WO2023029633A1 - 摄像头清洗控制方法、装置、设备及系统 - Google Patents

摄像头清洗控制方法、装置、设备及系统 Download PDF

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Publication number
WO2023029633A1
WO2023029633A1 PCT/CN2022/097201 CN2022097201W WO2023029633A1 WO 2023029633 A1 WO2023029633 A1 WO 2023029633A1 CN 2022097201 W CN2022097201 W CN 2022097201W WO 2023029633 A1 WO2023029633 A1 WO 2023029633A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
camera
period
lens
target camera
Prior art date
Application number
PCT/CN2022/097201
Other languages
English (en)
French (fr)
Inventor
赵彦君
江广
Original Assignee
寒武纪行歌(南京)科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111020097.9A external-priority patent/CN113612926B/zh
Priority claimed from CN202111020424.0A external-priority patent/CN113709374A/zh
Application filed by 寒武纪行歌(南京)科技有限公司 filed Critical 寒武纪行歌(南京)科技有限公司
Priority to US18/687,444 priority Critical patent/US20250203224A1/en
Publication of WO2023029633A1 publication Critical patent/WO2023029633A1/zh

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • G03B17/14—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets interchangeably
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0006—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means to keep optical surfaces clean, e.g. by preventing or removing dirt, stains, contamination, condensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/52—Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/665—Control of cameras or camera modules involving internal camera communication with the image sensor, e.g. synchronising or multiplexing SSIS control signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H04N23/811—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising

Definitions

  • the present application relates to the technical field of vehicle assembly, and more specifically, to a camera cleaning control method, device, equipment and system.
  • a common camera cleaning control method is to detect whether the camera needs to be cleaned, and if it is determined that cleaning is required, the camera is cleaned.
  • cleaning the camera by using the above-mentioned camera cleaning control method will affect the image collection of the camera, thereby affecting the driving experience.
  • the purpose of the present application is to provide a camera cleaning control method, device, equipment and system, so as to realize camera cleaning without affecting camera image acquisition.
  • the present application discloses a camera cleaning control method, including: determining the current target camera to be cleaned; determining the cleaning period of the target camera according to the synchronization signal; The camera is cleaned.
  • the camera is provided with a plurality of lenses;
  • the determining the target camera that needs to be cleaned currently includes: determining the target camera that needs to be cleaned currently, and the target camera currently uses the first lens;
  • the synchronous signal is used to determine the cleaning period of the target camera, including: determining the switching period of the first lens according to the synchronous signal; wherein the switching period is located within the period from the end of the current frame exposure to the start of the next frame acquisition , the period after the switching is completed is the cleaning period of the first lens;
  • the cleaning of the target camera during the cleaning period includes: switching the currently used lens to the second lens during the switching period two lenses, and after the switching is completed, the first lens is cleaned; wherein, the second lens is a lens other than the first lens among the multiple lenses provided in the camera.
  • the determining the cleaning period of the target camera according to the synchronization signal includes: determining the cleaning period of the target camera according to the synchronization signal; wherein the cleaning period is located from the end of the exposure of the current frame to the next During the period before the start of a frame acquisition.
  • the present application discloses a camera cleaning control device, including: a determination module, configured to determine the current target camera that needs to be cleaned; A time period; a processing module, configured to clean the target camera within the cleaning time period.
  • the determining module is specifically configured to determine the target camera that needs to be cleaned currently, and the target camera currently uses the first lens; the determining module is also specifically configured to determine the first lens according to the synchronization signal The switching period; wherein, the switching period is located within the period from the end of the current frame exposure to the start of the next frame acquisition, and the period after the switching is completed is the cleaning period of the first lens; the processing module is specifically used for During the switching period, the currently used lens is switched to the second lens, and after the switching is completed, the first lens is cleaned; wherein, the second lens is a plurality of lenses provided in the camera other lens except the first lens.
  • the processing module includes a control module; the determining module is specifically configured to determine the cleaning period of the target camera according to the synchronization signal; wherein, the cleaning period is from the end of the exposure of the current frame to the next During the period before the start of frame acquisition; the control module is configured to clean the target camera during the cleaning period.
  • the present application discloses an electronic device, including: a memory, a processor; memory: a memory for storing instructions executable by the processor; wherein, the processor is used for calling program instructions in the memory Execute the camera cleaning control method as described above.
  • the present application discloses a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to realize the aforementioned camera cleaning Control Method.
  • the present application discloses a computer program product, including a computer program, and when the computer program is executed by a processor, the aforementioned camera cleaning control method is realized.
  • the present application discloses a camera cleaning system, including: a cleaning control device, a plurality of cleaning devices, a synchronization signal generator, and a plurality of cameras; the plurality of cleaning devices are set in one-to-one correspondence with the plurality of cameras;
  • the synchronization signal generator is connected to the cleaning control device, and is used to generate and send a synchronization signal to the cleaning control device;
  • the cleaning control device is connected to the plurality of cleaning devices, and is used to determine the current cleaning target camera; according to the synchronization signal, determine the cleaning period of the target camera; wherein, the cleaning period is located in the period from the end of the current frame exposure to the start of the next frame acquisition; in the cleaning period, control the target camera The corresponding cleaning device cleans the target camera.
  • the system further includes: a plurality of serializers corresponding to the plurality of cameras; one end of the plurality of serializers is connected to the synchronization signal generator, and the other end is connected to the synchronous signal generator.
  • the plurality of cameras are connected in one-to-one correspondence, and the other end of at least one serializer is connected to the cleaning control device for synchronously outputting the synchronization signal generated by the synchronization signal generator to the plurality of cameras and The cleaning control device.
  • the present application provides a camera cleaning control method, device, equipment and system, which determines the current target camera that needs to be cleaned, and determines the cleaning period of the target camera according to the synchronization signal.
  • the target camera Clean up During the cleaning period, the target camera Clean up. That is to say, the present application can determine the cleaning period of the target camera according to the synchronous signal, thereby ensuring that the target camera is cleaned within the cleaning period thus determined without affecting the image acquisition of the target camera.
  • FIG. 1 is a flowchart of a camera cleaning control method provided in an embodiment of the present application
  • FIG. 2 is a schematic flow diagram of a camera cleaning control method provided in an embodiment of the present application.
  • FIG. 3 is a flowchart of a camera cleaning control method provided in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a working sequence of a camera provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of the exposure of the camera provided by the embodiment of the present application.
  • FIG. 6 is a flow chart of a camera cleaning control method provided in an embodiment of the present application.
  • FIG. 7 is a flowchart of a camera cleaning control method provided in an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a switching device provided in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a camera cleaning control device provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a camera cleaning control device provided by an embodiment of the present application.
  • Fig. 11 is a schematic diagram of a camera cleaning control system provided by an embodiment of the present application.
  • FIG. 12 is a schematic diagram of the working principle of a serializer provided by an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of the electronic device of the present application.
  • a common camera cleaning control method is to detect whether the camera needs to be cleaned, and if it is determined that cleaning is required, the camera is cleaned immediately.
  • cleaning the camera with the above-mentioned camera cleaning control method may cause blurred or even abnormal images collected by the camera.
  • the image captured by the camera is abnormal, it will not only affect the driving experience, but also affect driving safety.
  • the camera cleaning control method, device, equipment and system provided in this application aim to solve the above technical problems in the prior art.
  • Embodiment 1 of the present application provides a camera cleaning control method, including the following steps: determine the current target camera to be cleaned; determine the cleaning period of the target camera according to the synchronization signal; The camera is cleaned.
  • the determining the cleaning period of the target camera according to the synchronization signal includes:
  • the cleaning period of the target camera is determined; wherein, the cleaning period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the cleaning period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the camera is provided with multiple lenses;
  • the determining the target camera that needs to be cleaned currently includes: determining the target camera that needs to be cleaned currently, and the target camera currently uses the first lens;
  • the synchronous signal is used to determine the cleaning period of the target camera, including: determining the switching period of the first lens according to the synchronous signal; wherein the switching period is located within the period from the end of the current frame exposure to the start of the next frame acquisition , the period after the switching is completed is the cleaning period of the first lens;
  • the cleaning of the target camera during the cleaning period includes: switching the currently used lens to the second lens during the switching period two lenses, and after the switching is completed, the first lens is cleaned; wherein, the second lens is a lens other than the first lens among the multiple lenses provided in the camera.
  • the camera cleaning control method provided in this embodiment may be executed by a camera cleaning control device.
  • the camera cleaning control device can be realized by computer programs, such as application software, computer programs, etc., or by media storing relevant computer programs, such as U disks, CDs, etc.; or, it can also be realized by integrating Or implemented by a physical device installed with a related computer program, such as a chip.
  • Fig. 1 is the flow chart of the camera cleaning control method provided by one embodiment of the present application, as shown in Fig. 1, the camera cleaning control method provided in this embodiment includes the following steps:
  • Step 101 determine the current target camera to be cleaned.
  • Step 102 Determine the cleaning period of the target camera according to the synchronization signal; wherein, the cleaning period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • Step 103 cleaning the target camera within the cleaning period.
  • the camera cleaning control method provided in this embodiment may be executed by a camera cleaning control device.
  • the camera cleaning control device can be realized by computer programs, such as application software, computer programs, etc., or by media that store relevant computer programs, such as U disks, CDs, etc.; or, it can also be realized by integrating Or implemented by a physical device installed with a related computer program, such as a chip.
  • the camera cleaning control device may first determine the current target camera to be cleaned among the multiple cameras.
  • the number of target cameras may be one or multiple, which is not limited in this embodiment.
  • the camera cleaning control device may acquire images collected by each camera, and perform lens attachment detection on the images collected by each camera.
  • the specific detection method is not limited in this embodiment.
  • the camera cleaning control device may, according to the detection results of the images collected by each camera, determine that the detection result is that there is an attachment camera as the current target camera to be cleaned.
  • the camera cleaning control device can determine the cleaning period of the target camera according to the synchronization signal.
  • the specific determination method will be described in detail later, and will not be repeated here.
