CN114513594A - Lens cleaning method, device and system for camera - Google Patents
Lens cleaning method, device and system for camera Download PDFInfo
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- CN114513594A CN114513594A CN202210123995.5A CN202210123995A CN114513594A CN 114513594 A CN114513594 A CN 114513594A CN 202210123995 A CN202210123995 A CN 202210123995A CN 114513594 A CN114513594 A CN 114513594A
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Images
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- B08B1/10—
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- B08B1/32—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
- B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
- B08B7/0085—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating by pyrolysis
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B3/00—Ohmic-resistance heating
- H05B3/40—Heating elements having the shape of rods or tubes
Abstract
The application provides a camera lens cleaning method, equipment and a system, the camera lens cleaning equipment comprises a control module, a heating core and a first rotating module, wherein the heating core is connected with the first rotating module, the control module is respectively connected with the heating core and the first rotating module, the control module controls the heating core to be heated to a preset temperature, after the control module is in a preset first time length, the control module controls the first rotating module to do reciprocating motion at a preset distance away from the camera lens of the camera for a second time length, the first rotating module drives the heating core to rotate, and barriers in front of the camera lens are gathered and fused. The heating core of this equipment is installed before the camera lens, and is rotatory along with the drive of rotation module to and obstacles such as spider-web that probably exist are gathered together and are fused to self heat degree, have improved the effect of driving obstacles such as spider-web.
Description
Technical Field
The present application relates to the field of camera technologies, and in particular, to a method, an apparatus, and a system for cleaning a lens of a camera.
Background
During the daily use of the camera, various harsh environments are encountered. Such as railway cameras, mountain fire cameras, etc. In practical use, such devices are generally installed in outdoor environments, and in order to achieve night vision, light is supplemented through a light-emitting diode (LED) light supplement lamp, a large number of phototaxis insects are attracted at night, at this time, the front of the lens becomes a favorite hunting place for spiders, and a large number of spider silks cover the front of the lens, so that normal use of the camera is affected.
In the prior art, a wiper is mounted on a lens glass portion to clean the lens by physical wiping.
However, in actual use, the wiper cannot clean the spider fibers, even if the spider fibers are scraped, the scraped spider fibers can fly in front of the lens along with wind, the use of the camera can still be influenced, and the effect of cleaning the spider fibers in front of the lens in the prior art is not obvious.
Disclosure of Invention
The embodiment of the application provides a lens cleaning method, device and system of a camera, which are used for solving the problem that barriers such as cobweb and the like are not completely removed.
In a first aspect, an embodiment of the present application provides a lens cleaning apparatus for a camera, including: the heating device comprises a control module, a heating core and a first rotating module;
the heating core is connected with the first rotating module, and the control module is respectively connected with the heating core and the first rotating module;
the control module controls the heating core to be heated to a preset temperature;
after the preset first time length, the control module controls the first rotating module to reciprocate for a preset second time length at a preset distance away from the lens of the camera;
the first rotating module drives the heating core to rotate, and the obstacle in front of the lens is gathered and fused.
In a possible design of the first aspect, the apparatus further includes: a second rotary module connected to the heating core;
the control module controls the second rotating module to drive the heating core to rotate for a preset third time.
Optionally, the heating core is a ceramic heating core.
In a second aspect, an embodiment of the present application provides a lens cleaning method for a camera, which is applied to the lens cleaning apparatus in the first aspect and various possible designs, where the method includes:
controlling a heating core in the lens cleaning equipment to be heated to a preset temperature;
after the preset first time length, controlling a first rotating module in the lens cleaning equipment to do reciprocating motion at a preset distance away from the lens of the camera for a preset second time length, wherein the first rotating module drives the heating core to rotate, and the obstacle in front of the lens is gathered and fused.
In one possible design of the second aspect, the method further includes:
and controlling a second rotating module in the lens cleaning equipment to drive the heating core to rotate for a preset third time.
In this possible design, after the preset third period of time for the heating core to spin, the method further includes:
and controlling the heating core to stop heating.
In a third aspect, an embodiment of the present application provides a lens cleaning system for a camera, including: a lens cleaning device and a camera;
the lens cleaning device is applied to the lens cleaning method of the camera in the second aspect and various possible designs, and is used for gathering and fusing barriers at the lens of the camera.
