CN115782820A - Vehicle-mounted camera dirt removing method and device based on ultrasonic waves - Google Patents
Vehicle-mounted camera dirt removing method and device based on ultrasonic waves Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted camera dirt removing method and device based on ultrasonic waves, and relates to the field of data processing, wherein the method comprises the following steps: performing ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; acquiring dirt type characteristic information and dirt distribution characteristic information; carrying out decontamination analysis based on an ultrasonic decontamination device to obtain ultrasonic cleaning control parameters and chemical cleaning control parameters; and controlling an ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameters and the chemical cleaning control parameters. The problem of among the prior art to the accurate nature of the scrubbing of vehicle-mounted camera not enough, and then cause the not good technical problem of scrubbing effect of vehicle-mounted camera is solved. The technical effects of improving the dirt removing accuracy and the dirt removing comprehensiveness of the vehicle-mounted camera and improving the dirt removing quality of the vehicle-mounted camera are achieved.
Description
Technical Field
The invention relates to the field of data processing, in particular to a vehicle-mounted camera dirt removing method and device based on ultrasonic waves.
Background
The on-vehicle camera is always inevitably contaminated. For example, when an automobile runs on a muddy road, mud on the road surface is very easy to splash to the surface of the vehicle-mounted camera, so that the vehicle-mounted camera is polluted to a certain degree, the image definition of the polluted vehicle-mounted camera is reduced, real road condition information is difficult to reflect, and great threat is brought to the running safety of the automobile. How to effectively remove dirt to on-vehicle camera receives people's extensive attention.
Among the prior art, there is the accurate nature of removing dirt to on-vehicle camera not enough, and then causes the not good technical problem of the effect of removing dirt of on-vehicle camera.
Disclosure of Invention
The application provides a vehicle-mounted camera dirt removing method and device based on ultrasonic waves. The problem of among the prior art to the accurate nature of the scrubbing of vehicle-mounted camera not enough, and then cause the not good technical problem of scrubbing effect of vehicle-mounted camera is solved. The ultrasonic decontamination device has the advantages that the ultrasonic decontamination device is accurately, intelligently and adaptively controlled through ultrasonic cleaning control parameters, chemical cleaning control parameters and decontamination temperature control parameters, so that the decontamination accuracy and comprehensiveness of the vehicle-mounted camera are improved, and the decontamination quality of the vehicle-mounted camera is improved.
In view of the above problems, the present application provides a method and an apparatus for decontaminating a vehicle-mounted camera based on ultrasonic waves.
In a first aspect, the present application provides an ultrasound-based on-vehicle camera decontamination method, where the method is applied to an ultrasound-based on-vehicle camera decontamination apparatus, and the method includes: extracting geometric characteristics of image information of the vehicle-mounted camera to obtain shape characteristic information and size characteristic information of the vehicle-mounted camera; performing ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; performing dirt feature extraction on the image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information; preparing an ultrasonic decontamination device, wherein the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device; according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water dirt removal device to obtain ultrasonic cleaning control parameters; according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the acid decontamination device and the alkaline decontamination device to obtain chemical cleaning control parameters; and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter and the chemical cleaning control parameter.
In a second aspect, the present application further provides an ultrasonic-based on-vehicle camera decontamination device, wherein the device includes: the geometric feature extraction module is used for extracting the geometric features of the image information of the vehicle-mounted camera to obtain the shape feature information and the size feature information of the vehicle-mounted camera; the ultrasonic vibration box distribution module is used for carrying out ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; the smudging feature extraction module is used for extracting smudging features of the image information of the vehicle-mounted camera to obtain smudging type feature information and smudging distribution feature information; the ultrasonic decontamination device comprises a device transferring module, a control module and a control module, wherein the device transferring module is used for transferring an ultrasonic decontamination device, and the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device; the first decontamination analysis module is used for carrying out decontamination analysis on the ultrasonic vibration box and the saline water decontamination device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain an ultrasonic cleaning control parameter; the second decontamination analysis module is used for carrying out decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain chemical cleaning control parameters; the decontamination module is used for decontaminating the vehicle-mounted camera by the ultrasonic decontamination device according to the ultrasonic cleaning control parameters and the chemical cleaning control parameters.
In a third aspect, the present application further provides an electronic device, including: a memory for storing executable instructions; and the processor is used for realizing the ultrasonic-based dirt removing method for the vehicle-mounted camera when the executable instructions stored in the memory are executed.
In a fourth aspect, the present application further provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the ultrasound-based on-vehicle camera decontamination method provided by the present application.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
the method comprises the steps of extracting geometric features of image information of a vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera; performing ultrasonic vibrating box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibrating box distribution result; performing dirt feature extraction on image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information; the ultrasonic decontamination device is prepared, and comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device, a saline decontamination device and an electric heating device. Based on the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water dirt removal device to obtain ultrasonic cleaning control parameters; carrying out decontamination analysis on the acid decontamination device and the alkaline decontamination device to obtain chemical cleaning control parameters; carrying out decontamination analysis on the electric heating device to obtain decontamination temperature control parameters; and controlling an ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter. The ultrasonic decontamination device has the advantages that the ultrasonic decontamination device is accurately, intelligently and adaptively controlled through ultrasonic cleaning control parameters, chemical cleaning control parameters and decontamination temperature control parameters, so that the decontamination accuracy and comprehensiveness of the vehicle-mounted camera are improved, and the decontamination quality of the vehicle-mounted camera is improved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments of the present disclosure will be briefly described below. It is to be understood that the drawings in the following description are directed to only some embodiments of the disclosure and are not limiting of the disclosure.
