CN115782820B - Method and device for removing dirt of vehicle-mounted camera based on ultrasonic waves - Google Patents
Method and device for removing dirt of vehicle-mounted camera 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: according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution, and generating an ultrasonic vibration box distribution result; acquiring dirt type characteristic information and dirt distribution characteristic information; performing decontamination analysis based on the ultrasonic decontamination device to obtain ultrasonic cleaning control parameters and 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. The technical problem that in the prior art, dirt removing accuracy of the vehicle-mounted camera is insufficient, and then dirt removing effect of the vehicle-mounted camera is poor is solved. The technical effects of improving the dirt removing accuracy and comprehensiveness of the vehicle-mounted camera and 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
Vehicle cameras are always inevitably subject to various kinds of contamination. For example, when an automobile runs on a muddy road, mud on the road surface is extremely easy to splash on the surface of the vehicle-mounted camera, so that the vehicle-mounted camera is polluted to a certain extent, the image definition of the polluted vehicle-mounted camera is reduced, the real road condition information is difficult to reflect, and the running safety of the automobile is greatly threatened. How to effectively remove dirt on a vehicle-mounted camera is widely focused by people.
In the prior art, the pollution removal accuracy of the vehicle-mounted camera is insufficient, and the technical problem of poor pollution removal effect of the vehicle-mounted camera is caused.
Disclosure of Invention
The application provides a vehicle-mounted camera dirt removing method and device based on ultrasonic waves. The technical problem that in the prior art, dirt removing accuracy of the vehicle-mounted camera is insufficient, and then dirt removing effect of the vehicle-mounted camera is poor is solved. The ultrasonic decontamination device is precisely, intelligently and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the accuracy and comprehensiveness of decontamination of the vehicle-mounted camera are improved, and the technical effect of the decontamination quality of the vehicle-mounted camera is improved.
In view of the above problems, the application provides a vehicle-mounted camera dirt removing method and device based on ultrasonic waves.
In a first aspect, the present application provides an on-vehicle camera dirt removing method based on ultrasonic waves, where the method is applied to an on-vehicle camera dirt removing device based on ultrasonic waves, and the method includes: extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera; according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution to generate an ultrasonic vibration box distribution result; performing dirt characteristic extraction on the image information of the vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information; 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, performing dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters; performing decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the dirt type characteristic information and the dirt distribution characteristic information 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 on-vehicle camera dirt removing device based on ultrasonic waves, wherein the device includes: the geometric feature extraction module is used for extracting geometric features of the image information of the vehicle-mounted camera and acquiring shape feature information and 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 of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result; the dirty feature extraction module is used for carrying out 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 adjusting module is used for adjusting 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 acquire ultrasonic cleaning control parameters; 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; and the decontamination module 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.
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 vehicle-mounted camera dirt removing method based on the ultrasonic waves when executing the executable instructions stored in the memory.
In a fourth aspect, the present application further provides a computer readable storage medium storing a computer program, where the program when executed by a processor implements an on-vehicle camera decontamination method based on ultrasound provided by the present application.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information of the vehicle-mounted camera and size feature information of the vehicle-mounted camera; according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution, and generating an ultrasonic vibration box distribution result; the method comprises the steps of extracting dirt characteristics from image information of a vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information; the ultrasonic decontamination device 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, performing dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters; performing decontamination analysis on the acid decontamination device and the alkaline decontamination device to obtain chemical cleaning control parameters; performing 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 ultrasonic decontamination device is precisely, intelligently and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the accuracy and comprehensiveness of decontamination of the vehicle-mounted camera are improved, and the technical effect of 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 may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
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 apparent that the figures in the following description relate only to some embodiments of the present disclosure and are not limiting of the present disclosure.
FIG. 1 is a schematic flow chart of a vehicle-mounted camera dirt removing method based on ultrasonic waves;
fig. 2 is a schematic flow chart of a method for decontaminating a vehicle-mounted camera based on ultrasonic waves in the method for decontaminating a vehicle-mounted camera;
FIG. 3 is a schematic structural diagram of an ultrasonic-based vehicle-mounted camera dirt removing device;
fig. 4 is a schematic structural diagram of an exemplary electronic device of the present application.