  • the cleaning period is located within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the current frame refers to a frame that is being processed or has been processed at the current moment, and the processing includes but is not limited to acquisition, exposure, and readout.
  • the camera cleaning control device can clean the target camera during the cleaning period.
  • the camera cleaning control device may further determine whether to clean the target camera again.
  • the camera cleaning control device may acquire images collected by the target camera and detect the images. If the detection result of the target camera is that there is an attachment, it indicates that the target camera is not cleaned, and the target camera needs to be cleaned again. At this time, the camera cleaning control device can return to the step of determining the cleaning period of the target camera according to the synchronization signal. If the detection result of the target camera is that there is no attachment, it indicates that the target camera has been cleaned. At this time, the camera cleaning control device may return to the step of determining the current target camera to be cleaned.
  • the camera cleaning control device may use different cleaning methods to clean the target camera. Specifically, the camera cleaning control device may first determine the type of attachments corresponding to the target camera. The specific determination method is not limited in this embodiment.
  • the types of attachments include but are not limited to raindrops, snowflakes, dirt, pieces of paper, and the like.
  • the camera cleaning control device may use a corresponding cleaning method to clean the target camera according to the type of attachment.
  • the cleaning method includes at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
  • the type of attachment is raindrops
  • the target camera can be cleaned by wipers
  • the type of attachment is dirt, such as mud spots
  • water spray cleaning and cleaning can be used at the same time.
  • the wiper cleaning method is used to clean the target camera. If the type of attachment is paper, the target camera can be cleaned by air jet cleaning.
  • the target camera can be cleaned by using a corresponding cleaning method for different attachment types, so that the cleaning effect can be guaranteed.
  • FIG. 2 is a schematic flowchart of a camera cleaning control method provided by an embodiment of the present application.
  • the camera cleaning control device can first detect whether there is an attachment on the lens of each camera, if not, Then return to the above-mentioned detection step, if there is, further detect the type of attachment, and select the corresponding cleaning method according to the type of attachment.
  • the camera cleaning control device can judge whether the cleaning process has been triggered, that is, whether cleaning has been performed at this time, if the cleaning process has not been triggered at this time, that is, no cleaning has been performed at this time, the camera cleaning control device
  • the cleaning control can be performed according to the synchronous signal (Vsync), that is, according to the synchronous signal, the cleaning period is determined, and the corresponding camera is cleaned within the cleaning period.
  • the camera cleaning control method provided in this embodiment determines the current target camera that needs to be cleaned, and determines the cleaning period of the target camera according to the synchronization signal.
  • the cleaning period is located in the period from the end of the current frame exposure to the start of the next frame acquisition. , during the cleaning period, the target camera is cleaned. That is to say, in the embodiment of the present application, the period from the end of the exposure of the current frame to the start of the next frame acquisition can be obtained according to the synchronization signal, and the cleaning period of the target camera can be determined within this period, because within this period, the current The information of the frame has been stored, and the acquisition of the next frame has not yet started, thus ensuring that the target camera is cleaned within the cleaning period determined thereby without affecting the image acquisition of the target camera.
  • the camera cleaning control device may determine the cleaning degree according to the current weather conditions, and clean the target camera to a corresponding degree within the determined cleaning period.
  • the camera cleaning control device may determine the current weather condition through images collected by the camera, or through acquiring weather data, or through other suitable methods, which is not limited in this embodiment. For example, if the camera cleaning control device determines that the current weather condition is heavy rain, the camera cleaning control device can clean the target camera within the determined cleaning period, and the cleaning degree is strong cleaning. If the camera cleaning control device determines that the current weather condition is fine, the camera cleaning control device can clean the target camera within the determined cleaning period, and the cleaning degree is normal cleaning.
  • the cleaning degree can be determined according to different weather conditions, so that the target camera can be effectively cleaned to ensure the cleaning effect.
  • FIG. 3 is a flowchart of a camera cleaning control method provided in an embodiment of the present application. As shown in FIG. include the following steps:
  • Step 201 Determine the acquisition start time of the current frame and the interval between acquisitions of adjacent frames according to the synchronization signal.
  • Step 202 Based on the acquisition start time of the current frame, determine the exposure start time of the current frame; wherein, the exposure start time of each frame is consistent with the acquisition start time.
  • Step 203 Determine the exposure end time of the current frame according to the acquisition start time of the current frame and the preset exposure time, and determine based on the exposure end time of the current frame and the interval between acquisitions of adjacent frames The cleaning period; wherein, the cleaning period is located within the period from the end of the current frame exposure to the start of the next frame acquisition.
  • the camera cleaning control device may determine the cleaning period of the target camera according to the synchronization signal.
  • FIG. 4 is a schematic diagram of the working sequence of the camera provided by an embodiment of the present application. As shown in FIG. Phase Locked Loop (PLL for short) is derived from the frequency multiplication of the external reference clock. In addition, the internal working timing of the camera is obtained based on the working clock.
  • PLL Phase Locked Loop
  • Vsync is a synchronous signal.
  • the synchronous signal can be calculated and generated inside the camera according to Pclk and frame interval (frame_interval) configuration.
  • the synchronization signal may be provided by an external device (such as a synchronization generator), and the device may output the synchronization signal at a fixed frequency, such as 30 Hz or 60 Hz.
  • the camera cleaning control device can determine the acquisition start time of the current frame and the interval length (Frametime) between adjacent frame acquisitions. In addition, since the exposure start time of each frame is consistent with the acquisition start time, the camera cleaning control device can determine the exposure start time of the current frame based on the acquisition start time of the current frame.
  • Expotime is the preset exposure duration of each frame.
  • FIG. 5 is a schematic diagram of the exposure of the camera provided in the embodiment of the present application. As shown in FIG. 5, within the exposure duration of each frame, the camera’s exposure to the frame Pixels are exposed row by row, starting from the first row, and then start to expose the second row after the first row is exposed, and so on. Correspondingly, after the exposure ends, the camera can read out the data of the frame row by row. As shown in FIG. 4 , Readtime is the readout duration of each frame of data, Linetime is the readout duration of each row of data in each frame of data, and Data is the readout data.
  • the camera cleaning control device can determine the exposure end time of the current frame according to the acquisition start time of the current frame and the preset exposure time.
  • the exposure end time of the current frame is the acquisition start time of the current frame plus a preset exposure duration.
  • the acquisition start time of the next frame is determined according to the acquisition start time of the current frame and the interval between acquisitions of adjacent frames.
  • the acquisition start time of the next frame is the acquisition start time of the current frame plus the interval between acquisitions of adjacent frames.
  • the cleaning period can be determined based on the exposure end time of the current frame and the start time of the next frame acquisition.
  • the cleaning period (Cleantime) is located within a period (Frametime-Expotime) from the end of the current frame exposure to the start of the next frame acquisition.
  • the camera cleaning control method according to the synchronization signal, determines the acquisition start time of the current frame and the interval between adjacent frame acquisitions, and then determines the exposure start time of the current frame, and then according to the acquisition start time of the current frame and the preset Determine the exposure end time of the current frame for a given exposure time, and determine the cleaning period based on the exposure end time of the current frame and the interval between adjacent frame acquisitions.
  • the cleaning period is from the end of the current frame exposure to the start of the next frame acquisition. During the period of time, that is, the blanking period of the camera, it ensures the matching between the cleaning period and the working sequence of the camera, thereby avoiding the impact of camera cleaning on the image acquisition of the camera.
  • step 102 includes: determining whether the exposure of the current frame has ended at the current moment according to the synchronization signal; End, then execute the step of determining the cleaning period of the target camera according to the synchronization signal; if the exposure of the current frame has ended, then determine the remaining duration from the current moment to the start of the next frame acquisition according to the synchronization signal ; If the remaining duration reaches the preset threshold, then perform the step of determining the cleaning period of the target camera according to the synchronization signal; if the remaining duration does not reach the preset threshold, then use the next frame as the current frame and execute the step of determining the cleaning period of the target camera according to the synchronization signal.
  • the camera cleaning control device may determine whether the exposure of the current frame has ended at the current moment according to the synchronization signal. If the exposure of the current frame has not ended, it means that the current frame is in the exposure stage, and the remaining time from the current moment to the start of the next frame acquisition must be greater than the cleaning period, that is, the remaining time is enough to complete the cleaning, then you can execute this In the second embodiment of the application, the step of determining the cleaning period of the target camera according to the synchronization signal.
  • the control device can determine the remaining duration from the current moment to the start of the next frame acquisition according to the synchronization signal.
  • the camera cleaning control device may determine a cleaning period based on the current time and a threshold. Wherein, the start time of the cleaning period is the current time, and the duration of the cleaning period is the threshold.
  • the camera cleaning control device can use the next frame as the current frame and execute the second embodiment of the present application to determine the target camera according to the synchronization signal. Steps for cleaning sessions.
  • the cleaning period of the target camera can be further determined according to the different processing stages of the current frame at the current moment, and the matching between the cleaning period and the working sequence of the camera can be further ensured.
  • FIG. 6 is a flowchart of a camera cleaning control method provided in an embodiment of the present application. As shown in FIG. 6 , the camera cleaning control method provided in this embodiment includes the following steps:
  • Step 301 Determine the current target camera that needs to be cleaned, and the target camera currently uses the first lens.
  • Step 302. Determine a switching period of the first lens according to the synchronization signal; wherein, the switching period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • Step 303 During the switching period, switch the currently used lens to the second lens, and clean the first lens after the switch is completed; wherein, the second lens is a lens set in the camera Other lenses in the plurality of lenses except the first lens.
  • the camera cleaning control method provided in this embodiment may be executed by a camera cleaning control device.
  • the camera cleaning control device can be realized by computer programs, such as application software, computer programs, etc., or by media that store relevant computer programs, such as U disks, CDs, etc.; or, it can also be realized by integrating Or implemented by a physical device installed with a related computer program, such as a chip.
  • the camera is provided with a plurality of lenses, and the number of lenses is not limited in this embodiment.