Fig. 1 is a schematic flow chart of a method for removing dirt from a vehicle-mounted ultrasonic-based camera according to the present application;
fig. 2 is a schematic flow chart illustrating decontamination of a vehicle-mounted camera in the method for decontaminating a vehicle-mounted camera based on ultrasonic waves according to the present application;
FIG. 3 is a schematic structural diagram of a vehicle-mounted ultrasonic-based camera decontamination device according to the present application;
fig. 4 is a schematic structural diagram of an exemplary electronic device of the present application.
Description of reference numerals: the device comprises a geometric feature extraction module 11, an ultrasonic vibration box distribution module 12, a dirt feature extraction module 13, a device calling module 14, a first dirt removal analysis module 15, a second dirt removal analysis module 16, a dirt removal module 17, a processor 31, a memory 32, an input device 33 and an output device 34.
Detailed Description
The application provides a vehicle-mounted camera dirt removing method and device based on ultrasonic waves. The problem of among the prior art to the accurate nature of the scrubbing of vehicle-mounted camera not enough, and then cause the not good technical problem of scrubbing effect of vehicle-mounted camera is solved. The ultrasonic decontamination device has the advantages that the ultrasonic decontamination device is accurately, intelligently and adaptively controlled through ultrasonic cleaning control parameters, chemical cleaning control parameters and decontamination temperature control parameters, so that the decontamination accuracy and comprehensiveness of the vehicle-mounted camera are improved, and the decontamination quality of the vehicle-mounted camera is improved.
Example one
Referring to fig. 1, the present application provides a method for removing dirt from a vehicle-mounted camera based on ultrasonic waves, wherein the method is applied to a device for removing dirt from a vehicle-mounted camera based on ultrasonic waves, and the method specifically includes the following steps:
step S100: extracting geometric characteristics of image information of the vehicle-mounted camera to obtain shape characteristic information and size characteristic information of the vehicle-mounted camera;
step S200: performing ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result;
specifically, the vehicle-mounted camera is subjected to image acquisition, and image information of the vehicle-mounted camera is obtained. And extracting geometric features of the image information of the vehicle-mounted camera to obtain the shape feature information and the size feature information of the vehicle-mounted camera. And setting the ultrasonic vibration box based on the shape characteristic information and the size characteristic information of the vehicle-mounted camera to obtain the distribution result of the ultrasonic vibration box. The image information of the vehicle-mounted camera comprises image data information corresponding to any vehicle-mounted camera which uses the ultrasonic-based vehicle-mounted camera decontamination device to carry out intelligent decontamination control. The vehicle-mounted camera shape feature information comprises appearance shape information corresponding to the vehicle-mounted camera. The size characteristic information of the vehicle-mounted camera comprises size parameter information such as the diameter and the length corresponding to the vehicle-mounted camera. The distribution result of the ultrasonic vibration boxes comprises model information and distribution position information of the ultrasonic vibration boxes. The ultrasonic vibration box is a green and environment-friendly cleaning device which removes dirt such as grease, oxidation, dirt and the like on the surface of an object through physical cleaning in the prior art. The technical effects of acquiring the shape characteristic information of the vehicle-mounted camera, the size characteristic information of the vehicle-mounted camera and the distribution result of the ultrasonic vibration box by acquiring images of the vehicle-mounted camera, extracting geometric characteristics and distributing the ultrasonic vibration box are achieved, and a foundation is laid for the subsequent decontamination of the vehicle-mounted camera.
Step S300: performing dirt feature extraction on the image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information;
step S400: preparing an ultrasonic decontamination device, wherein the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device;
specifically, the image information of the vehicle-mounted camera is subjected to dirt feature extraction to obtain dirt type feature information and dirt distribution feature information, and the ultrasonic decontamination device is called. The dirty type characteristic information comprises dirty type information such as oil and fat, oxidation and dirty and the like corresponding to the image information of the vehicle-mounted camera. The dirty distribution characteristic information comprises dirty quantity information, dirty area information and dirty position information corresponding to the image information of the vehicle-mounted camera. Ultrasonic decontamination device and the on-vehicle camera decontamination device communication connection based on ultrasonic wave in this application. The ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device. The technical effects of carrying out dirty feature extraction on the image information of the vehicle-mounted camera, obtaining accurate dirty type feature information and dirty distribution feature information, and accordingly improving the adaptability and the accuracy of dirt removal of the vehicle-mounted camera are achieved.