Reference numerals illustrate: the device comprises a geometric feature extraction module 11, an ultrasonic vibration box distribution module 12, a dirty feature extraction module 13, a device calling module 14, a first decontamination analysis module 15, a second decontamination analysis module 16, a decontamination 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 technical problem that in the prior art, dirt removing accuracy of the vehicle-mounted camera is insufficient, and then dirt removing effect of the vehicle-mounted camera is poor is solved. The ultrasonic decontamination device is precisely, intelligently and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the accuracy and comprehensiveness of decontamination of the vehicle-mounted camera are improved, and the technical effect of the decontamination quality of the vehicle-mounted camera is improved.
Example 1
Referring to fig. 1, the application provides a vehicle-mounted camera dirt removing method based on ultrasonic waves, wherein the method is applied to a vehicle-mounted camera dirt removing device based on ultrasonic waves, and the method specifically comprises the following steps:
step S100: extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera;
step S200: according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution to generate an ultrasonic vibration box distribution result;
Specifically, image acquisition is carried out on the vehicle-mounted camera, 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 shape feature information of the vehicle-mounted camera and 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 an ultrasonic vibration box distribution result. The vehicle-mounted camera image information comprises image data information corresponding to any vehicle-mounted camera which uses the vehicle-mounted camera dirt removing device based on ultrasonic waves to conduct intelligent dirt removing control. The shape characteristic information of the vehicle-mounted camera 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 diameter, length and the like corresponding to the vehicle-mounted camera. The ultrasonic vibration box distribution result comprises model information and distribution position information of the ultrasonic vibration box. The ultrasonic vibration box is a green and environment-friendly cleaning device for removing dirt such as grease, oxidation, dirt stain and the like on the surface of an object through physical cleaning in the prior art. The method achieves the technical effects that reliable vehicle-mounted camera shape characteristic information, vehicle-mounted camera size characteristic information and ultrasonic vibration box distribution results are obtained through image acquisition, geometric characteristic extraction and ultrasonic vibration box distribution of the vehicle-mounted camera, and a foundation is laid for carrying out dirt removal on the vehicle-mounted camera subsequently.
Step S300: performing dirt characteristic extraction on the image information of the vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information;
step S400: the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device;
specifically, dirt characteristic extraction is performed on image information of the vehicle-mounted camera, dirt type characteristic information and dirt distribution characteristic information are obtained, and an ultrasonic decontamination device is called. The dirt type characteristic information comprises dirt type information such as grease, oxidation, dirt stain and the like corresponding to the image information of the vehicle-mounted camera. The dirt distribution characteristic information comprises dirt quantity information, dirt area information and dirt position information corresponding to the image information of the vehicle-mounted camera. The ultrasonic decontamination device is in communication connection with an ultrasonic-based vehicle-mounted camera decontamination device. 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 improving the adaptation and accuracy of the dirt removal of the vehicle-mounted camera are achieved by carrying out dirt feature extraction on the image information of the vehicle-mounted camera to obtain accurate dirt type feature information and dirt distribution feature information.
Illustratively, when the vehicle-mounted camera shape characteristic information, the vehicle-mounted camera size characteristic information, the dirt type characteristic information and the dirt distribution characteristic information are obtained, historical data query is performed based on the vehicle-mounted camera image information, and a construction 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 (3) 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, an implicit layer and an output layer. And taking the image information of the vehicle-mounted camera as input information, inputting an image feature analysis model, and extracting geometric features and dirt features of the input image information of the vehicle-mounted camera through the image feature analysis model to obtain shape feature information of the vehicle-mounted camera, size feature information of the vehicle-mounted camera, dirt type feature information and dirt distribution feature information.