  • the number of lenses is not limited in this embodiment.
  • it is necessary to Signal determine the lens switching period, switch the lens within the switching period, and after the switching is completed, clean the lens used by the camera that needs to be cleaned before the lens switching, that is, the period after the switching is completed, that is, the first lens used before the lens switching Lens cleaning period.
  • the camera cleaning control device may first determine the current target camera to be cleaned among the multiple cameras,
  • the lens currently used by the target camera is the first lens.
  • the number of target cameras may be one or more, which is not limited in this embodiment.
  • the number of first lenses may also be one or more.
  • the camera cleaning control device may acquire images collected by each camera, and perform lens attachment detection on the images collected by each camera.
  • the specific detection method is not limited in this embodiment.
  • the camera cleaning control device may, according to the detection results of the images collected by each camera, determine that the detection result is that there is an attachment camera as the current target camera to be cleaned.
  • the camera cleaning control device can determine the switching period of the first lens according to the synchronization signal.
  • the specific determination method will be described in detail later, and will not be repeated here.
  • the switching period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the current frame refers to a frame that is being processed or has been processed at the current moment, and the processing includes but is not limited to acquisition, exposure, and readout.
  • the camera cleaning control device can switch the currently used lens to the second lens during the switching period, that is, other lenses in the plurality of lenses except the first lens, and during the cleaning period of the first lens, that is, switch After completion, the first lens is cleaned.
  • the specific switching method will be described in detail later, and will not be repeated here.
  • the camera cleaning control device may use different cleaning methods to clean the first lens. Specifically, the camera cleaning control device may first determine the type of attachments corresponding to the target camera. The specific determination method is not limited in this embodiment.
  • the types of attachments include but are not limited to raindrops, snowflakes, dirt, pieces of paper, and the like.
  • the camera cleaning control device may use a corresponding cleaning method to clean the first lens according to the type of attachment.
  • the cleaning method includes at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
  • the cleaning method includes at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
  • the camera cleaning control device may clean the first lens within a preset cleaning period, for example, the preset cleaning period may be from the moment when the switching is completed to the 5th second after the switching is completed . Therefore, the first lens can be cleaned in time without affecting the next lens switching.
  • the camera cleaning control device may determine a cleaning period and a cleaning degree according to current weather conditions, and clean the first lens to a corresponding degree within the determined cleaning period.
  • the camera cleaning control device may determine the current weather condition through images collected by the camera, or through acquiring weather data, or through other suitable methods, which is not limited in this embodiment. For example, if the camera cleaning control device determines that the current weather condition is heavy rain, the camera cleaning control device may determine that the cleaning period is from the moment the switch is completed to the first second after the switch is completed, and the cleaning degree is strong cleaning. If the camera cleaning control device determines that the current weather condition is fine, the camera cleaning control device may determine that the cleaning period is from the moment the switch is completed to the 5th second after the switch is completed, and the cleaning degree is normal cleaning.
  • the corresponding cleaning period and cleaning degree can be determined according to different weather conditions, so that the first lens can be cleaned in time and the cleaning effect can be guaranteed.
  • the switching period of the first lens currently used by the target camera currently to be cleaned is determined, and the switching period is located in the period from the end of the current frame exposure to the start of the next frame acquisition
  • the currently used lens is switched to other lenses except the first lens among the multiple lenses, that is, the second lens, and after the switching is completed, the first lens is cleaned. That is to say, in the embodiment of the present application, the camera is provided with multiple lenses.
  • the target camera currently uses the first lens and needs to be cleaned the period from the end of the current frame exposure to the start of the next frame acquisition can be obtained according to the synchronization signal. And within this period, the first lens is switched to the second lens.
  • FIG. 7 is a flow chart of a camera cleaning control method provided in an embodiment of the present application. As shown in FIG. The following steps:
  • Step 401 Determine the acquisition start time of the current frame and the interval between acquisitions of adjacent frames according to the synchronization signal.
  • Step 402. Based on the acquisition start time of the current frame, determine the exposure start time of the current frame; wherein, the exposure start time of each frame is consistent with the acquisition start time.
  • Step 403 Determine the exposure end time of the current frame according to the acquisition start time of the current frame and the preset exposure duration, and determine based on the exposure end time of the current frame and the interval between acquisitions of adjacent frames The switching period of the first lens; wherein, the switching period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the camera cleaning control device may determine the switching period of the first lens according to the synchronization signal.
  • FIG. 4 is a schematic diagram of the working timing of the camera provided by the embodiment of the present application. As shown in FIG. Locked Loop (PLL for short) is derived from the frequency multiplication of the external reference clock. In addition, the internal working timing of the camera is obtained based on the working clock.
  • Locked Loop PLL for short
  • Vsync is a synchronization signal
  • the synchronization signal can be calculated and generated inside the camera according to Pclk and frame interval (frame_interval) configurations.
  • the synchronization signal may be provided by an external device (such as a synchronization generator), and the device may output the synchronization signal at a fixed frequency, such as 30 Hz or 60 Hz.
  • the camera cleaning control device can determine the acquisition start time of the current frame and the interval length (Frametime) between adjacent frame acquisitions. In addition, since the exposure start time of each frame is consistent with the acquisition start time, the camera cleaning control device can determine the exposure start time of the current frame based on the acquisition start time of the current frame.
  • Expotime is the preset exposure duration of each frame.
  • FIG. 5 is a schematic diagram of the exposure of the camera provided in the embodiment of the present application. As shown in FIG. 5, within the exposure duration of each frame, the camera’s exposure to the frame Pixels are exposed row by row, starting from the first row, and then start to expose the second row after the first row is exposed, and so on. Correspondingly, after the exposure ends, the camera can read out the data of the frame row by row. As shown in FIG. 4 , Readtime is the readout duration of each frame of data, Linetime is the readout duration of each row of data in each frame of data, and Data is the readout data.
  • the camera cleaning control device can determine the exposure end time of the current frame according to the acquisition start time of the current frame and the preset exposure time.
  • the exposure end time of the current frame is the acquisition start time of the current frame plus a preset exposure duration.
  • the acquisition start time of the next frame is determined according to the acquisition start time of the current frame and the interval between acquisitions of adjacent frames.
  • the acquisition start time of the next frame is the acquisition start time of the current frame plus the interval between acquisitions of adjacent frames. Based on the end time of exposure of the current frame and the start time of acquisition of the next frame, the switching period of the first lens can be determined.
  • the switching period is located within the period from the end of the current frame exposure to the start of the next frame acquisition (Frametime-Expotime).
  • the camera cleaning control method according to the synchronization signal, determines the acquisition start time of the current frame and the interval between adjacent frame acquisitions, and then determines the exposure start time of the current frame, and then according to the acquisition start time of the current frame and the preset Determine the exposure end time of the current frame for a given exposure time, and determine the switching period of the first lens based on the exposure end time of the current frame and the interval between adjacent frame acquisitions.
  • the switching period is from the end of the current frame exposure to the next frame.
  • the period before the start of frame acquisition is also the blanking period of camera work, thus ensuring the matching between the switching period and the working sequence of the camera, thereby avoiding the impact of lens switching on the image acquisition of the camera.
  • the camera includes a switching device, and the plurality of lenses are arranged on the switching device.
  • the currently used Switching the lens to the second lens includes: controlling the operation of the switching device to drive the displacement of multiple lenses on the switching device until the second lens moves to the position corresponding to the first lens before the lens switching.
  • the camera is provided with a switching device, and a plurality of lenses are arranged on the switching device.
  • the control device can control the operation of the switching device, so as to drive the displacement of multiple lenses on the switching device until the second lens moves to the position corresponding to the first lens before the lens switching.
  • the operation mode of the switching device may be rotation, reciprocation or other suitable modes, which are not limited in this embodiment.
  • the switching device includes a rotatable wheel, on which a plurality of lenses are evenly distributed, and relative angles between adjacent lenses are equal.
  • controlling the operation of the switching device to drive the displacement of multiple lenses on the switching device until the second lens moves to the position corresponding to the first lens before the lens switching includes: the control wheel rotates in a predetermined direction of rotation, and the rotating Angles are relative angles.
  • FIG 8 is a schematic diagram of the switching device provided by the embodiment of the present application.
  • the switching device is a rotatable circular wheel with four lenses, and the four lenses are evenly distributed on the circular wheel. on the disk, and the relative angles between adjacent lenses are equal to 90 degrees.
  • the camera cleaning control device can control the circular wheel to rotate 90 degrees clockwise to realize switching of the lenses. In practical applications, the camera cleaning control device may control the circular wheel to rotate clockwise, counterclockwise, or alternately clockwise and counterclockwise, which is not limited in this embodiment.
  • the camera cleaning control device may control the circular wheel to rotate 180 degrees clockwise or counterclockwise to realize switching of lenses.
  • the camera cleaning control device can control the circular wheel to rotate 120 degrees clockwise or counterclockwise to realize switching of lenses.
  • the switching device may be a reciprocating mechanism, a plurality of lenses are distributed on the reciprocating mechanism along a moving direction of the reciprocating mechanism, and the distances between adjacent lenses are equal.
  • the moving direction of the reciprocating mechanism may be a horizontal direction, a vertical direction, or other suitable moving directions, which is not limited in this embodiment.
  • the camera cleaning control device can control the reciprocating mechanism to perform reciprocating motion, and the displacement of the reciprocating motion is the distance between adjacent lenses, so that the switching of lenses can be realized.
  • the camera cleaning control device can first judge that the first lens currently used is the first lens. If several lenses are the first lens on the left side, the reciprocating mechanism can be controlled to move horizontally to the left by 1 cm to realize switching of the lenses. If the currently used first lens is the first lens on the right side, the reciprocating mechanism can be controlled to move horizontally to the right by 1 cm to realize switching of the lenses. If the currently used first lens is the second lens on the right side, the reciprocating mechanism can be controlled to move horizontally to the right by 1 cm or horizontally to the left by 1 cm to realize switching of the lenses.