Illustratively, when vehicle-mounted camera shape characteristic information, vehicle-mounted camera size characteristic information, dirt type characteristic information and dirt distribution characteristic information are obtained, historical data query is carried out on the basis of vehicle-mounted camera image information, and a constructed data set is obtained. The construction data set comprises a plurality of historical vehicle-mounted camera image information, a plurality of historical vehicle-mounted camera shape characteristic information, a plurality of historical vehicle-mounted camera size characteristic information, a plurality of historical dirt type characteristic information and a plurality of historical dirt distribution characteristic information. And continuously self-training and learning the constructed data set to a convergence state to obtain the image characteristic analysis model. The image characteristic analysis model comprises an input layer, a hidden layer and an output layer. The vehicle-mounted camera image information is used as input information, an image characteristic analysis model is input, and geometric characteristic extraction and dirt characteristic extraction are carried out on the input vehicle-mounted camera image information through the image characteristic analysis model, so that vehicle-mounted camera shape characteristic information, vehicle-mounted camera size characteristic information, dirt type characteristic information and dirt distribution characteristic information can be obtained.
Step S500: according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters;
further, step S500 of the present application further includes:
step S510: acquiring an ultrasonic wave propagation direction, a vibration frequency parameter of the vibration box and a vibration amplitude parameter of the vibration box according to the ultrasonic vibration box;
step S520: acquiring a brine spraying direction parameter and a brine spraying flow parameter according to the brine decontamination device;
step S530: setting the dirt type characteristic information and the dirt distribution characteristic information as clean scene characteristics, setting the ultrasonic wave propagation direction, the vibration frequency parameter of the vibration box, the vibration amplitude parameter of the vibration box, the saline water injection direction parameter and the saline water injection flow parameter as retrieval target parameters, and acquiring ultrasonic dirt removal record data;
specifically, parameter query is carried out based on the ultrasonic vibration box, and the ultrasonic propagation direction, vibration frequency parameters of the vibration box and vibration amplitude parameters of the vibration box are obtained. And inquiring parameters based on the saline water decontamination device to obtain saline water spraying direction parameters and saline water spraying flow parameters. Further, the dirt type characteristic information and the dirt distribution characteristic information are set as clean scene characteristics, the ultrasonic wave propagation direction, the vibration frequency parameter of the vibration box, the vibration amplitude parameter of the vibration box, the saline water injection direction parameter and the saline water injection flow parameter are set as retrieval target parameters, and ultrasonic dirt removal record collection is carried out based on the clean scene characteristics and the retrieval target parameters to obtain ultrasonic dirt removal record data. Wherein the ultrasonic decontamination record data comprises a plurality of groups of ultrasonic control parameters. The multiple sets of ultrasonic control parameters comprise multiple historical ultrasonic propagation directions, multiple historical vibration box vibration frequency parameters, multiple historical vibration box vibration amplitude parameters, multiple historical saline water injection direction parameters, multiple historical saline water injection flow parameters and multiple historical cleaning duration parameters corresponding to multiple historical cleaning scene characteristics. The plurality of historical cleaning scene characteristics comprise a plurality of historical stain type characteristic information and a plurality of historical stain distribution characteristic information. The technical effects that ultrasonic decontamination records are acquired by cleaning scene features and retrieving target parameters, ultrasonic decontamination record data are obtained, and data support is provided for the follow-up control parameter optimization of the ultrasonic decontamination record data are achieved.
Step S540: and optimizing control parameters according to the ultrasonic decontamination record data to obtain the ultrasonic cleaning control parameters.
Further, step S540 of the present application further includes:
step S541: acquiring a kth group of ultrasonic control parameter basic information according to the ultrasonic decontamination record data, wherein the kth group of ultrasonic control parameter basic information comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
step S542: evaluating the fitness of the kth group of ultrasonic control parameters according to the kth trigger frequency characteristic and the kth cleaning duration characteristic;
step S543: when the fitness of the kth group of ultrasonic control parameters is greater than or equal to the fitness of the kth group of ultrasonic control parameters, eliminating the kth group of ultrasonic control parameters, and continuing iteration based on the kth group of ultrasonic control parameters;
step S544: when the fitness of the kth group of ultrasonic control parameters is smaller than the fitness of the kth-1 group of ultrasonic control parameters, eliminating the kth group of ultrasonic control parameters, and continuing iteration based on the kth-1 group of ultrasonic control parameters;
step S545: and when the iteration times meet a preset value, outputting the ultrasonic cleaning control parameters.