In a fourth aspect, an embodiment of the present application provides a lens cleaning device for a camera, which is applied to the lens cleaning apparatus described in the second aspect and various possible designs, and the device includes:
the processing module is used for controlling the heating core in the lens cleaning equipment to be heated to a preset temperature;
the processing module is further used for controlling a first rotating module in the lens cleaning equipment to reciprocate for a preset second time length at a preset distance away from the lens of the camera after the preset first time length, and the first rotating module drives the heating core to rotate so as to gather and fuse the barriers in front of the lens.
In a possible design of the fourth aspect, the processing module is further configured to control a second rotation module in the lens cleaning device to drive the heating core to rotate for a preset third time period.
In this possible design, after a third duration preset by the rotation of the heating core, the control module is further configured to:
and controlling the heating core to stop heating.
In a fifth aspect, an embodiment of the present application provides a lens cleaning system for a camera, including: a lens cleaning device and a camera;
the lens cleaning device is applied to the lens cleaning method of the camera in the second aspect and various possible designs, and is used for gathering and fusing barriers at the lens of the camera.
In a sixth aspect, an embodiment of the present application provides a lens cleaning apparatus, including: a processor, a memory;
the memory stores computer-executable instructions;
the processor executes the computer-executable instructions to cause the lens cleaning apparatus to perform the lens cleaning method for a camera as described in the second aspect and various possible designs above.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is used to implement the lens cleaning method for a camera as described in the second aspect and various possible designs.
In an eighth aspect, embodiments of the present application provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program is used to implement the lens cleaning method for a camera as described in the second aspect and various possible designs.
The embodiment of the application provides a lens cleaning method, equipment and a system of a camera, the lens cleaning equipment comprises a control module, a heating core and a first rotating module, wherein the heating core is connected with the first rotating module, the control module is respectively connected with the heating core and the first rotating module, the control module controls the heating core to be heated to a preset temperature, after the control module is in a preset first time length, the control module controls the first rotating module to do reciprocating motion at a preset distance away from the lens of the camera for a second time length, the first rotating module drives the heating core to rotate, and barriers in front of the lens are gathered and fused. The heating core of the device is installed in front of the lens, and rotates along with the driving of the rotating module, and the barriers possibly existing in the self heat degree are gathered and fused, so that the effect of clearing the barriers such as cobweb is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic view of a lens cleaning system of a camera provided in an embodiment of the present application;
fig. 2 is a first schematic structural diagram of a lens cleaning apparatus of a camera provided in an embodiment of the present application;
fig. 3 is a second schematic structural diagram of a lens cleaning apparatus of a camera provided in the embodiment of the present application;
fig. 4 is a schematic flowchart of a lens cleaning method for a camera according to an embodiment of the present disclosure;
FIG. 5 is a diagram of signal control waveforms provided by an embodiment of the present application;
fig. 6 is a schematic structural diagram of a lens cleaning device of a camera provided in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a lens cleaning apparatus according to an embodiment of the present application.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Before introducing the embodiments of the present application, the background of the present application is explained first:
in the daily use process of the camera, a use scene of a severe environment exists. Such as railway cameras, mountain fire cameras, etc.
In the actual use process, such devices are generally installed in an outdoor environment, and in order to achieve the night vision effect, a light-emitting diode (LED) light supplement lamp is required to supplement light, so that a large number of light-approaching insects are attracted by light at night, and the front of the lens becomes a favorite hunting place for spiders.
However, since a large amount of spider silk covers the front of the lens, the spider silk cannot be removed by leaning on a traditional wiper blade, and even if a part is hung, the broken spider silk can flutter in front of the lens along with wind. At night, the spider silk is a semitransparent crystal object, and when the spider silk is irradiated by a light supplement lamp at night, extremely strong overexposure conditions can occur, so that the image effect is seriously influenced.
Based on the above problems in the prior art, fig. 1 is a schematic view of a lens cleaning system of a camera according to an embodiment of the present application, so as to solve the above technical problems. As shown in fig. 1, the application scenario diagram includes: a lens cleaning device 11 and a camera 12.