  • the camera cleaning control method provided in this embodiment can use different methods to switch lenses, thereby laying a foundation for realizing camera cleaning that does not affect camera image acquisition.
  • Embodiment 4 of the present application provides a camera cleaning control device, including: a determination module, configured to determine a target camera that needs to be cleaned currently; the determination module is also configured to determine a cleaning period of the target camera according to a synchronization signal; The processing module is configured to clean the target camera during the cleaning period.
  • the determining module is specifically configured to determine the target camera that needs to be cleaned currently, and the target camera currently uses the first lens; Switching period; wherein, the switching period is located within the period from the end of the current frame exposure to the start of the next frame acquisition, and the period after the switching is completed is the cleaning period of the first lens; the processing module is specifically used for During the switching period, the currently used lens is switched to the second lens, and after the switching is completed, the first lens is cleaned; wherein, the second lens is one of the multiple lenses set in the camera lenses other than said first lens.
  • the processing module includes a control module; the determining module is specifically configured to determine the cleaning period of the target camera according to the synchronization signal; wherein, the cleaning period is from the end of the exposure of the current frame to the next During the period before the start of frame acquisition; the control module is configured to clean the target camera during the cleaning period.
  • FIG. 9 is a schematic structural diagram of a camera cleaning control device provided by an embodiment of the present application.
  • the camera cleaning control device provided in this embodiment includes: a determination module 41 and a control module 42 .
  • the determining module 41 is configured to determine the target camera that needs to be cleaned currently.
  • the determination module 41 is further configured to determine the cleaning period of the target camera according to the synchronization signal; wherein the cleaning period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the control module 42 is configured to clean the target camera during the cleaning period.
  • the camera cleaning control device determines the current target camera that needs to be cleaned, and determines the cleaning period of the target camera according to the synchronization signal.
  • the cleaning period is located in the period from the end of the current frame exposure to the start of the next frame acquisition. , during the cleaning period, the target camera is cleaned. That is to say, in the embodiment of the present application, the period from the end of the exposure of the current frame to the start of the next frame acquisition can be obtained according to the synchronization signal, and the cleaning period of the target camera can be determined within this period, because within this period, the current The information of the frame has been stored, and the acquisition of the next frame has not yet started, thus ensuring that the target camera is cleaned within the cleaning period determined thereby without affecting the image acquisition of the target camera.
  • the determination module 41 is further configured to determine the acquisition start time of the current frame and the interval between adjacent frame acquisitions according to the synchronization signal; determine the current frame acquisition start time based on the current frame acquisition start time The exposure start time of the current frame; wherein, the exposure start time of each frame is consistent with the acquisition start time; according to the acquisition start time of the current frame and the preset exposure duration, the exposure end time of the current frame is determined, and based on the The cleaning period is determined by the exposure end time of the current frame and the interval between acquisitions of adjacent frames; wherein, the cleaning period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the determination module 41 is also used to determine whether the exposure of the current frame has ended at the current moment according to the synchronization signal; if the exposure of the current frame has not ended, then perform the determination according to the synchronization signal The step of the cleaning period of the target camera; if the exposure of the current frame has ended, then according to the synchronization signal, determine the remaining time between the current moment and the start of the next frame acquisition; if the remaining time reaches the preset threshold , then perform the step of determining the cleaning period of the target camera according to the synchronization signal; if the remaining duration does not reach the preset threshold, then use the next frame as the current frame and perform the step of determining the cleaning period according to the synchronization signal Describe the cleaning period of the target camera.
  • the determination module 41 is further configured to determine a cleaning period based on the current time and the threshold if the remaining duration reaches a preset threshold; wherein, the starting time of the cleaning period is the At the current moment, the duration of the cleaning period is the threshold.
  • the determination module 41 is also used to obtain images collected by each camera, and perform lens attachment detection on the images collected by each camera; determine the target camera according to the detection results of the images collected by each camera , wherein the detection result of the target camera is that there is an attachment.
  • the determination module 41 is further configured to determine the type of attachment corresponding to the target camera.
  • the camera cleaning control device further includes: a selection module, configured to use a corresponding cleaning method to clean the target camera according to the type of the attachment; wherein the cleaning method includes at least one of the following: water spraying Cleaning, wiper cleaning and jet cleaning.
  • the camera cleaning control device further includes: an acquisition module and a return module.
  • the acquiring module is configured to acquire images collected by the target camera and detect the images.
  • the return module is used to return to execute the step of determining the cleaning period of the target camera according to the synchronization signal if the detection result of the target camera is that there is an attachment; Steps for cleaning the target camera.
  • FIG. 10 is a schematic structural diagram of a camera cleaning control device provided in an embodiment of the present application.
  • the camera cleaning control device provided in this embodiment includes: a determination module 51 and a processing module 52 .
  • the determination module 51 is configured to determine the target camera that needs to be cleaned currently, and the target camera currently uses the first lens.
  • the determining module 51 is further configured to determine a switching period of the first lens according to the synchronization signal; wherein, the switching period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the processing module 52 is configured to switch the currently used lens to a second lens within the switching period, and clean the first lens after the switch is completed; wherein the second lens is the camera Other lenses except the first lens among the plurality of lenses arranged inside.
  • the camera cleaning control device determines the switching period of the first lens currently used by the target camera currently to be cleaned, and the switching period is located between the end of the current frame exposure and the period before the next frame acquisition starts Within the switching period, the currently used lens is switched to other lenses except the first lens among the multiple lenses, that is, the second lens, and after the switching is completed, the first lens is cleaned. That is to say, in the embodiment of the present application, the camera is provided with multiple lenses.
  • the target camera currently uses the first lens and needs to be cleaned the period from the end of the current frame exposure to the start of the next frame acquisition can be obtained according to the synchronization signal. And within this period, the first lens is switched to the second lens.
  • the determination module 51 is further configured to determine the acquisition start time of the current frame and the interval between adjacent frame acquisitions according to the synchronization signal; determine the current frame acquisition start time based on the current frame acquisition start time The exposure start time of the current frame; wherein, the exposure start time of each frame is consistent with the acquisition start time; according to the acquisition start time of the current frame and the preset exposure duration, the exposure end time of the current frame is determined, and based on the The exposure end moment of the current frame and the interval between adjacent frame acquisitions determine the switching period of the first lens; wherein the switching period is within a period from the end of the current frame exposure to the start of the next frame acquisition.
  • the camera includes a switching device, and the plurality of lenses are arranged on the switching device.
  • the processing module 52 is also used to control the operation of the switching device to drive the displacement of the multiple lenses on the switching device until the second lens moves to the position corresponding to the first lens before the lens switching.
  • the switching device includes a rotatable wheel, the plurality of lenses are evenly distributed on the wheel, and the relative angles between adjacent lenses are equal.
  • the processing module 52 is further configured to control the roulette to rotate in a predetermined rotation direction, and the rotation angle is the relative angle.
  • the switching device includes a reciprocating mechanism, the plurality of lenses are distributed on the reciprocating mechanism along a moving direction of the reciprocating mechanism, and the distances between adjacent lenses are equal.
  • the processing module 52 is further configured to control the reciprocating mechanism to perform a reciprocating movement, and the displacement of the reciprocating movement is the distance.
  • the determination module 51 is also used to obtain images collected by each camera, and perform lens attachment detection on the images collected by each camera; determine the target camera according to the detection results of the images collected by each camera , wherein the detection result of the target camera is that there is an attachment.
  • the processing module 52 is further configured to determine the type of attachment corresponding to the target camera; according to the type of attachment, use a corresponding cleaning method to clean the first lens; wherein , the cleaning method includes at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
  • FIG 11 is a schematic diagram of a camera cleaning control system provided by an embodiment of the present application.
  • the synchronization signal is provided by a synchronization signal generator, and the synchronization signal provided by this embodiment
  • the camera cleaning control system includes: a cleaning control device, a plurality of cleaning devices, a synchronous signal generator and a plurality of cameras. Wherein, a plurality of cleaning devices are provided in one-to-one correspondence with a plurality of cameras.
  • the synchronous signal generator is connected with the cleaning control device, and is used for generating and sending a synchronous signal to the cleaning control device.
  • the cleaning control device is connected with a plurality of cleaning devices, and is used to determine the target camera to be cleaned currently, and determine the cleaning period of the target camera according to the synchronous signal. Wherein, the cleaning period is located within a period from the end of the current frame exposure to the start of the next frame acquisition. During the cleaning period, the cleaning device corresponding to the target camera is controlled to clean the target camera.
  • the camera cleaning control system can adopt a serial transmission method.
  • the system further includes: a plurality of serializers arranged in one-to-one correspondence with the plurality of cameras. 12 is a schematic diagram of the working principle of the serializer provided by an embodiment of the present application. As shown in FIG.
  • the synchronous signal generator can output a plurality of parallel synchronous signals through a serial-to-parallel converter (HUB Deserializer), and one end of a plurality of serializers (Serializer) is connected to the output ports of the serial-to-parallel converter in one-to-one correspondence, wherein,
  • the output port of the serial-to-parallel converter may be a GPIO interface.
  • Serializers and serial-to-parallel converters can communicate based on video serial communication (Flat Panel Display Link, FPD Link for short).
  • the FPD-Link III serial bus scheme supports full-duplex control for high-speed video data transmission and bi-directional control communication over a single differential link.
  • Consolidating video data and control over a single differential pair reduces interconnect size and weight, while also eliminating skew issues and simplifying system design.
  • the other end of multiple serializers can be connected to multiple cameras one by one through the GPIO interface, and the other end of at least one serializer is connected to the cleaning control device for synchronizing the synchronous signal generated by the synchronous signal generator according to a fixed
  • the frequency (such as 30Hz or 60Hz) is synchronously output to multiple cameras and the cleaning control device, so that multiple cameras can work according to the synchronization signal, and the cleaning control device can determine the cleaning period of the camera according to the synchronization signal.
  • FIG. 13 is a schematic structural diagram of an electronic device of the present application. As shown in FIG. 13 , the present application also provides an electronic device 500 , including: a memory 501 and a processor 502 .