Specifically, the ultrasonic decontamination record data is randomly selected to obtain the kth group of ultrasonic control parameter basic information. The kth group of ultrasonic control parameter basic information comprises a kth trigger frequency characteristic, a kth cleaning time length characteristic and a kth group of ultrasonic control parameters. And then, carrying out fitness evaluation on the kth trigger frequency characteristic and the kth cleaning time length characteristic to obtain the kth group of ultrasonic control parameter fitness. The larger the kth trigger frequency characteristic is, the smaller the kth cleaning time length characteristic is, and the higher the fitness of the corresponding kth group of ultrasonic control parameters is. The kth group of ultrasonic control parameters comprise a historical ultrasonic propagation direction, a historical vibration box vibration frequency parameter, a historical vibration box vibration amplitude parameter, a historical saline injection direction parameter and a historical saline injection flow parameter which correspond to any group of ultrasonic control parameters in the ultrasonic decontamination record data. The kth trigger frequency characteristic comprises frequency parameters corresponding to the kth group of ultrasonic control parameters in the ultrasonic decontamination record data. The kth cleaning time length characteristic comprises historical cleaning time length parameters corresponding to the kth group of ultrasonic control parameters. Illustratively, when fitness evaluation is performed on the kth trigger frequency characteristic and the kth cleaning time length characteristic, after weight distribution and weighted calculation are performed on the kth trigger frequency characteristic and the kth cleaning time length characteristic according to a preset trigger frequency weight coefficient and a preset cleaning time length weight coefficient, fitness of the kth group of ultrasonic control parameters is obtained. The k-th group of ultrasonic control parameter fitness comprises the sum of the trigger frequency fitness and the cleaning duration fitness. The trigger frequency fitness comprises a product between a trigger frequency weight coefficient and a kth trigger frequency characteristic. The cleaning period fitness includes a product between the cleaning period weight coefficient and the k-th cleaning period characteristic.
Further, the ultrasonic decontamination record data is randomly selected again to obtain the basic information of the ultrasonic control parameter of the (k-1) th group. The (k-1) th group of ultrasonic control parameter basic information comprises a (k-1) th trigger frequency characteristic, a (k-1) th cleaning time length characteristic and a (k-1) th group of ultrasonic control parameters. And (4) evaluating the fitness of the k-1 trigger frequency characteristic and the k-1 cleaning time length characteristic to obtain the fitness of the k-1 ultrasonic control parameter. And judging whether the fitness of the kth group of ultrasonic control parameters is smaller than that of the kth-1 group of ultrasonic control parameters. And if the fitness of the kth group of ultrasonic control parameters is greater than or equal to the fitness of the kth-1 group of ultrasonic control parameters, eliminating the kth-1 group of ultrasonic control parameters, and continuing iteration based on the kth group of ultrasonic control parameters. And if the k-th group of ultrasonic control parameter fitness is smaller than the k-1 group of ultrasonic control parameter fitness, eliminating the k-th group of ultrasonic control parameters, and continuing iteration on the basis of the k-1 group of ultrasonic control parameters. And when the iteration times meet the preset value, obtaining an ultrasonic cleaning control parameter. The obtaining manner of the kth group of the basic information of the ultrasonic control parameters and the fitness of the kth group of the ultrasonic control parameters is the same as the obtaining manner of the kth group of the basic information of the ultrasonic control parameters and the fitness of the kth group of the ultrasonic control parameters, and is not described herein again for the sake of brevity of the specification. The preset value comprises a preset determined iteration threshold. The ultrasonic cleaning control parameters comprise a kth group of ultrasonic control parameters or a kth-1 group of ultrasonic control parameters corresponding to the iteration times meeting the preset value. The technical effects that multiple times of iteration optimization are carried out on ultrasonic decontamination recorded data, high-precision and high-adaptability ultrasonic cleaning control parameters are obtained, and therefore the decontamination accuracy of the vehicle-mounted camera is improved are achieved.
Step S600: according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the acid dirt removing device and the alkaline dirt removing device to obtain chemical cleaning control parameters;
further, step S600 of the present application further includes:
step S610: acquiring an acidic decontamination additive type parameter and an acidic decontamination additive flow parameter according to the acidic decontamination device;
step S620: obtaining an alkaline decontamination additive type parameter and an alkaline decontamination additive flow parameter according to the alkaline decontamination device;
step S630: setting the stain type characteristic information and the stain distribution characteristic information as clean scene characteristics, setting the acid decontamination additive type parameter, the acid decontamination additive flow parameter, the alkaline decontamination additive type parameter and the alkaline decontamination additive flow parameter as retrieval target parameters, and collecting chemical decontamination record data;
step S640: and optimizing control parameters according to the chemical decontamination record data to obtain the chemical cleaning control parameters.
Specifically, the stain type characteristic information and the stain distribution characteristic information are set as clean scene characteristics, and the acid decontamination additive type parameter, the acid decontamination additive flow parameter, the alkaline decontamination additive type parameter and the alkaline decontamination additive flow parameter are set as retrieval target parameters. And carrying out chemical decontamination record acquisition on the acid decontamination device and the alkaline decontamination device based on the cleaning scene characteristics and the retrieval target parameters to obtain chemical decontamination record data, and carrying out control parameter optimization on the chemical decontamination record data to obtain chemical cleaning control parameters.