Step S500: according to the dirt type characteristic information and the dirt distribution characteristic information, performing 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 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: according to the brine decontamination device, acquiring brine spraying direction parameters and brine spraying flow parameters;
step S530: setting the dirt type characteristic information and the dirt distribution characteristic information as cleaning scene characteristics, setting the ultrasonic wave propagation direction, the vibrating box vibration frequency parameter, the vibrating box vibration amplitude parameter, the saline water injection direction parameter and the saline water injection flow parameter as retrieval target parameters, and collecting ultrasonic dirt removal record data;
specifically, parameter inquiry is performed based on the ultrasonic vibration box, and an ultrasonic propagation direction, a vibration box vibration frequency parameter and a vibration box vibration amplitude parameter are obtained. And carrying out parameter inquiry based on the brine decontamination device to obtain brine spray direction parameters and brine spray flow parameters. Further, the dirt type characteristic information and the dirt distribution characteristic information are set as cleaning 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 acquisition is carried out based on the cleaning scene characteristics and the retrieval target parameters, so that ultrasonic dirt removal record data are obtained. Wherein, the ultrasonic decontamination record data comprises a plurality of groups of ultrasonic control parameters. The plurality of groups of ultrasonic control parameters comprise a plurality of historical ultrasonic propagation directions, a plurality of historical vibration box vibration frequency parameters, a plurality of historical vibration box vibration amplitude parameters, a plurality of historical saline water injection direction parameters, a plurality of historical saline water injection flow parameters and a plurality of historical cleaning duration parameters which correspond to the plurality of historical cleaning scene characteristics. The plurality of historical cleaning scenario features includes a plurality of historical soil type feature information, a plurality of historical soil distribution feature information. The technical effects of acquiring ultrasonic decontamination record data through cleaning scene characteristics and searching target parameters and providing data support 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 basic information of a kth group of ultrasonic control parameters according to the ultrasonic decontamination record data, wherein the basic information of the kth group of ultrasonic control parameters comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
step S542: evaluating the fitness of a 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 k-th ultrasonic control parameter is greater than or equal to that of the k-1 th ultrasonic control parameter, eliminating the k-1 th ultrasonic control parameter, and continuing iteration based on the k-th ultrasonic control parameter;
step S544: when the fitness of the k-th ultrasonic control parameter is smaller than that of the k-1 th ultrasonic control parameter, eliminating the k-th ultrasonic control parameter, and continuing iteration based on the k-1 th ultrasonic control parameter;
step S545: and outputting the ultrasonic cleaning control parameters when the iteration times meet a preset value.
Specifically, the ultrasonic decontamination record data is randomly selected to obtain the k group of ultrasonic control parameter basic information. The k-th group of ultrasonic control parameter basic information comprises a k-th trigger frequency characteristic, a k-th cleaning duration characteristic and a k-th group of ultrasonic control parameters. And further, the fitness of the k group of ultrasonic control parameters is obtained by carrying out fitness evaluation on the k triggering frequency characteristic and the k cleaning time length characteristic. The larger the k triggering frequency characteristic is, the smaller the k cleaning duration characteristic is, and the larger the corresponding k group ultrasonic control parameter fitness is. The k-th 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 water spraying direction parameter and a historical saline water spraying flow parameter which correspond to any group of ultrasonic control parameters in ultrasonic decontamination record data. The k triggering frequency characteristic comprises frequency parameters corresponding to the k group of ultrasonic control parameters in the ultrasonic decontamination record data. The kth cleaning time length characteristic comprises a historical cleaning time length parameter corresponding to the kth group of ultrasonic control parameters. Illustratively, when the fitness evaluation is performed on the kth trigger frequency feature and the kth cleaning time length feature, the fitness of the kth group of ultrasonic control parameters is obtained after the weight distribution and the weighted calculation are performed on the kth trigger frequency feature and the kth cleaning time length feature according to the preset trigger frequency weight coefficient and the cleaning time length weight coefficient. The k-th set of ultrasonic control parameter adaptations includes a sum of trigger frequency adaptations and cleaning duration adaptations. The trigger frequency fitness comprises the product between the trigger frequency weight coefficient and the kth trigger frequency feature. The cleaning duration adaptation includes a product between the cleaning duration weight coefficient and a kth cleaning duration feature.