  • the memory 501 is used to store programs. Specifically, the program may include program code, and the program code includes computer-executable instructions.
  • the memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
  • the processor 502 is configured to execute the program stored in the memory 501 .
  • the computer program is stored in the memory 501 and is configured to be executed by the processor 502 to implement the camera cleaning control method provided in any one embodiment of the present application.
  • the computer program is stored in the memory 501 and is configured to be executed by the processor 502 to implement the camera cleaning control method provided in any one embodiment of the present application.
  • Relevant descriptions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the accompanying drawings, and details are not repeated here.
  • the bus can be an Industry Standard Architecture (Industry Standard Architecture, referred to as ISA) bus, a Peripheral Component Interconnect (abbreviated as PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, referred to as EISA) bus etc.
  • ISA Industry Standard Architecture
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 13 , but it does not mean that there is only one bus or one type of bus.
  • An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to implement the camera cleaning control method provided in any embodiment of the present application.
  • An embodiment of the present application further provides a computer program product, including a computer program.
  • a computer program product including a computer program.
  • any one embodiment of the present application provides a camera cleaning control method.
  • the disclosed devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules or components can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be in electrical, mechanical or other forms.
  • a module described as a separate component may or may not be physically separated, and a component shown as a module may or may not be a physical module, that is, it may be located in one place, or may also be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional module in each embodiment of the present application may be integrated into one processing module, each module may exist separately physically, or two or more modules may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, or in the form of hardware plus software function modules.
  • Program codes for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes can be provided to processors or controllers of general-purpose computers, special-purpose computers, or other programmable camera cleaning control devices, so that the program codes make the functions specified in the flowchart and/or block diagrams when executed by the processor or controller. / operation is implemented.
  • the program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer discs, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.

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Abstract

本申请提供一种摄像头清洗控制方法、装置、设备及系统，该方法包括：确定当前需进行清洗的目标摄像头；根据同步信号，确定所述目标摄像头的清洗时段；在所述清洗时段内，对所述目标摄像头进行清洗。本申请的方法，可以在不影响目标摄像头进行图像采集的情况下，对目标摄像头进行清洗。

Description

摄像头清洗控制方法、装置、设备及系统
本申请要求于2021年9月1日提交中国专利局、申请号为202111020424.0、申请名称为“摄像头清洗控制方法、装置、设备及系统”的中国专利申请，以及于2021年9月1日提交中国专利局、申请号为202111020097.9、申请名称为“摄像头清洗方法、装置、设备及可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆装配技术领域，更为具体地，涉及一种摄像头清洗控制方法、装置、设备及系统。
背景技术
随着车辆装配技术的发展，越来越多的车辆装配了车载摄像头清洗装置，从而可以实现对车载摄像头的清洗。
目前，常见的摄像头清洗控制方法为，检测摄像头是否需要清洗，若确定需要清洗，则对摄像头进行清洗。但是，采用上述摄像头清洗控制方法对摄像头进行清洗，会影响摄像头的图像采集，从而影响驾驶体验。
发明内容
本申请的目的在于提供一种摄像头清洗控制方法、装置、设备及系统，实现不影响摄像头图像采集的摄像头清洗。
第一方面，本申请公开了一种摄像头清洗控制方法，包括：确定当前需进行清洗的目标摄像头；根据同步信号，确定所述目标摄像头的清洗时段；在所述清洗时段内，对所述目标摄像头进行清洗。
在一个实现方式中，所述摄像头设置有多个镜片；所述确定当前需进行清洗的目标摄像头，包括：确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；所述根据同步信号，确定所述目标摄像头的清洗时段，包括：根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采 集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；所述在所述清洗时段内，对所述目标摄像头进行清洗，包括：在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
在一个实现方式中，所述根据同步信号，确定所述目标摄像头的清洗时段，包括：根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
第二方面，本申请公开了一种摄像头清洗控制装置，包括：确定模块，用于确定当前需进行清洗的目标摄像头；所述确定模块，还用于根据同步信号，确定所述目标摄像头的清洗时段；处理模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
在一个实现方式中，确定模块，具体用于确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；所述确定模块，还具体用于根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；所述处理模块，具体用于在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
在一个实现方式中，所述处理模块包括控制模块；所述确定模块，具体用于根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内；所述控制模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
第三方面，本申请公开了一种电子设备，包括：存储器，处理器；存储器：用于存储所述处理器可执行指令的存储器；其中，所述处理器用于调用所述存储器中的程序指令执行如前所述的摄像头清洗控制方法。
第四方面，本申请公开了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如前所述的摄像头清洗控制方法。
第五方面，本申请公开了一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现如前所述的摄像头清洗控制方法。
第六方面，本申请公开了一种摄像头清洗系统，包括：清洗控制装置、多个清洗装置、同步信号发生器以及多个摄像头；所述多个清洗装置与多个摄像头一一对应设置；所述同步信号发生器和所述清洗控制装置连接，用于生成并向所述清洗控制装置发送同步信号； 所述清洗控制装置和所述多个清洗装置连接，用于确定当前需执行清洗的目标摄像头；根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内；在所述清洗时段内，控制所述目标摄像头对应的清洗装置对所述目标摄像头进行清洗。
在一个实现方式中，所述系统还包括：与所述多个摄像头一一对应设置的多个串行器；所述多个串行器的一端和所述同步信号发生器连接，另一端和所述多个摄像头一一对应连接，至少一个串行器的所述另一端连接所述清洗控制装置，用于将所述同步信号发生器生成的同步信号，同步输出给所述多个摄像头以及所述清洗控制装置。