Wherein the chemical decontamination record data comprises a plurality of sets of chemical cleaning control data. The plurality of sets of chemical cleaning control data include a plurality of historical acidic decontamination additive type parameters, a plurality of historical acidic decontamination additive flow parameters, a plurality of historical alkaline decontamination additive type parameters, and a plurality of historical alkaline decontamination additive flow parameters corresponding to a plurality of historical cleaning scenario features. The plurality of historical cleaning scene characteristics comprise a plurality of historical stain type characteristic information and a plurality of historical stain distribution characteristic information. The process of optimizing the control parameters of the chemical decontamination record data is the same as the process of optimizing the control parameters of the ultrasonic decontamination record data, and is not repeated herein for the simplicity of the specification. The chemical cleaning control parameters comprise a stain type characteristic information obtained by optimizing control parameters of chemical stain removal recorded data, and an acidic stain removal additive type parameter, an acidic stain removal additive flow parameter, an alkaline stain removal additive type parameter and an alkaline stain removal additive flow parameter which correspond to the stain distribution characteristic information. The technical effects of performing decontamination analysis on the acid decontamination device and the alkaline decontamination device through the type characteristic information and the distribution characteristic information of the dirt, and acquiring reliable chemical cleaning control parameters are achieved, so that the comprehensiveness and the accuracy of decontamination on the vehicle-mounted camera are improved.
Step S700: and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter and the chemical cleaning control parameter.
Further, as shown in fig. 2, step S700 of the present application further includes:
step S710: carrying out decontamination analysis on the electric heating device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain decontamination temperature control parameters;
further, step S710 of the present application further includes:
step S711: constructing an active temperature decision model;
further, step S711 of the present application further includes:
step S7111: randomly adjusting the dirt type characteristic information and the dirt distribution characteristic information according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate a plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data;
step S7112: traversing the plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data to carry out active temperature identification, and generating a plurality of active temperature identification information;
step S7113: and training the active temperature decision model according to the plurality of active temperature identification information and the plurality of groups of pollution type expansion data and pollution distribution characteristic expansion data.
Specifically, the ultrasonic decontamination device further comprises an electric heating device. And randomly adjusting the dirt type characteristic information and the dirt distribution characteristic information based on the shape characteristic information and the size characteristic information of the vehicle-mounted camera to obtain a plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data. And traversing a plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data to carry out active temperature identification, and generating a plurality of active temperature identification information. And continuously self-training and learning the plurality of active temperature identification information, the plurality of groups of dirt type expansion data and the dirt distribution characteristic expansion data to a convergence state to obtain an active temperature decision model. The multiple groups of dirt type expansion data comprise a plurality of dirt type parameters obtained after the dirt type characteristic information is randomly adjusted according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera. And the dirt distribution characteristic expansion data comprises a plurality of dirt distribution parameters obtained after randomly adjusting the dirt distribution characteristic information according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera. The plurality of active temperature identification information comprise a plurality of groups of dirty type expansion data and a plurality of dirty active temperature data corresponding to the dirty distribution characteristic expansion data. The active temperature decision model comprises an input layer, a hidden layer and an output layer. The active temperature decision model has the function of performing intelligent dirty active temperature matching according to the dirty type information and the dirty distribution information. The technical effects of constructing an active temperature decision model and tamping the foundation for subsequent decontamination analysis of the electric heating device are achieved.
Step S712: inputting the dirt type characteristic information and the dirt distribution characteristic information into the active temperature decision model to obtain a plurality of dirt active temperatures, wherein the dirt active temperatures correspond to the dirt distribution characteristic information one to one;
step S713: traversing the plurality of dirt activity temperatures based on the dirt distribution characteristic information, and setting a plurality of dirt removing temperature areas;
step S714: adding the plurality of decontamination temperature regions into the decontamination temperature control parameter.
Step S720: and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter.
Specifically, the dirt type characteristic information and the dirt distribution characteristic information are used as input information and input into the active temperature decision model to obtain a plurality of dirt active temperatures. Traversing a plurality of dirt activity temperatures according to the dirt distribution characteristic information, setting a plurality of dirt removing temperature areas, and adding the plurality of dirt removing temperature areas to the dirt removing temperature control parameters. Based on the distribution result of the ultrasonic vibration box, the ultrasonic decontamination device is controlled to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter. Wherein, a plurality of dirty active temperature and dirty distribution characteristic information one-to-one correspond. The plurality of decontamination temperature regions comprise decontamination distribution characteristic information, a plurality of decontamination active temperatures and a plurality of decontamination temperatures of the plurality of decontamination regions corresponding to the decontamination distribution characteristic information and the plurality of decontamination active temperatures. The desmear temperature control parameter comprises a plurality of desmear temperature regions. The technical effect of comprehensively, reliably and adaptively controlling the ultrasonic decontamination device through the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter is achieved, so that the decontamination quality of the vehicle-mounted camera is improved.
In summary, the vehicle-mounted camera decontamination method based on ultrasonic waves provided by the application has the following technical effects:
1. the method comprises the steps of extracting geometric features of image information of a vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera; performing ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; performing dirt feature extraction on image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information; the ultrasonic decontamination device is prepared, and comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device, a saline decontamination device and an electric heating device. Based on the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water dirt removal device to obtain ultrasonic cleaning control parameters; carrying out decontamination analysis on an acid decontamination device and an alkaline decontamination device to obtain chemical cleaning control parameters; carrying out decontamination analysis on the electric heating device to obtain decontamination temperature control parameters; and controlling an ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter. The ultrasonic decontamination device has the advantages that the ultrasonic decontamination device is accurately, intelligently and adaptively controlled through ultrasonic cleaning control parameters, chemical cleaning control parameters and decontamination temperature control parameters, so that the decontamination accuracy and comprehensiveness of the vehicle-mounted camera are improved, and the decontamination quality of the vehicle-mounted camera is improved.