Further, the ultrasonic decontamination record data is randomly selected again, and the k-1 group of ultrasonic control parameter basic information is obtained. The basic information of the k-1 ultrasonic control parameters comprises a k-1 trigger frequency characteristic, a k-1 cleaning time length characteristic and a k-1 ultrasonic control parameter. And obtaining the fitness of the k-1 group ultrasonic control parameters by carrying out fitness evaluation on the k-1 triggering frequency characteristic and the k-1 cleaning duration characteristic. And judging whether the adaptability of the k-th group of ultrasonic control parameters is smaller than the adaptability of the k-1 th group of ultrasonic control parameters. And if the fitness of the k-1 ultrasonic control parameters is greater than or equal to that of the k-1 ultrasonic control parameters, eliminating the k-1 ultrasonic control parameters, and continuing iteration based on the k-1 ultrasonic control parameters. And if the fitness of the k-th group of ultrasonic control parameters is smaller than the fitness of the k-1-th group of ultrasonic control parameters, eliminating the k-th group of ultrasonic control parameters, and continuing iteration based on the k-1-th group of ultrasonic control parameters. And when the iteration times meet the preset value, acquiring ultrasonic cleaning control parameters. The basic information of the k-1 group of ultrasonic control parameters and the fitness of the k-1 group of ultrasonic control parameters are the same as those of the basic information of the k group of ultrasonic control parameters and the fitness of the k group of ultrasonic control parameters, and are not described in detail herein for brevity of the description. The preset value comprises a preset determined iteration number 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 ultrasonic cleaning control parameters with high precision and strong adaptability are obtained by performing repeated iterative optimization on the ultrasonic decontamination record data, so that the technical effect of the accuracy of decontamination on the vehicle-mounted camera is improved.
Step S600: performing decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the dirt type characteristic information and the dirt distribution characteristic information to obtain chemical cleaning control parameters;
further, step S600 of the present application further includes:
step S610: according to the acid decontamination device, acquiring an acid decontamination additive type parameter and an acid decontamination additive flow parameter;
step S620: according to the alkaline decontamination device, acquiring alkaline decontamination additive type parameters and alkaline decontamination additive flow parameters;
step S630: setting the dirt type characteristic information and the dirt distribution characteristic information as cleaning scene characteristics, setting the acidic detergent additive type parameter, the acidic detergent additive flow parameter, the alkaline detergent additive type parameter and the alkaline detergent additive flow parameter as retrieval target parameters, and collecting chemical dirt removal record data;
step S640: and optimizing control parameters according to the chemical decontamination record data to obtain the chemical cleaning control parameters.
Specifically, the soil type characteristic information and the soil distribution characteristic information are set as cleaning scene characteristics, and the acidic soil release additive type parameter, the acidic soil release additive flow parameter, the alkaline soil release additive type parameter and the alkaline soil release 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 recording data includes a plurality of sets of chemical cleaning control data. The plurality of sets of chemical cleaning control data includes a plurality of historical acidic detergent additive type parameters, a plurality of historical acidic detergent additive flow parameters, a plurality of historical alkaline detergent additive type parameters, a plurality of historical alkaline detergent additive flow parameters corresponding to the plurality of historical cleaning scenario features. The plurality of historical cleaning scenario features includes a plurality of historical soil type feature information and a plurality of historical soil distribution feature information. The process of optimizing the control parameters for the chemical decontamination recording data is the same as the process of optimizing the control parameters for the ultrasonic decontamination recording data, and is not described here again for the sake of brevity. The chemical cleaning control parameters comprise a soil type characteristic information, an acidic soil removal additive type parameter, an acidic soil removal additive flow parameter, an alkaline soil removal additive type parameter and an alkaline soil removal additive flow parameter which are corresponding to the soil distribution characteristic information and are obtained through control parameter optimization of chemical soil removal record data. The technical effects of performing decontamination analysis on the acid decontamination device and the alkaline decontamination device through the decontamination type characteristic information and the decontamination distribution characteristic information and acquiring reliable chemical cleaning control parameters are achieved, so that the comprehensiveness and accuracy of decontaminating 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: performing 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 perform 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, the plurality of groups of dirt type expansion data and the dirt distribution characteristic expansion data.