结合上述技术方案，本申请提供一种摄像头清洗控制方法、装置、设备及系统，确定当前需进行清洗的目标摄像头，并根据同步信号，确定目标摄像头的清洗时段，在清洗时段内，对目标摄像头进行清洗。也就是说，本申请可以根据同步信号确定目标摄像头的清洗时段，从而保证了在由此确定的清洗时段内，对目标摄像头进行清洗，不会影响目标摄像头的图像采集。
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图1为本申请一实施例提供的摄像头清洗控制方法的流程图；
图2为本申请一实施例提供的摄像头清洗控制方法的流程示意图；
图3为本申请一实施例提供的摄像头清洗控制方法的流程图；
图4为本申请一实施例提供的摄像头的工作时序示意图；
图5为本申请实施例提供的摄像头的曝光示意图；
图6为本申请一实施例提供的摄像头清洗控制方法的流程图；
图7为本申请一实施例提供的摄像头清洗控制方法的流程图；
图8为本申请实施例提供的切换装置的示意图；
图9为本申请一实施例提供的摄像头清洗控制装置的结构示意图；
图10为本申请一实施例提供的摄像头清洗控制装置的结构示意图；
图11为本申请一实施例提供的摄像头清洗控制系统的示意图；
图12为本申请一实施例提供的串行器的工作原理的示意图；
图13为本申请的电子设备的结构示意图。
具体实施方式
随着车辆装配技术的发展，越来越多的车辆装配了车载摄像头清洗装置，从而可以实现对车载摄像头的清洗。
目前，常见的摄像头清洗控制方法为，检测摄像头是否需要清洗，若确定需要清洗，则立刻对摄像头进行清洗。但是，由于摄像头在工作时，需要按照预定的工作时序进行图像采集，因此采用上述摄像头清洗控制方法对摄像头进行清洗，可能会导致摄像头采集到的图像模糊，甚至异常。尤其在自动驾驶的场景下，若摄像头采集到的图像异常，不仅会影响驾驶体验，还会影响行车安全。
本申请提供的摄像头清洗控制方法、装置、设备及系统，旨在解决现有技术的如上技术问题。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
实施例一
本申请实施例一提供一种摄像头清洗控制方法，包括以下步骤：确定当前需进行清洗的目标摄像头；根据同步信号，确定所述目标摄像头的清洗时段；在所述清洗时段内，对所述目标摄像头进行清洗。
在一个示例中，所述根据同步信号，确定所述目标摄像头的清洗时段，包括：
根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。关于本示例中的详细内容，可以参考后述实施例二中的相关内容。
在另一个示例中，所述摄像头设置有多个镜片；所述确定当前需进行清洗的目标摄像头，包括：确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；所述根据同步信号，确定所述目标摄像头的清洗时段，包括：根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；所述在所述清洗时段内，对所述目标摄像头进行清洗，包括：在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。关于本示例中的详细内容，可以参考后述实施例三中的相关内容。
需要说明的是，本实施例提供的摄像头清洗控制方法的执行主体可以为摄像头清洗控制装置。在实际应用中，该摄像头清洗控制装置可以通过计算机程序实现，例如应用软件， 计算机程序等，也可以通过存储有相关计算机程序的介质，例如，U盘、光盘等实现；或者，还可以通过集成或安装有相关计算机程序的实体装置实现，例如，芯片等。
实施例二
图1为本申请一实施例提供的摄像头清洗控制方法的流程图，如图1所示，本实施例提供的摄像头清洗控制方法包括以下步骤：
步骤101、确定当前需进行清洗的目标摄像头。
步骤102、根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
步骤103、在所述清洗时段内，对所述目标摄像头进行清洗。
需要说明的是，本实施例提供的摄像头清洗控制方法的执行主体可以为摄像头清洗控制装置。在实际应用中，该摄像头清洗控制装置可以通过计算机程序实现，例如应用软件，计算机程序等，也可以通过存储有相关计算机程序的介质，例如，U盘、光盘等实现；或者，还可以通过集成或安装有相关计算机程序的实体装置实现，例如，芯片等。
在本实施例中，为了实现不影响摄像头图像采集的摄像头清洗，需要根据摄像头的同步信号，确定清洗时段，并在清洗时段内对摄像头进行清洗。具体地，由于一辆车内可能设置有多个摄像头，如前视摄像头，后视摄像头，环视摄像头等，因此摄像头清洗控制装置首先可以在多个摄像头中，确定当前需进行清洗的目标摄像头。
其中，目标摄像头的数量可以为一个，也可以为多个，本实施例对此不做限定。
在一个示例中，为了确定当前需进行清洗的目标摄像头，摄像头清洗控制装置可以获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测。具体检测方法本实施例中不做限定。接下来，摄像头清洗控制装置可以根据各摄像头采集的图像的检测结果，将检测结果为存在附着物摄像头确定为当前需进行清洗的目标摄像头。
接下来，摄像头清洗控制装置可以根据同步信号，确定目标摄像头的清洗时段。具体确定方法将在后面的内容进行详细说明，在此不作赘述。
其中，清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
需要说明的是，由于各摄像头之间可能存在同步应用，因此需要使各摄像头的按照相同的工作时序进行工作，因此控制各摄像头工作的信号是同步的，也即同步信号。
此外，当前帧指的是在当前时刻下，正在处理或者已经完成处理的帧，处理包括但不限于采集、曝光、读出。
最后，摄像头清洗控制装置可以在清洗时段内，对目标摄像头进行清洗。
在一个示例中，在其它任一示例的基础上，在摄像头清洗控制装置在清洗时段内， 对目标摄像头进行清洗之后，还可以进一步判断是否需要对目标摄像头再次进行清洗。
具体地，摄像头清洗控制装置可以获取目标摄像头采集的图像，并对图像进行检测。若目标摄像头的检测结果为存在附着物，则表明目标摄像头没有清洗干净，需要对目标摄像头再次进行清洗，此时，摄像头清洗控制装置可以返回执行根据同步信号，确定目标摄像头的清洗时段的步骤。若目标摄像头的检测结果为不存在附着物，则表明目标摄像头已经清洗干净，此时，摄像头清洗控制装置可以返回执行确定当前需进行清洗的目标摄像头的步骤。
通过上述方式，可以有效避免目标摄像头清洗不干净的问题。
此外，在上述实施例一的基础上，在一种可能的实施方式中，摄像头清洗控制装置可以采用不同的清洗方法对目标摄像头进行清洗。具体地，摄像头清洗控制装置首先可以确定目标摄像头对应的附着物的类型。具体确定方法本实施例中不做限定。
其中，附着物的类型包括但不限于雨滴，雪花，脏污，纸片等。
接下来，摄像头清洗控制装置可以根据附着物的类型，采用对应的清洗方法对目标摄像头进行清洗。其中，清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。举例来说，在实际应用中，若附着物的类型为雨滴，则可采用雨刮清洗的方法对目标摄像头进行清洗，若附着物的类型为脏污，如泥点，则可同时采用喷水清洗和雨刮清洗的方法对目标摄像头进行清洗，若附着物的类型为纸片，则可采用喷气清洗的方法对目标摄像头进行清洗。
通过上述方式，可以针对不同的附着物类型，采用相应的清洗方法对目标摄像头进行清洗，从而可以保障清洗效果。
在一个示例中，图2为本申请一实施例提供的摄像头清洗控制方法的流程示意图，如图2所示，摄像头清洗控制装置首先可以检测各摄像头的镜头上是否存在附着物，若不存在，则返回执行上述的检测的步骤，若存在，则进一步检测附着物的类型，并根据附着物的类型，选择对应的清洗方法。选择清洗方法后，摄像头清洗控制装置可以判断是否已经触发清洗流程，也即判断此时是否进行过清洗，若此时没有触发过清洗流程，也即此时没有进行过清洗，则摄像头清洗控制装置可以根据同步信号(Vsync)进行清洗控制，也即根据同步信号，确定清洗时段，并在清洗时段内对相应摄像头进行清洗。在清洗完成后，返回执行判断是否已经触发清洗流程的步骤，此时已经触发清洗流程，也即此时已经进行过清洗，则返回执行检测各摄像头的镜头上是否存在附着物的步骤，进一步判断是否还需要再次清洗。
本实施例提供的摄像头清洗控制方法，确定当前需进行清洗的目标摄像头，并根据 同步信号，确定目标摄像头的清洗时段，该清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内，在清洗时段内，对目标摄像头进行清洗。也就是说，在本申请实施例中，可以根据同步信号获取当前帧曝光结束起至下一帧采集开始前的时段，并在该时段内确定目标摄像头的清洗时段，由于在该时段内，当前帧的信息已被存储，且下一帧采集还未开始，从而保证了在由此确定的清洗时段内，对目标摄像头进行清洗，不会影响目标摄像头的图像采集。
在又一个示例中，摄像头清洗控制装置可以根据当前的天气状况，确定清洗程度，并在确定的清洗时段内，对目标摄像头进行相应程度的清洗。具体地，摄像头清洗控制装置可以通过摄像头采集的图像确定当前的天气状况，也可以通过获取天气数据确定当前的天气状况，或是通过其他合适的方法确定，本实施例对此不做限定。举例来说，若摄像头清洗控制装置确定当前的天气状况为大雨，则摄像头清洗控制装置可以在确定的清洗时段内对目标摄像头进行清洗，清洗程度为强力清洗。若摄像头清洗控制装置确定当前的天气状况为晴，则摄像头清洗控制装置可以在确定的清洗时段内对目标摄像头进行清洗，清洗程度为普通清洗。
通过上述方式，可以针对不同的天气状况确定清洗程度，从而可以有效对目标摄像头进行清洗，保证清洗效果。
作为示例，图3为本申请一实施例提供的摄像头清洗控制方法的流程图，如图3所示，本实施例提供的摄像头清洗控制方法，在上述实施例二的基础上，步骤102，具体包括以下步骤：
步骤201、根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长。
步骤202、基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致。
步骤203、根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
在本实施例中，摄像头清洗控制装置可以根据同步信号，确定目标摄像头的清洗时段。具体地，在一个示例中，图4为本申请一实施例提供的摄像头的工作时序示意图，如图4所示，Pclk为摄像头内部的工作时钟，该工作时钟可以由摄像头内部的锁相环(Phase Locked Loop，简称PLL)根据外部参考时钟倍频而来，此外，摄像头内部的工作时序均基于该工作时钟获得。
Vsync为同步信号，在一种可能的实施方式中，该同步信号可以在摄像头内部根 据Pclk以及帧间隔(frame_interval)配置计算产生。在又一种可能的实施方式中，该同步信号可以由外部装置(例如同步发生器)提供，该装置可以按照固定频率，例如30Hz或者60Hz输出同步信号。
根据该同步信号，摄像头清洗控制装置可以确定当前帧的采集开始时刻和相邻帧采集的间隔时长(Frametime)。此外，由于每帧的曝光开始时刻与采集开始时刻一致，因此摄像头清洗控制装置可以基于当前帧的采集开始时刻，确定当前帧的曝光开始时刻。
Expotime为预先设定的每帧的曝光时长，在一个示例中，图5为本申请实施例提供的摄像头的曝光示意图，如图5所示，在每帧的曝光时长内，摄像头对该帧的像素进行逐行曝光，从第一行开始，当第一行曝光结束之后再开始对第二行进行曝光，依次类推。相应地，在曝光结束后，摄像头可以将该帧的数据逐行读出。如图4所示，Readtime为每帧数据的读出时长，Linetime为每帧数据中的每行数据的读出时长，Data为读出的数据。
接下来，摄像头清洗控制装置可以根据当前帧的采集开始时刻和预先设定的曝光时长，确定当前帧的曝光结束时刻。具体地，当前帧的曝光结束时刻为当前帧的采集开始时刻加上预先设定的曝光时长。再根据当前帧的采集开始时刻和相邻帧采集的间隔时长，确定下一帧采集开始时刻。具体地，下一帧采集开始时刻为当前帧的采集开始时刻加上相邻帧采集的间隔时长。基于当前帧的曝光结束时刻和下一帧采集开始时刻，即可确定清洗时段。
其中，清洗时段(Cleantime)位于当前帧曝光结束起至下一帧采集开始前的时段内(Frametime-Expotime)。