2. Through carrying out iteration many times to ultrasonic wave scrubbing record data and seeking optimality, obtain high accuracy, strong adaptability's ultrasonic cleaning control parameter to improve the precision of carrying out the scrubbing to on-vehicle camera.
3. The acid decontamination device and the alkaline decontamination device are subjected to decontamination analysis through the type characteristic information and the distribution characteristic information of the dirt, and reliable chemical cleaning control parameters are obtained, so that the comprehensiveness and the accuracy of decontamination of the vehicle-mounted camera are improved.
Example two
Based on the same inventive concept as the method for removing dirt of the vehicle-mounted camera based on the ultrasonic wave in the foregoing embodiment, the invention further provides a device for removing dirt of the vehicle-mounted camera based on the ultrasonic wave, and referring to fig. 3, the device includes:
the geometric feature extraction module 11 is used for extracting geometric features of image information of the vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera;
the ultrasonic box vibration distribution module 12 is used for performing ultrasonic box vibration distribution according to the vehicle-mounted camera shape characteristic information and the vehicle-mounted camera size characteristic information to generate an ultrasonic box vibration distribution result;
the dirty feature extraction module 13, wherein the dirty feature extraction module 13 is configured to perform dirty feature extraction on the image information of the vehicle-mounted camera to obtain dirty type feature information and dirty distribution feature information;
the device transferring module 14 is used for transferring an ultrasonic decontamination device, and the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device;
the first decontamination analysis module 15 is configured to perform decontamination analysis on the ultrasonic vibrating box and the saline decontamination apparatus according to the contamination type characteristic information and the contamination distribution characteristic information, and acquire an ultrasonic cleaning control parameter;
a second decontamination analysis module 16, where the second decontamination analysis module 16 is configured to perform decontamination analysis on the acidic decontamination apparatus and the alkaline decontamination apparatus according to the contamination type characteristic information and the contamination distribution characteristic information to obtain a chemical cleaning control parameter;
and the decontamination module 17 is used for controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter and the chemical cleaning control parameter.
Further, the apparatus further comprises:
the decontamination temperature control parameter determination module is used for carrying out decontamination analysis on the electric heating device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain a decontamination temperature control parameter;
the first execution module is used for controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter.
Further, the apparatus further comprises:
the second execution module is used for acquiring the ultrasonic propagation direction, the vibration frequency parameter of the vibration box and the vibration amplitude parameter of the vibration box according to the ultrasonic vibration box;
the third execution module is used for acquiring a saline water injection direction parameter and a saline water injection flow parameter according to the saline water decontamination device;
the recorded data acquisition module is used for setting the dirt type characteristic information and the dirt distribution characteristic information as clean scene characteristics, setting the ultrasonic wave propagation direction, the vibration frequency parameter of the vibration box, the vibration amplitude parameter of the vibration box, the saline water injection direction parameter and the saline water injection flow parameter as retrieval target parameters, and acquiring ultrasonic dirt removal recorded data;
and the control parameter optimization module is used for optimizing control parameters according to the ultrasonic decontamination record data to obtain the ultrasonic cleaning control parameters.
Further, the apparatus further comprises:
the fourth execution module is used for acquiring a kth group of ultrasonic control parameter basic information according to the ultrasonic decontamination record data, wherein the kth group of ultrasonic control parameter basic information comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
the fitness evaluation module is used for evaluating the fitness of the kth group of ultrasonic control parameters according to the kth trigger frequency characteristic and the kth cleaning time length characteristic;
a fifth execution module, configured to eliminate the kth group of ultrasonic control parameters and continue iteration based on the kth group of ultrasonic control parameters when the kth group of ultrasonic control parameter fitness is greater than or equal to the kth-1 group of ultrasonic control parameter fitness;
the iteration module is used for eliminating the kth group of ultrasonic control parameters and continuing iteration based on the kth-1 group of ultrasonic control parameters when the kth group of ultrasonic control parameter fitness is smaller than the kth-1 group of ultrasonic control parameter fitness;
and the ultrasonic cleaning control parameter output module is used for outputting the ultrasonic cleaning control parameter when the iteration times meet a preset value.
Further, the apparatus further comprises:
the device comprises an acid decontamination parameter acquisition module, a data acquisition module and a data processing module, wherein the acid decontamination parameter acquisition module is used for acquiring an acid decontamination additive type parameter and an acid decontamination additive flow parameter according to the acid decontamination device;
the alkaline decontamination parameter acquisition module is used for acquiring an alkaline decontamination additive type parameter and an alkaline decontamination additive flow parameter according to the alkaline decontamination device;
a chemical decontamination record data acquisition module, configured to set the decontamination type characteristic information and the contamination distribution characteristic information as clean scene characteristics, set the acidic decontamination additive type parameter, the acidic decontamination additive flow parameter, the alkaline decontamination additive type parameter, and the alkaline decontamination additive flow parameter as retrieval target parameters, and acquire chemical decontamination record data;
and the chemical cleaning control parameter acquisition module is used for optimizing control parameters according to the chemical decontamination record data to acquire the chemical cleaning control parameters.