Specifically, the ultrasonic decontamination device further comprises an electric heating device. Based on the shape characteristic information and the size characteristic information of the vehicle-mounted camera, the dirt type characteristic information and the dirt distribution characteristic information are randomly adjusted 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 plurality of 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 of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera. The dirt distribution characteristic expansion data comprise a plurality of dirt distribution parameters obtained after the dirt distribution characteristic information is randomly adjusted according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera. The plurality of active temperature identification information comprises a plurality of groups of dirt type expansion data and a plurality of dirt active temperature data corresponding to the dirt distribution characteristic expansion data. The active temperature decision model comprises an input layer, an implicit layer and an output layer. The active temperature decision model has the function of performing intelligent pollution active temperature matching according to pollution type information and pollution distribution information. The technical effect of constructing an active temperature decision model and compacting the foundation for carrying out decontamination analysis on the electric heating device in the follow-up process is 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 plurality of dirt active temperatures and the dirt distribution characteristic information are in one-to-one correspondence;
step S713: traversing the plurality of dirt activity temperatures based on the dirt distribution characteristic information, and setting a plurality of dirt removal temperature areas;
step S714: the plurality of decontamination temperature regions are added to 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 characteristic information of the dirt type and the characteristic information of the dirt distribution are used as input information, and are input into an active temperature decision model to obtain a plurality of dirt active temperatures. And traversing a plurality of decontamination active temperatures according to the decontamination distribution characteristic information, setting a plurality of decontamination temperature regions, and adding the plurality of decontamination temperature regions to the decontamination temperature control parameters. Based on the ultrasonic vibration box distribution result, 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 activity temperature and dirty distribution characteristic information one-to-one. 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 decontamination temperature control parameter includes a plurality of decontamination temperature regions. The ultrasonic decontamination device is comprehensively, reliably and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the technical effect of improving the decontamination quality of the vehicle-mounted camera is achieved.
In summary, the vehicle-mounted camera dirt removing method based on the ultrasonic waves has the following technical effects:
1. extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information of the vehicle-mounted camera and size feature information of the vehicle-mounted camera; according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution, and generating an ultrasonic vibration box distribution result; the method comprises the steps of extracting dirt characteristics from image information of a vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information; the ultrasonic decontamination device 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, performing dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters; performing decontamination analysis on the acid decontamination device and the alkaline decontamination device to obtain chemical cleaning control parameters; performing 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 ultrasonic decontamination device is precisely, intelligently and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the accuracy and comprehensiveness of decontamination of the vehicle-mounted camera are improved, and the technical effect of the decontamination quality of the vehicle-mounted camera is improved.
2. The ultrasonic decontamination record data is subjected to repeated iterative optimization to obtain ultrasonic cleaning control parameters with high precision and strong adaptability, so that the accuracy of decontamination of the vehicle-mounted camera is improved.
3. The acid decontamination device and the alkaline decontamination device are subjected to decontamination analysis through the decontamination type characteristic information and the decontamination distribution characteristic information, and reliable chemical cleaning control parameters are obtained, so that the comprehensiveness and accuracy of decontaminating the vehicle-mounted camera are improved.