本实施例提供的摄像头清洗控制方法，根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长，进而确定当前帧的曝光开始时刻，再根据当前帧的采集开始时刻和预先设定的曝光时长，确定当前帧的曝光结束时刻，并基于当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定清洗时段，该清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内，也即摄像头工作的消隐期，从而保证了清洗时段与摄像头的工作时序的匹配，进而避免了摄像头清洗对摄像头的图像采集的影响。
在上述实施例二的基础上，为了进一步说明本实施例的摄像头清洗控制方法，步骤102，包括：根据同步信号，确定在当前时刻下，当前帧的曝光是否已结束；若当前帧的曝光未结束，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；若当前帧的曝光已结束，则根据同步信号，确定自当前时刻起至下一帧采集开始之间的剩余时长；若所述剩余时长达到预设的阈值，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；若所述剩余时长未达到预设的阈值，则将下一帧作为当前帧并执行所述 根据同步信号，确定所述目标摄像头的清洗时段的步骤。
在本实施例中，由于在当前时刻下，当前帧可能处于不同的处理阶段，因此，针对不同的处理阶段，需要采用相应的方法确定目标摄像头的清洗时段。
具体地，摄像头清洗控制装置可以根据同步信号，确定在当前时刻下，当前帧的曝光是否已结束。若当前帧的曝光未结束，则表明当前帧处于曝光阶段，自当前时刻起至下一帧采集开始之间的剩余时长一定大于清洗时段的时长，也即剩余时长足够完成清洗，则可执行本申请实施例二中的，根据同步信号，确定目标摄像头的清洗时段的步骤。
相应地，若当前帧的曝光已结束，则表明自当前时刻起至下一帧采集开始之间的剩余时长不一定大于清洗时段的时长，也即剩余时长不一定能够完成清洗，此时摄像头清洗控制装置可以根据同步信号，确定自当前时刻起至下一帧采集开始之间的剩余时长。
若剩余时长达到预设的阈值，则表明剩余时长能够完成清洗。在一种可能的实施方式中，摄像头清洗控制装置可以基于当前时刻和阈值确定清洗时段。其中，清洗时段的开始时刻为当前时刻，清洗时段的时长为阈值。
若剩余时长未达到预设的阈值，则表明剩余时长一定不能完成清洗，则摄像头清洗控制装置可以将下一帧作为当前帧并执行本申请实施例二中的，根据同步信号，确定目标摄像头的清洗时段的步骤。
通过上述方法，可以根据当前时刻下，当前帧不同的处理阶段，进一步确定目标摄像头的清洗时段，进一步保证了清洗时段与摄像头的工作时序的匹配性。
实施例三
图6为本申请一实施例提供的摄像头清洗控制方法的流程图，如图6所示，本实施例提供的摄像头清洗控制方法包括以下步骤：
步骤301、确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片。
步骤302、根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
步骤303、在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
需要说明的是，本实施例提供的摄像头清洗控制方法的执行主体可以为摄像头清洗控制装置。在实际应用中，该摄像头清洗控制装置可以通过计算机程序实现，例如应用软件，计算机程序等，也可以通过存储有相关计算机程序的介质，例如，U盘、光盘等实现；或者，还可以通过集成或安装有相关计算机程序的实体装置实现，例如，芯片等。
在本实施例中，摄像头设置有多个镜片，镜片的个数本实施例中不做限定，为了实现不影响摄像头图像采集的摄像头清洗，在确定出需要清洗的摄像头后，需要根据摄像头的同步信号，确定镜片切换时段，在切换时段内进行镜片切换，并在切换完成后，对需要清洗的摄像头在镜片切换前使用的镜片进行清洗，即切换完成后的时段即镜片切换前使用的第一镜片的清洗时段。具体地，由于一辆车内可能设置有多个摄像头，如前视摄像头，后视摄像头，环视摄像头等，因此摄像头清洗控制装置首先可以在多个摄像头中，确定当前需进行清洗的目标摄像头，目标摄像头当前使用的镜片为第一镜片。
其中，目标摄像头的数量可以为一个或多个，本实施例对此不做限定，相应地，第一镜片数量也可以为一个或多个。
在一个示例中，为了确定当前需进行清洗的目标摄像头，摄像头清洗控制装置可以获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测。具体检测方法本实施例中不做限定。接下来，摄像头清洗控制装置可以根据各摄像头采集的图像的检测结果，将检测结果为存在附着物摄像头确定为当前需进行清洗的目标摄像头。
接下来，摄像头清洗控制装置可以根据同步信号，确定第一镜片的切换时段。具体确定方法在后述内容中进行详细说明，在此不作赘述。
其中，切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
需要说明的是，由于各摄像头之间可能存在同步应用，因此需要使各摄像头按照相同的工作时序进行工作，因此控制各摄像头工作的信号是同步的，也即同步信号。
此外，当前帧指的是在当前时刻下，正在处理或者已经完成处理的帧，处理包括但不限于采集、曝光、读出。
最后，摄像头清洗控制装置可以在切换时段内，将当前使用的镜片切换为第二镜片，也即多个镜片中除第一镜片以外的其他镜片，并在第一镜片的清洗时段，即在切换完成后，对第一镜片进行清洗。具体切换方法将在后述进行详细说明，在此不作赘述。
在一种可能的实施方式中，摄像头清洗控制装置可以采用不同的清洗方法对第一镜片进行清洗。具体地，摄像头清洗控制装置首先可以确定目标摄像头对应的附着物的类型。具体确定方法本实施例中不做限定。
其中，附着物的类型包括但不限于雨滴，雪花，脏污，纸片等。
接下来，摄像头清洗控制装置可以根据附着物的类型，采用对应的清洗方法对第一镜片进行清洗。其中，清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。举例来说，在实际应用中，若附着物的类型为雨滴，则可采用雨刮清洗的方法对第一镜片进行清洗，若附着物的类型为脏污，如泥点，则可同时采用喷水清洗和雨刮清洗的方法对第 一镜片进行清洗，若附着物的类型为纸片，则可采用喷气清洗的方法对第一镜片进行清洗。
通过上述方式，可以针对不同的附着物类型，采用相应的清洗方法对第一镜片进行清洗，从而可以保障清洗效果。
此外，在一个示例中，摄像头清洗控制装置可以在预设的清洗时段内，对第一镜片进行清洗，例如，预设的清洗时段可以为，从切换完成时刻起至切换完成之后的第5秒。从而可以及时对第一镜片进行清洗，不影响下一次的镜片切换。
在又一个示例中，摄像头清洗控制装置可以根据当前的天气状况，确定清洗时段以及清洗程度，并在确定的清洗时段内，对第一镜片进行相应程度的清洗。具体地，摄像头清洗控制装置可以通过摄像头采集的图像确定当前的天气状况，也可以通过获取天气数据确定当前的天气状况，或是通过其他合适的方法确定，本实施例对此不做限定。举例来说，若摄像头清洗控制装置确定当前的天气状况为大雨，则摄像头清洗控制装置可以确定清洗时段为，从切换完成时刻起至切换完成的第1秒，清洗程度为强力清洗。若摄像头清洗控制装置确定当前的天气状况为晴，则摄像头清洗控制装置可以确定清洗时段为，从切换完成时刻起至切换完成的第5秒，清洗程度为普通清洗。
通过上述方式，可以针对不同的天气状况确定相应的清洗时段以及清洗程度，从而可以及时对第一镜片进行清洗，并保证清洗效果。
本实施例提供的摄像头清洗控制方法，根据同步信号，确定当前需进行清洗的目标摄像头当前使用的第一镜片的切换时段，该切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，在切换时段内，将当前使用的镜片切换为多个镜片中除第一镜片以外的其他镜片，也即第二镜片，并在切换完成后，对第一镜片进行清洗。也就是说，在本申请实施例中，摄像头设置有多个镜片，当目标摄像头当前使用第一镜片需要清洗时，可以根据同步信号获取当前帧曝光结束起至下一帧采集开始前的时段，并在该时段内将第一镜片切换为第二镜片，由于在该时段内，当前帧的信息已被存储，且下一帧采集还未开始，从而保证了在由此确定的切换时段内，对镜片进行切换，不会影响目标摄像头的图像采集。此外，在切换完成后，再执行对第一镜片的清洗，进一步保障了目标摄像头的图像采集。
作为示例，图7为本申请一实施例提供的摄像头清洗控制方法的流程图，如图7所示，本实施例提供的摄像头清洗控制方法，在上述实施例的基础上，步骤302，具体包括以下步骤：
步骤401、根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长。
步骤402、基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致。
步骤403、根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
在本实施例中，摄像头清洗控制装置可以根据同步信号，确定第一镜片的切换时段。具体地，在一个示例中，图4为本申请实施例提供的摄像头的工作时序示意图，如图4所示，Pclk为摄像头内部的工作时钟，该工作时钟可以由摄像头内部的锁相环(Phase Locked Loop，简称PLL)根据外部参考时钟倍频而来，此外，摄像头内部的工作时序均基于该工作时钟获得。
Vsync为同步信号，在一种可能的实施方式中，该同步信号可以在摄像头内部根据Pclk以及帧间隔(frame_interval)配置计算产生。在又一种可能的实施方式中，该同步信号可以由外部装置(例如同步发生器)提供，该装置可以按照固定频率，例如30Hz或者60Hz输出同步信号。
根据该同步信号，摄像头清洗控制装置可以确定当前帧的采集开始时刻和相邻帧采集的间隔时长(Frametime)。此外，由于每帧的曝光开始时刻与采集开始时刻一致，因此摄像头清洗控制装置可以基于当前帧的采集开始时刻，确定当前帧的曝光开始时刻。
Expotime为预先设定的每帧的曝光时长，在一个示例中，图5为本申请实施例提供的摄像头的曝光示意图，如图5所示，在每帧的曝光时长内，摄像头对该帧的像素进行逐行曝光，从第一行开始，当第一行曝光结束之后再开始对第二行进行曝光，依次类推。相应地，在曝光结束后，摄像头可以将该帧的数据逐行读出。如图4所示，Readtime为每帧数据的读出时长，Linetime为每帧数据中的每行数据的读出时长，Data为读出的数据。
接下来，摄像头清洗控制装置可以根据当前帧的采集开始时刻和预先设定的曝光时长，确定当前帧的曝光结束时刻。具体地，当前帧的曝光结束时刻为当前帧的采集开始时刻加上预先设定的曝光时长。再根据当前帧的采集开始时刻和相邻帧采集的间隔时长，确定下一帧采集开始时刻。具体地，下一帧采集开始时刻为当前帧的采集开始时刻加上相邻帧采集的间隔时长。基于当前帧的曝光结束时刻和下一帧采集开始时刻，即可确定第一镜片的切换时段。
其中，切换时段(Switchtime)位于当前帧曝光结束起至下一帧采集开始前的时段内(Frametime-Expotime)。
本实施例提供的摄像头清洗控制方法，根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长，进而确定当前帧的曝光开始时刻，再根据当前帧的采集开始时刻 和预先设定的曝光时长，确定当前帧的曝光结束时刻，并基于当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定第一镜片的切换时段，该切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，也即摄像头工作的消隐期，从而保证了切换时段与摄像头的工作时序的匹配，进而避免了镜片切换对摄像头的图像采集的影响。
在上述实施例三的基础上，为了进一步说明本申请的摄像头清洗控制方法，所述摄像头包括切换装置，所述多个镜片设置于所述切换装置上，步骤303中，所述将当前使用的镜片切换为第二镜片，包括：控制所述切换装置运转，以带动所述切换装置上的多个镜片发生位移，直至所述第二镜片移动至镜片切换前所述第一镜片对应的位置。