The camera 12 is installed in an outdoor environment, and due to the fact that the lens is blocked by obstacles such as spider webs, the lens cleaning device 11 can be installed in front of the lens, and the obstacles in front of the lens are removed by the lens cleaning device 11.
Optionally, the lens cleaning apparatus 11 is applied to a technical solution for executing a lens cleaning method of a camera in the following embodiments, and gathers and fuses obstacles at a lens of the camera 12.
In order to solve the technical problems, the technical conception process of the inventor is as follows: the spider silk can't thoroughly be clear away to prior art, even if utilize instruments such as windshield wiper to scrape the spider web, the part of scraping also probably exists and remains and rock before the camera lens, and the inventor discovers that spider silk's melting point is not high, if can adopt and have thermal object to stir spider web, just can dissolve spider silk, avoids the problem that prior art exists, and has reached clear purpose.
The technical solution of the present application is described in detail below with reference to an application scenario diagram shown in fig. 1 by specific embodiments. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a first schematic structural diagram of a lens cleaning apparatus of a camera provided in an embodiment of the present application. As shown in fig. 2, the lens cleaning apparatus of the camera includes: a control module 21, a heating core 22, a first rotation module 23.
Wherein, the heating core 22 is connected with the first rotating module 23, and the control module 21 is respectively connected with the heating core 22 and the first rotating module 23.
Optionally, the control module 21 controls the heating core 22 to heat to a preset temperature.
In one possible implementation, when the barrier in front of the lens is spider silk, the preset temperature may be 300 ℃, in particular: as the chemical components of the spider silk are composed of glycine (NH2-CH2-COOH), alanine (NH2-CH [ CH3] -COOH) and a small part of serine (NH2-CH [ CH2OH ] -COOH) and other amino acid monomer protein molecular chains, wherein the glycine melting point is 240 ℃, and the alanine melting point is 290 ℃, at the moment, in order to enable the spider silk to be gathered and fused, the control module 21 can heat the heating core 22 to the temperature higher than 290 ℃, such as the preset temperature of 300 ℃.
It will be appreciated that the preset temperature may be dependent upon the composition of the barrier.
Optionally, the control module 21 controls the first rotating module 23 to reciprocate at a preset distance from the lens of the camera 12 for a preset second time period after the preset first time period.
Further, the first rotating module 23 drives the heating core 22 to rotate, and gathers and fuses the obstacle in front of the lens.
In one possible implementation, when heating the heating core 22 to the preset temperature, a certain heating process is required, a certain time should be left, i.e. a first time period, e.g. 10s, and after 10s, the first rotating module 23 is controlled to reciprocate at a preset distance in front of the lens of the camera 12 for a preset second time period, e.g. 10 s.
The preset distance may be 1cm, 0.5cm, etc., and the setting of the distance needs to ensure that the heating core 22 can gather and fuse the obstacle in front of the lens, and in other implementations, the preset distance may also be 0 cm.
The reciprocating motion may be that the first rotating module 23 drives the heating core 22 to perform a wiper-like action in front of the lens, and may rotate reciprocally by 90 degrees, 100 degrees, etc., and when not in use, a slot may be provided to park the first rotating module 23 in the slot.
Alternatively, the control module 21 may be a master control circuit.
Further, fig. 3 is a schematic structural diagram of a second lens cleaning device of a camera provided in the embodiment of the present application. As shown in fig. 3, the lens cleaning apparatus of the camera further includes: a second rotation module 31 connected to the heating core 22;
the control module 21 controls the second rotating module 31 to drive the heating core 22 to rotate for a preset third time period.
In one possible implementation, the second rotating module 31 rotates at a high speed, and throws out spider silk dissolving residues attached to the heating core 22 by the centrifugal force for the purpose of self-cleaning, and the process can be implemented by setting a certain rotating time, i.e. a third time period, for example, 10 s.
In the above embodiments, the heater core 22 may be a ceramic heater core.
In addition, the lens cleaning equipment can be fixed in front of the lens according to the characteristics of the shell of the camera, or can be directly applied to the shell of the integrated camera with the function.
