
judging whether the remote cleaning of the sensor corresponding to the second sensor identifier is successful or not; if the remote cleaning of the sensor corresponding to the second sensor identifier fails, reporting a remote cleaning failure event to a server; the remote cleaning failure event includes: the second sensor identification, the number of remote cleaning failures, and the second cleaning mode.
3. The method according to claim 1, characterized in that the method further comprises the steps of:
the sensor identification and/or the second cleaning mode requiring remote cleaning is selected manually.
4. The method according to claim 1, characterized in that the method further comprises the steps of:
determining whether to send a remote cleaning instruction according to the vehicle environment information;
and selecting the second cleaning mode according to the vehicle environment information.
5. A sensor remote cleaning system, comprising: the system comprises a vehicle-mounted terminal and a server;
the server is used for receiving the automatic cleaning failure event of the sensor reported by the vehicle-mounted terminal;
the server is also used for sending a remote cleaning instruction to the vehicle-mounted terminal;
the vehicle-mounted terminal is used for reporting a sensor automatic cleaning failure event to the server;
the vehicle-mounted terminal is also used for receiving a remote cleaning instruction sent by the server;
the vehicle-mounted terminal is further used for cleaning the sensor according to the remote cleaning instruction;
the server comprises:
a server receiving unit for receiving a sensor auto-cleaning failure event, the sensor auto-cleaning failure event comprising: a first sensor identification, a failure cause, a first cleaning mode;
The server judging unit is used for acquiring a vehicle state and/or a vehicle position, and judging whether a remote cleaning instruction is sent or not according to the vehicle state and/or the vehicle position and/or the automatic cleaning failure event of the sensor; the remote cleaning instructions include: a second sensor identification, a second cleaning mode; the acquiring the vehicle state and/or the vehicle position, judging whether to send a remote cleaning instruction according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event, and comprising the following steps:
the vehicle state includes at least one of: passenger carrying status of the vehicle, running status of the vehicle, sensor status, cleaning device status;
when the passenger carrying state of the vehicle is no-load and the corresponding sensor in the received sensor automatic cleaning failure event does not influence the running of the vehicle, a remote cleaning instruction is not sent; or alternatively, the first and second heat exchangers may be,
according to the vehicle position and/or the current time, when judging that the corresponding sensor in the received sensor automatic cleaning failure event does not influence the running of the vehicle, not sending a remote cleaning instruction; or alternatively, the first and second heat exchangers may be,
according to the environmental information of the vehicle position, judging that a corresponding sensor in the received sensor automatic cleaning failure event can clean through the environment of the vehicle position without sending a remote cleaning instruction; or alternatively, the first and second heat exchangers may be,
When the states of all the cleaning devices used for cleaning the corresponding sensors in the received sensor automatic cleaning failure event are abnormal states, a remote cleaning instruction is not sent;
a server selection unit, configured to select the second cleaning mode according to the vehicle state and/or the vehicle position and/or the sensor automatic cleaning failure event; the failure cause includes an auto-cleaning disabled state;
the vehicle-mounted terminal comprises:
a terminal judging unit for judging an automatic cleaning state of a sensor on a vehicle, the automatic cleaning state including: an automatic cleaning permission state and an automatic cleaning prohibition state; the automatic cleaning prohibition is set by the steps of: judging whether the number of the automatic cleaning failures of the sensor is larger than a threshold value, and if the number of the automatic cleaning failures is larger than the threshold value, setting the automatic cleaning state as the automatic cleaning prohibition state; or judging whether the cleaning device corresponding to the sensor is abnormal, and if so, setting the automatic cleaning state as the automatic cleaning prohibition state; after the automatic cleaning state is set to the automatic cleaning prohibition state, adding the sensor into a cleaning blacklist, and automatically cleaning the sensor;
The terminal reporting unit is used for reporting an automatic cleaning failure event to the server if the automatic cleaning state is a forbidden state; the automatic cleaning failure event includes: a first sensor identification, a failure cause, a first cleaning mode;
the terminal receiving unit is used for receiving a remote cleaning instruction issued by the server, and the remote cleaning instruction comprises: a second sensor identification, a second cleaning mode;
and the terminal cleaning unit is used for selecting a cleaning device to clean the sensor corresponding to the sensor identifier according to the second cleaning mode.
6. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the sensor remote cleaning method as claimed in any one of claims 1-4.
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| EP3452866B1 (en) * | 2016-05-03 | 2022-07-06 | Continental Automotive Systems, Inc. | Cleaning device for an imaging sensor |
| US10723325B2 (en) * | 2017-11-08 | 2020-07-28 | Uatc, Llc | Vehicle sensor cleaning system |
| CN108614545B (en) * | 2018-05-31 | 2021-05-07 | 北京智行者科技有限公司 | Abnormal state monitoring method |
| CN109150086A (en) * | 2018-07-25 | 2019-01-04 | 江苏太航信息科技有限公司 | A kind of photovoltaic plant intelligent cleaning system |
| CN111055814A (en) * | 2019-12-12 | 2020-04-24 | 新石器慧通（北京）科技有限公司 | Cleaning method and cleaning system of environment perception sensor and unmanned vehicle |
| US11554755B2 (en) * | 2019-12-13 | 2023-01-17 | Pony Ai Inc. | Methods for controlling an apparatus adapted to clean a sensor assembly |
| CN111516645A (en) * | 2020-04-26 | 2020-08-11 | 杭州宏景智驾科技有限公司 | Automatic driving-based automatic cleaning system and method for sensor |
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