Example two
Based on the same inventive concept as the method for removing dirt by using the vehicle-mounted camera based on ultrasonic waves in the foregoing embodiment, the invention also provides a device for removing dirt by using the vehicle-mounted camera based on ultrasonic waves, referring to fig. 3, the device comprises:
the geometric feature extraction module 11 is used for extracting geometric features of the image information of the vehicle-mounted camera, and acquiring shape feature information of the vehicle-mounted camera and size feature information of the vehicle-mounted camera;
the ultrasonic vibration box distribution module 12 is used for carrying out ultrasonic vibration box distribution according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, and generating an ultrasonic vibration box distribution result;
The dirt feature extraction module 13 is used for extracting dirt features of the image information of the vehicle-mounted camera to obtain dirt type feature information and dirt distribution feature information;
the device adjusting module 14 is used for adjusting an ultrasonic decontamination device, and the ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a salt water decontamination device;
the first decontamination analysis module 15 is configured to perform 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, and acquire ultrasonic cleaning control parameters;
the second decontamination analysis module 16 is configured to perform decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the decontamination type feature information and the decontamination distribution feature information, and obtain chemical cleaning control parameters;
the decontamination module 17, 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 device further comprises:
the decontamination temperature control parameter determining 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 decontamination temperature control parameters;
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 device further comprises:
the second execution module is used for acquiring an ultrasonic wave propagation direction, a vibration box vibration frequency parameter and a vibration box vibration amplitude parameter according to the ultrasonic vibration box;
the third execution module is used for acquiring a brine spray direction parameter and a brine spray flow parameter according to the brine decontamination device;
the recording data acquisition module is used for setting the dirt type characteristic information and the dirt distribution characteristic information as cleaning scene characteristics, setting the ultrasonic wave propagation direction, the vibrating box vibration frequency parameter, the vibrating box vibration amplitude parameter, the saline water spraying direction parameter and the saline water spraying flow parameter as retrieval target parameters, and acquiring ultrasonic dirt removal recording data;
And the control parameter optimization module is used for performing control parameter optimization according to the ultrasonic decontamination record data to acquire the ultrasonic cleaning control parameters.
Further, the device further comprises:
the fourth execution module is used for acquiring basic information of a kth group of ultrasonic control parameters according to the ultrasonic decontamination record data, wherein the basic information of the kth group of ultrasonic control parameters comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
the fitness evaluation module is used for evaluating the fitness of a kth group of ultrasonic control parameters according to the kth trigger frequency characteristic and the kth cleaning duration characteristic;
the fifth execution module is used for eliminating the k-1 group of ultrasonic control parameters and continuing iteration based on the k group of ultrasonic control parameters when the k group of ultrasonic control parameter fitness is greater than or equal to the k-1 group of ultrasonic control parameter fitness;
the iteration module is used for eliminating the k group of ultrasonic control parameters and continuing iteration based on the k-1 group of ultrasonic control parameters when the k group of ultrasonic control parameter fitness is smaller than the k-1 group of ultrasonic control parameter fitness;
The ultrasonic cleaning control parameter output module is used for outputting the ultrasonic cleaning control parameters when the iteration times meet the preset value.
Further, the device further comprises:
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 alkaline decontamination additive type parameters and alkaline decontamination additive flow parameters according to the alkaline decontamination device;
the chemical decontamination record data acquisition module is used for setting the decontamination type characteristic information and the decontamination distribution characteristic information as cleaning scene characteristics, setting 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 acquiring chemical decontamination record data;
and the chemical cleaning control parameter acquisition module is used for carrying out control parameter optimization according to the chemical decontamination record data to acquire the chemical cleaning control parameters.
Further, the device further comprises:
the construction module is used for constructing an active temperature decision model;
the dirt active temperature acquisition module is used for inputting the dirt type characteristic information and the dirt distribution characteristic information into the active temperature decision model to acquire a plurality of dirt active temperatures, wherein the plurality of dirt active temperatures and the dirt distribution characteristic information are in one-to-one correspondence;
the region setting module is used for traversing the plurality of pollution activity temperatures and setting a plurality of pollution removal temperature regions based on the pollution distribution characteristic information;
and a sixth execution module for adding the plurality of decontamination temperature regions to the decontamination temperature control parameter.