The application provides a camera lens cleaning equipment of camera, this camera lens cleaning equipment includes control module, the heating core, first rotation module, wherein, the heating core is connected with first rotation module, control module is connected with heating core and first rotation module respectively, control module control heating core heating is to predetermineeing the temperature, control module is after predetermined first time length, it is long when the distance department reciprocating motion second is predetermineeing before the camera lens of control first rotation module apart from the camera, first rotation module drives the heating core rotation, obstacle in front of the camera lens gathers together and fuses. The heating core of this equipment is installed before the camera lens, and is rotatory along with the drive of rotation module to and the obstacle that self heat will probably exist gathers together and fuses, has improved the effect of cleaing away to spider web etc..
On the basis of the foregoing embodiments, fig. 4 is a schematic flowchart of a lens cleaning method for a camera provided in the embodiments of the present application. As shown in fig. 4, the lens cleaning method of the camera includes the following steps:
fig. 5 is a signal control waveform diagram provided in an embodiment of the present application, and the method shown in fig. 4 is described with reference to fig. 5.
And 41, controlling a heating core in the lens cleaning device to be heated to a preset temperature.
In this step, the obstacle in front of the lens is cleaned by using the lens cleaning device, and in the cleaning process, the heating core is heated to a preset temperature.
Optionally, this step serves to provide for fusing off of the spider web or like barrier, i.e. to bring the temperature of the heating core above the melting point of the spider web or like barrier.
In one possible implementation, as shown in fig. 5, the voltage signal of the control module may be a 12V control signal, when the lens cleaning apparatus starts to work, i.e., the 0s start voltage signal rises to 12V.
Further, when heating the heater core, a 12V voltage signal may be provided from 1s to 8s, where 8s may be the time when the obstacle has completed clearing.
Wherein the heating core may be a ceramic heating core.
And 42, after the preset first time length, controlling a first rotating module in the lens cleaning equipment to reciprocate at a preset distance away from the lens of the camera for a preset second time length, wherein the first rotating module drives the heating core to rotate, and the obstacle in front of the lens is gathered and fused.
In this step, when the heating core is heated to a preset temperature, the first rotating module in the lens cleaning device is controlled to reciprocate a preset second time length at a preset distance in front of the lens of the camera, i.e. the obstacle in front of the lens is fused, stirred and broken by the heating core, etc.
In one possible implementation, after a first duration (2.5s), the first rotation module is provided with a voltage signal of 12V, the duration of which is a second duration (2s), i.e. after the reciprocating movement 2s, at the 4.5s, the reciprocating movement is stopped.
And after that, controlling a second rotating module in the lens cleaning device to drive the heating core to rotate for a preset third time.
In a possible implementation, at 4.5s, the first rotating module stops driving the heating core to reciprocate, at this time, a voltage signal of 12V is provided for the second rotating module, and under the voltage signal, the second rotating module drives the heating core to rotate, so that obstacles such as spider silk dissolving residues and the like are thrown out to achieve the purpose of self-cleaning, and the third time period can be 2 s.
Further, the heating core is controlled to stop heating, namely after the 6.5s, the voltage signal of 12V is stopped being supplied to the heating core.
The application provides a camera lens cleaning method, heating is carried out to preset temperature through a heating core in control camera lens cleaning equipment, and after the preset first duration, the second duration preset by reciprocating motion of a first rotating module in the control camera lens cleaning equipment at a preset distance away from the camera lens is controlled, and the first rotating module drives the heating core to rotate, so that barriers in front of the camera lens are gathered and fused. This heating core is installed before the camera lens, and is rotatory along with the drive of rotation module to and the obstacle that self heat will probably exist gathers together and fuses, has improved the effect of cleaing away to spider web etc..
On the basis of the above method embodiment, fig. 6 is a schematic structural diagram of a lens cleaning device of a camera provided in the embodiment of the present application. As shown in fig. 6, the lens cleaning device of the camera includes:
the processing module 61 is used for controlling the heating core in the lens cleaning device to be heated to a preset temperature;
the processing module 61 is further configured to control a first rotating module in the lens cleaning device to reciprocate a preset second time length away from the lens of the camera at a preset distance after the preset first time length, and the first rotating module drives the heating core to rotate to gather and fuse the obstacle in front of the lens.
In a possible design of the embodiment of the present application, the processing module 61 is further configured to control a second rotation module in the lens cleaning device to drive the heating core to rotate for a preset third time period.