Further, the apparatus further comprises:
a construction module for constructing an active temperature decision model;
a dirt activity temperature obtaining module, configured to input the dirt type characteristic information and the dirt distribution characteristic information into the activity temperature decision model, and obtain a plurality of dirt activity temperatures, where the plurality of dirt activity temperatures and the dirt distribution characteristic information correspond to each other one to one;
the area setting module is used for traversing the plurality of dirt activity temperatures and setting a plurality of dirt removing temperature areas based on the dirt distribution characteristic information;
a sixth execution module to add the plurality of decontamination temperature regions into the decontamination temperature control parameter.
Further, the apparatus further comprises:
a seventh execution module, configured to randomly adjust the contamination type feature information and the contamination distribution feature information according to the vehicle-mounted camera shape feature information and the vehicle-mounted camera size feature information, and generate multiple sets of contamination type expansion data and contamination distribution feature expansion data;
the active temperature identification module is used for traversing the plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data to carry out active temperature identification so as to generate a plurality of active temperature identification information;
a training module for training the active temperature decision model according to the plurality of active temperature identification information and the plurality of sets of contamination type expansion data and contamination distribution characteristic expansion data.
The ultrasonic-based vehicle-mounted camera decontamination device provided by the embodiment of the invention can execute the ultrasonic-based vehicle-mounted camera decontamination method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Each included module is only divided according to functional logic, but is not limited to the division, as long as the corresponding function can be realized; in addition, the specific names of the functional modules are only for the convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE III
Fig. 4 is a schematic structural diagram of an electronic device provided in the third embodiment of the present invention, and shows a block diagram of an exemplary electronic device suitable for implementing an embodiment of the present invention. The electronic device shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention. As shown in fig. 4, the electronic device includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of the processors 31 in the electronic device may be one or more, one processor 31 is taken as an example in fig. 4, the processor 31, the memory 32, the input device 33 and the output device 34 in the electronic device may be connected by a bus or in other ways, and the connection by the bus is taken as an example in fig. 4.
The memory 32 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a method for removing dirt on an ultrasound-based on-vehicle camera in an embodiment of the present invention. The processor 31 executes various functional applications and data processing of the computer device by running software programs, instructions and modules stored in the memory 32, namely, the ultrasonic wave-based on-vehicle camera decontamination method is realized.
The application provides an ultrasonic wave-based vehicle-mounted camera dirt removing method, wherein the method is applied to an ultrasonic wave-based vehicle-mounted camera dirt removing device, and the method comprises the following steps: the method comprises the steps of extracting geometric features of image information of a vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera; performing ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; performing dirt feature extraction on image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information; the ultrasonic decontamination device is prepared, and comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device, a saline decontamination device and an electric heating device. Based on the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters; carrying out decontamination analysis on an acid decontamination device and an alkaline decontamination device to obtain chemical cleaning control parameters; carrying out decontamination analysis on the electric heating device to obtain decontamination temperature control parameters; and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter. The problem of among the prior art to the accurate nature of removing dirt of on-vehicle camera not enough, and then cause the not good technical problem of the effect of removing dirt of on-vehicle camera is solved. The ultrasonic decontamination device has the advantages that the ultrasonic decontamination device is accurately, intelligently and adaptively controlled through ultrasonic cleaning control parameters, chemical cleaning control parameters and decontamination temperature control parameters, so that the decontamination accuracy and comprehensiveness of the vehicle-mounted camera are improved, and the decontamination quality of the vehicle-mounted camera is improved.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A vehicle-mounted camera dirt removing method based on ultrasonic waves is characterized by comprising the following steps:
extracting geometric characteristics of image information of the vehicle-mounted camera to obtain shape characteristic information and size characteristic information of the vehicle-mounted camera;
performing ultrasonic vibrating box distribution according to the vehicle-mounted camera shape characteristic information and the vehicle-mounted camera size characteristic information to generate an ultrasonic vibrating box distribution result;
performing dirt feature extraction on the image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information;
preparing an ultrasonic decontamination device, wherein the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device;
according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the ultrasonic vibration box and the saline water dirt removal device to obtain ultrasonic cleaning control parameters;
according to the dirt type characteristic information and the dirt distribution characteristic information, carrying out dirt removal analysis on the acid dirt removing device and the alkaline dirt removing device to obtain chemical cleaning control parameters;
and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameters and the chemical cleaning control parameters.
2. The method of claim 1, wherein the ultrasonic decontamination apparatus further comprises an electrical heating apparatus comprising:
carrying out decontamination analysis on the electric heating device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain decontamination temperature control parameters;
and controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter, the chemical cleaning control parameter and the decontamination temperature control parameter.