Further, the device further comprises:
the seventh execution module is used for 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;
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 and generate a plurality of active temperature identification information;
the training module is used for training the active temperature decision model according to the plurality of active temperature identification information, the plurality of groups of dirt type expansion data and the plurality of groups of dirt distribution characteristic expansion data.
The vehicle-mounted camera dirt removing device based on the ultrasonic waves provided by the embodiment of the invention can execute the vehicle-mounted camera dirt removing method based on the ultrasonic waves provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
All the included modules are only divided according to the functional logic, but are not limited to the above-mentioned division, so long as the corresponding functions can be realized; in addition, the specific names of the functional modules are only for 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 a 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 be construed as limiting the functionality and 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 processors 31 in the electronic device may be one or more, in fig. 4, one processor 31 is taken as an example, and the processors 31, the memory 32, the input device 33 and the output device 34 in the electronic device may be connected by a bus or other means, in fig. 4, by bus connection is taken as an example.
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 an ultrasound-based on-vehicle camera decontamination method in an embodiment of the present invention. The processor 31 executes various functional applications of the computer device and data processing by running software programs, instructions and modules stored in the memory 32, i.e. implements an ultrasound-based on-board camera decontamination method as described above.
The application provides a vehicle-mounted camera dirt removing method based on ultrasonic waves, wherein the method is applied to a vehicle-mounted camera dirt removing device based on the ultrasonic waves, and the method comprises the following steps: extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information of the vehicle-mounted camera and size feature information of the vehicle-mounted camera; according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution, and generating an ultrasonic vibration box distribution result; the method comprises the steps of extracting dirt characteristics from image information of a vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information; the ultrasonic decontamination device 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, performing dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters; performing decontamination analysis on the acid decontamination device and the alkaline decontamination device to obtain chemical cleaning control parameters; performing 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 technical problem that in the prior art, dirt removing accuracy of the vehicle-mounted camera is insufficient, and then dirt removing effect of the vehicle-mounted camera is poor is solved. The ultrasonic decontamination device is precisely, intelligently and adaptively controlled through the ultrasonic cleaning control parameters, the chemical cleaning control parameters and the decontamination temperature control parameters, so that the accuracy and comprehensiveness of decontamination of the vehicle-mounted camera are improved, and the technical effect of the decontamination quality of the vehicle-mounted camera is improved.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (6)
1. The method for removing dirt of the vehicle-mounted camera based on the ultrasonic waves is characterized by comprising the following steps of:
extracting geometric features of the image information of the vehicle-mounted camera to obtain shape feature information and size feature information of the vehicle-mounted camera;
according to the shape characteristic information of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera, carrying out ultrasonic vibration box distribution to generate an ultrasonic vibration box distribution result;
performing dirt characteristic extraction on the image information of the vehicle-mounted camera to obtain dirt type characteristic information and dirt distribution characteristic information;
The ultrasonic decontamination device comprises an ultrasonic vibration box, an acid decontamination device, an alkaline decontamination device and a saline decontamination device, and further comprises an electric heating device, wherein the electric heating device comprises: performing 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, wherein the decontamination temperature control parameters comprise: 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 plurality of dirt active temperatures and the dirt distribution characteristic information are in one-to-one correspondence; traversing the plurality of dirt activity temperatures based on the dirt distribution characteristic information, and setting a plurality of dirt removal temperature areas; adding the plurality of decontamination temperature regions to the decontamination temperature control parameter;
according to the dirt type characteristic information and the dirt distribution characteristic information, performing dirt removal analysis on the ultrasonic vibration box and the saline water decontamination device to obtain ultrasonic cleaning control parameters;
performing decontamination analysis on the acid decontamination device and the alkaline decontamination device according to the dirt type characteristic information and the dirt distribution characteristic information to obtain chemical cleaning control parameters;
Controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter and the chemical cleaning control parameter;
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.