In this possible design, after a preset third duration of time of the heating core rotation, the processing module 61 is further configured to:
and controlling the heating core to stop heating.
The control module 21 may be the processing module 61.
The lens cleaning device of the camera provided by the embodiment of the application can be used for executing the technical scheme corresponding to the lens cleaning method of the camera in the embodiment, the implementation principle and the technical effect are similar, and the description is omitted.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
Fig. 7 is a schematic structural diagram of a lens cleaning apparatus according to an embodiment of the present application. As shown in fig. 7, the lens cleaning apparatus may include: a processor 70, a memory 71, and computer program instructions stored on the memory 71 and operable on the processor 70.
The processor 70 executes computer-executable instructions stored by the memory 71, causing the processor 70 to perform the aspects of the embodiments described above. The processor 70 may be a general-purpose processor including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The memory 71 is connected to the processor 70 via a system bus and communicates with each other, and the memory 71 is used for storing computer program instructions.
The system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The lens cleaning device provided by the embodiment of the application can be used for executing the technical scheme corresponding to the lens cleaning method of the camera in the embodiment, the implementation principle and the technical effect are similar, and the details are not repeated herein.
The embodiment of the application further provides a chip for running the instructions, and the chip is used for executing the technical scheme of the lens cleaning method of the camera in the embodiment.
The embodiment of the present application further provides a computer-readable storage medium, where a computer instruction is stored in the computer-readable storage medium, and when the computer instruction runs on a device, the device is enabled to execute the technical solution of the lens cleaning method for a camera in the foregoing embodiment.
The embodiment of the present application further provides a computer program product, which includes a computer program, and the computer program is used for executing the technical solution of the lens cleaning method for a camera in the foregoing embodiment when being executed by a processor.
The computer-readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer device.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A lens cleaning apparatus of a camera, comprising: the heating device comprises a control module, a heating core and a first rotating module;
the heating core is connected with the first rotating module, and the control module is respectively connected with the heating core and the first rotating module;
the control module controls the heating core to be heated to a preset temperature;
after the preset first time length, the control module controls the first rotating module to reciprocate for a preset second time length at a preset distance away from the lens of the camera;
the first rotating module drives the heating core to rotate, and the obstacle in front of the lens is gathered and fused.
2. The apparatus of claim 1, further comprising: a second rotary module connected to the heating core;
the control module controls the second rotating module to drive the heating core to rotate for a preset third time.
3. The apparatus of claim 1 or 2, wherein the heating core is a ceramic heating core.
4. A lens cleaning method for a camera, applied to the lens cleaning apparatus according to any one of claims 1 to 3, the method comprising:
controlling a heating core in the lens cleaning equipment to be heated to a preset temperature;
after the preset first time length, controlling a first rotating module in the lens cleaning equipment to do reciprocating motion at a preset distance away from the lens of the camera for a preset second time length, wherein the first rotating module drives the heating core to rotate, and the obstacle in front of the lens is gathered and fused.
5. The method of claim 4, further comprising:
and controlling a second rotating module in the lens cleaning equipment to drive the heating core to rotate for a preset third time.
6. The method of claim 5, wherein after the heating core spins for a preset third period of time, the method further comprises:
and controlling the heating core to stop heating.
7. A lens cleaning device for a camera, applied to the lens cleaning apparatus according to any one of claims 1 to 3, the device comprising:
the processing module is used for controlling the heating core in the lens cleaning equipment to be heated to a preset temperature;
the processing module is further used for controlling a first rotating module in the lens cleaning equipment to reciprocate for a preset second time length at a preset distance away from the lens of the camera after the preset first time length, and the first rotating module drives the heating core to rotate so as to gather and fuse the barriers in front of the lens.
8. A lens cleaning system for a camera, comprising: a lens cleaning device and a camera;
the lens cleaning device is applied to the lens cleaning method of the camera head of any one of the claims 4 to 6, and is used for gathering and fusing barriers at the lens of the camera head.
9. A computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when executed by a processor, the computer-executable instructions are used for implementing the lens cleaning method of the camera head according to any one of the claims 4 to 6.
10. A computer program product comprising a computer program for implementing a lens cleaning method for a camera head according to any one of claims 4 to 6 when the computer program is executed by a processor.
Priority Applications (1)
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