3. The method according to claim 1, wherein the performing decontamination analysis on the ultrasonic vibrating box and the saline decontamination device according to the contamination type characteristic information and the contamination distribution characteristic information to obtain an ultrasonic cleaning control parameter comprises:
acquiring an ultrasonic wave propagation direction, a vibration frequency parameter of the vibration box and a vibration amplitude parameter of the vibration box according to the ultrasonic vibration box;
acquiring a saline water injection direction parameter and a saline water injection flow parameter according to the saline water decontamination device;
setting the dirt type characteristic information and the dirt distribution characteristic information as clean scene characteristics, setting the ultrasonic wave propagation direction, the vibration frequency parameter of the vibration box, the vibration amplitude parameter of the vibration box, the saline water injection direction parameter and the saline water injection flow parameter as retrieval target parameters, and collecting ultrasonic dirt removal record data;
and optimizing control parameters according to the ultrasonic decontamination record data to obtain the ultrasonic cleaning control parameters.
4. The method of claim 3, wherein the performing control parameter optimization based on the ultrasonic decontamination record data to obtain the ultrasonic cleaning control parameters comprises:
acquiring a kth group of ultrasonic control parameter basic information according to the ultrasonic decontamination record data, wherein the kth group of ultrasonic control parameter basic information comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
evaluating the fitness of the kth group of ultrasonic control parameters according to the kth trigger frequency characteristic and the kth cleaning duration characteristic;
when the fitness of the kth group of ultrasonic control parameters is greater than or equal to the fitness of the kth-1 group of ultrasonic control parameters, eliminating the kth-1 group of ultrasonic control parameters, and continuing iteration based on the kth group of ultrasonic control parameters;
when the fitness of the kth group of ultrasonic control parameters is smaller than the fitness of the kth-1 group of ultrasonic control parameters, eliminating the kth group of ultrasonic control parameters, and continuing iteration based on the kth-1 group of ultrasonic control parameters;
and when the iteration times meet a preset value, outputting the ultrasonic cleaning control parameters.
5. The method according to claim 1, wherein the performing the soil removal analysis on the acid soil removal device and the alkaline soil removal device according to the soil type characteristic information and the soil distribution characteristic information to obtain the chemical cleaning control parameters comprises:
acquiring an acidic decontamination additive type parameter and an acidic decontamination additive flow parameter according to the acidic decontamination device;
obtaining an alkaline decontamination additive type parameter and an alkaline decontamination additive flow parameter according to the alkaline decontamination device;
setting the stain type characteristic information and the stain distribution characteristic information as clean scene characteristics, setting the acid decontamination additive type parameter, the acid decontamination additive flow parameter, the alkaline decontamination additive type parameter and the alkaline decontamination additive flow parameter as retrieval target parameters, and collecting chemical decontamination record data;
and optimizing control parameters according to the chemical decontamination record data to obtain the chemical cleaning control parameters.
6. The method as claimed in claim 2, wherein said performing decontamination analysis on said electric heating device according to said contamination type characteristic information and said contamination distribution characteristic information to obtain decontamination temperature control parameters comprises:
constructing an active temperature decision model;
inputting the dirt type characteristic information and the dirt distribution characteristic information into the active temperature decision model to obtain a plurality of dirt active temperatures, wherein the dirt active temperatures correspond to the dirt distribution characteristic information one to one;
traversing the plurality of dirt activity temperatures based on the dirt distribution characteristic information, and setting a plurality of dirt removing temperature areas;
adding the plurality of decontamination temperature regions into the decontamination temperature control parameter.
7. The method of claim 6, wherein constructing an active temperature decision model comprises:
randomly adjusting the dirt type characteristic information and the dirt distribution characteristic information according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate a plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data;
traversing the plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data to carry out active temperature identification, and generating a plurality of active temperature identification information;
and training the active temperature decision model according to the plurality of active temperature identification information and the plurality of groups of dirt type expansion data and dirt distribution characteristic expansion data.
8. The utility model provides an on-vehicle camera scrubbing device based on ultrasonic wave which characterized in that, the device includes:
the geometric feature extraction module is used for extracting the geometric features of the image information of the vehicle-mounted camera to obtain the shape feature information and the size feature information of the vehicle-mounted camera;
the ultrasonic vibration box distribution module is used for carrying out ultrasonic vibration box distribution according to the shape characteristic information and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result;
the smudging feature extraction module is used for extracting smudging features of the image information of the vehicle-mounted camera to obtain smudging type feature information and smudging distribution feature information;
the ultrasonic decontamination device comprises a device transferring module, a control module and a control module, wherein the device transferring module is used for transferring an ultrasonic decontamination device, and the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device;
the first decontamination analysis module is used for carrying out decontamination analysis on the ultrasonic vibration box and the saline water decontamination device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain an ultrasonic cleaning control parameter;
the second decontamination analysis module is used for carrying out decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the decontamination type characteristic information and the decontamination distribution characteristic information to obtain chemical cleaning control parameters;
the decontamination module is used for decontaminating the vehicle-mounted camera by the ultrasonic decontamination device according to the ultrasonic cleaning control parameter and the chemical cleaning control parameter.
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