2. The method of claim 1, wherein the performing a decontamination analysis on the ultrasonic vibration box and the brine decontamination device according to the decontamination type feature information and the decontamination distribution feature information to obtain ultrasonic cleaning control parameters includes:
acquiring an ultrasonic 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;
according to the brine decontamination device, acquiring brine spraying direction parameters and brine spraying flow parameters;
setting the dirt type characteristic information and the dirt distribution characteristic information as cleaning scene characteristics, setting the ultrasonic wave propagation direction, the vibrating box vibration frequency parameter, the vibrating box vibration amplitude parameter, 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.
3. The method of claim 2, wherein the optimizing control parameters based on the ultrasonic decontamination log data to obtain the ultrasonic cleaning control parameters comprises:
acquiring basic information of a kth group of ultrasonic control parameters according to the ultrasonic decontamination record data, wherein the basic information of the kth group of ultrasonic control parameters comprises a kth trigger frequency characteristic and a kth cleaning duration characteristic;
evaluating the fitness of a kth group of ultrasonic control parameters according to the kth trigger frequency characteristic and the kth cleaning duration characteristic;
when the fitness of the k-th ultrasonic control parameter is greater than or equal to that of the k-1 th ultrasonic control parameter, eliminating the k-1 th ultrasonic control parameter, and continuing iteration based on the k-th ultrasonic control parameter;
when the fitness of the k-th ultrasonic control parameter is smaller than that of the k-1 th ultrasonic control parameter, eliminating the k-th ultrasonic control parameter, and continuing iteration based on the k-1 th ultrasonic control parameter;
and outputting the ultrasonic cleaning control parameters when the iteration times meet a preset value.
4. The method of claim 1, wherein performing a decontamination analysis of the acidic decontamination device and the alkaline decontamination device based on the decontamination type feature information and the decontamination profile information to obtain chemical cleaning control parameters comprises:
according to the acid decontamination device, acquiring an acid decontamination additive type parameter and an acid decontamination additive flow parameter;
according to the alkaline decontamination device, acquiring alkaline decontamination additive type parameters and alkaline decontamination additive flow parameters;
setting the dirt type characteristic information and the dirt distribution characteristic information as cleaning scene characteristics, setting the acidic detergent additive type parameter, the acidic detergent additive flow parameter, the alkaline detergent additive type parameter and the alkaline detergent additive flow parameter as retrieval target parameters, and collecting chemical dirt removal record data;
and optimizing control parameters according to the chemical decontamination record data to obtain the chemical cleaning control parameters.
5. The method of claim 1, wherein the 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 perform 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, the plurality of groups of dirt type expansion data and the dirt distribution characteristic expansion data.
6. An ultrasonic wave-based vehicle-mounted camera dirt removing device, which is characterized by comprising:
the geometric feature extraction module is used for extracting geometric features of the image information of the vehicle-mounted camera and acquiring shape feature information and 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 of the vehicle-mounted camera and the size characteristic information of the vehicle-mounted camera to generate an ultrasonic vibration box distribution result;
the dirty feature extraction module is used for carrying out 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 adjusting module is used for adjusting 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 ultrasonic decontamination device also comprises an electric heating device, wherein the electric heating device comprises:
the decontamination temperature control parameter determining 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 decontamination temperature control parameters;
the construction module is used for constructing an active temperature decision model;
the dirt active temperature acquisition module is used for inputting the dirt type characteristic information and the dirt distribution characteristic information into the active temperature decision model to acquire a plurality of dirt active temperatures, wherein the plurality of dirt active temperatures and the dirt distribution characteristic information are in one-to-one correspondence;
the region setting module is used for traversing the plurality of pollution activity temperatures and setting a plurality of pollution removal temperature regions based on the pollution distribution characteristic information;
a sixth execution module for adding the plurality of decontamination temperature regions into the decontamination temperature control parameter;
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 acquire ultrasonic cleaning control parameters;
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 controlling the ultrasonic decontamination device to decontaminate the vehicle-mounted camera according to the ultrasonic cleaning control parameter and the chemical cleaning 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.
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