在本实施例中，摄像头设有切换装置，多个镜片设置于该切换装置上，相应地，在将当前使用的镜片切换为多个镜片中除第一镜片以外的第二镜片时，摄像头清洗控制装置可以控制该切换装置运转，从而可以带动该切换装置上的多个镜片发生位移，直至第二镜片移动至镜片切换前第一镜片对应的位置。
其中，切换装置的运转方式可以旋转、往复运动或是其他合适的方式，本实施例对此不做限定。
在一个示例中，切换装置包括可旋转的轮盘，多个镜片均匀分布在轮盘上，且相邻镜片之间的相对角度相等。相应地，控制切换装置运转，以带动切换装置上的多个镜片发生位移，直至第二镜片移动至镜片切换前第一镜片对应的位置，包括：控制轮盘沿预定旋转方向旋转，且旋转的角度为相对角度。
图8为本申请实施例提供的切换装置的示意图，如图8所示，该切换装置为可旋转的圆形轮盘，镜片的个数为四个，四个镜片均匀分布在该圆形轮盘上，且相邻镜片之间的相对角度相等，均为90度。摄像头清洗控制装置可以控制该圆形轮盘沿顺时针旋转90度，即可实现镜片的切换。在实际应用中，摄像头清洗控制装置可以控制该圆形轮盘沿顺时针旋转，也可以沿逆时针旋转，还可以顺时针与逆时针交替旋转，本实施例对此不做限定。
此外，在一种可能的实施方式中，若镜片的个数为两个，则摄像头清洗控制装置可以控制该圆形轮盘沿顺时针或逆时针旋转180度，即可实现镜片的切换。相应地，若镜片的个数为三个，则摄像头清洗控制装置可以控制该圆形轮盘沿顺时针或逆时针旋转120度，即可实现镜片的切换。
在又一个示例中，切换装置可以为往复机构，多个镜片沿往复机构的运动方向分布在往复机构上，且相邻镜片之间的距离相等。其中，往复机构的运动方向可以为水平方向，也可以为竖直方向，或是其他合适的运动方向，本实施例对此不做限定。
在实际应用中，摄像头清洗控制装置可以控制该往复机构执行往复运动，且往复运动 的位移为相邻镜片之间的距离，即可实现镜片的切换。举例来说，若往复机构的运动方向为水平方向，镜片的个数为四个，且相邻镜片之间的距离为1厘米，则摄像头清洗控制装置首先可以判断当前使用的第一镜片为第几个镜片，若为左侧第一个镜片，则可以控制该往复机构水平向左移动1厘米，即可实现镜片的切换。若当前使用的第一镜片为右侧第一个镜片，则可以控制该往复机构水平向右移动1厘米，即可实现镜片的切换。若当前使用的第一镜片为右侧第二个镜片，则可以控制该往复机构水平向右移动1厘米或是水平向左移动1厘米，即可实现镜片的切换。
本实施例提供的摄像头清洗控制方法，可以采用不同的方法实现镜片的切换，从而为实现不影响摄像头图像采集的摄像头清洗奠定基础。
实施例四
本申请实施例四提供一种摄像头清洗控制装置，包括：确定模块，用于确定当前需进行清洗的目标摄像头；所述确定模块，还用于根据同步信号，确定所述目标摄像头的清洗时段；处理模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
在一个示例中，确定模块，具体用于确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；所述确定模块，还具体用于根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；所述处理模块，具体用于在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
在另一个示例中，所述处理模块包括控制模块；所述确定模块，具体用于根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内；所述控制模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
实施例五
图9为本申请一实施例提供的摄像头清洗控制装置的结构示意图，如图9所示，本实施例提供的摄像头清洗控制装置包括：确定模块41以及控制模块42。其中，确定模块41，用于确定当前需进行清洗的目标摄像头。所述确定模块41，还用于根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。控制模块42，用于在所述清洗时段内，对所述目标摄像头进行清洗。
本实施例提供的摄像头清洗控制装置，确定当前需进行清洗的目标摄像头，并根据同步信号，确定目标摄像头的清洗时段，该清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内，在清洗时段内，对目标摄像头进行清洗。也就是说，在本申请实施例中，可以根据同步信号获取当前帧曝光结束起至下一帧采集开始前的时段，并在该时段内确定目标摄像头的清洗时段，由于在该时段内，当前帧的信息已被存储，且下一帧采集还未开始，从而保证了在由此确定的清洗时段内，对目标摄像头进行清洗，不会影响目标摄像头的图像采集。
可选实施方式中，所述确定模块41，还用于根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长；基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致；根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
可选实施方式中，所述确定模块41，还用于根据同步信号，确定在当前时刻下，当前帧的曝光是否已结束；若当前帧的曝光未结束，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；若当前帧的曝光已结束，则根据同步信号，确定自当前时刻起至下一帧采集开始之间的剩余时长；若所述剩余时长达到预设的阈值，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；若所述剩余时长未达到预设的阈值，则将下一帧作为当前帧并执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤。
可选实施方式中，所述确定模块41，还用于若所述剩余时长达到预设的阈值，则基于当前时刻和所述阈值确定清洗时段；其中，所述清洗时段的开始时刻为所述当前时刻，所述清洗时段的时长为所述阈值。
可选实施方式中，所述确定模块41，还用于获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测；根据各摄像头采集的图像的检测结果，确定所述目标摄像头，其中所述目标摄像头的检测结果为存在附着物。
可选实施方式中，所述确定模块41，还用于确定所述目标摄像头对应的附着物的类型。所述摄像头清洗控制装置，还包括：选择模块，用于根据所述附着物的类型，采用对应的清洗方法对所述目标摄像头进行清洗；其中，所述清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。
可选实施方式中，所述摄像头清洗控制装置，还包括：获取模块和返回模块。其中，所述获取模块，用于获取所述目标摄像头采集的图像，并对所述图像进行检测。所述返回 模块，用于若所述目标摄像头的检测结果为存在附着物，则返回执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；否则，返回执行所述确定当前需进行清洗的目标摄像头的步骤。
需要说明的是，本实施例提供的摄像头清洗控制装置执行的技术方案和效果可以参见前述方法实施例的相关内容，在此不再赘述。
实施例六
图10为本申请一实施例提供的摄像头清洗控制装置的结构示意图，如图10所示，本实施例提供的摄像头清洗控制装置包括：确定模块51以及处理模块52。其中，确定模块51，用于确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片。所述确定模块51，还用于根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。处理模块52，用于在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
本实施例提供的摄像头清洗控制装置，根据同步信号，确定当前需进行清洗的目标摄像头当前使用的第一镜片的切换时段，该切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，在切换时段内，将当前使用的镜片切换为多个镜片中除第一镜片以外的其他镜片，也即第二镜片，并在切换完成后，对第一镜片进行清洗。也就是说，在本申请实施例中，摄像头设置有多个镜片，当目标摄像头当前使用第一镜片需要清洗时，可以根据同步信号获取当前帧曝光结束起至下一帧采集开始前的时段，并在该时段内将第一镜片切换为第二镜片，由于在该时段内，当前帧的信息已被存储，且下一帧采集还未开始，从而保证了在由此确定的切换时段内，对镜片进行切换，不会影响目标摄像头的图像采集。此外，在切换完成后，再执行对第一镜片的清洗，进一步保障了目标摄像头的图像采集。
可选实施方式中，所述确定模块51，还用于根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长；基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致；根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
可选实施方式中，所述摄像头包括切换装置，所述多个镜片设置于所述切换装置上。所述处理模块52，还用于控制所述切换装置运转，以带动所述切换装置上的多个镜片发生位移，直至所述第二镜片移动至镜片切换前所述第一镜片对应的位置。
可选实施方式中，所述切换装置包括可旋转的轮盘，所述多个镜片均匀分布在所述轮盘上，且相邻镜片之间的相对角度相等。所述处理模块52，还用于控制所述轮盘沿预定旋转方向旋转，且旋转的角度为所述相对角度。
可选实施方式中，所述切换装置包括往复机构，所述多个镜片沿所述往复机构的运动方向分布在所述往复机构上，且相邻镜片之间的距离相等。所述处理模块52，还用于控制所述往复机构执行往复运动，且往复运动的位移为所述距离。
可选实施方式中，所述确定模块51，还用于获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测；根据各摄像头采集的图像的检测结果，确定所述目标摄像头，其中所述目标摄像头的检测结果为存在附着物。
可选实施方式中，所述处理模块52，还用于确定所述目标摄像头对应的附着物的类型；根据所述附着物的类型，采用对应的清洗方法对所述第一镜片进行清洗；其中，所述清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。
需要说明的是，本实施例提供的摄像头清洗控制装置执行的技术方案和效果可以参见前述方法实施例的相关内容，在此不再赘述。
实施例七
图11为本申请一实施例提供的摄像头清洗控制系统的示意图，如图11所示，在本实施例提供的摄像头清洗控制系统中，同步信号由同步信号发生器提供，则本实施例提供的摄像头清洗控制系统包括：清洗控制装置、多个清洗装置、同步信号发生器以及多个摄像头。其中，多个清洗装置与多个摄像头一一对应设置。
同步信号发生器和清洗控制装置连接，用于生成并向所述清洗控制装置发送同步信号。
清洗控制装置和多个清洗装置连接，用于确定当前需执行清洗的目标摄像头，并根据同步信号，确定目标摄像头的清洗时段。其中，清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。在清洗时段内，控制目标摄像头对应的清洗装置对目标摄像头进行清洗。
在一种可能的实施方式中，由于环视摄像头、倒车后视摄像头等，其在车上安装的位置往往与中央处理器相隔少则数十厘米，长则数米的距离，因此，考虑到信号稳定性和线束成本等因素，该摄像头清洗控制系统可以采用串行的传输的方式。相应地，则该系统还包括：与所述多个摄像头一一对应设置的多个串行器。图12为本申请一实施例提供的串行器的工作原理的示意图，如图12所示，同步信号发生器(Frame Sync Generator)与所述多个串行器(Serializer)的一端连接，作为示例，同步信号发生器可以通过串并行转换器(HUB Deserializer)输出并行的多个同步信号，多个串行器(Serializer)的一端和串并 行转换器的输出端口一一对应连接连接，其中，串并行转换器的输出端口可以为GPIO接口。串行器和串并行转换器可以基于视频串行通讯(Flat Panel Display Link，简称FPD Link)实现通信。FPD-Link III串行总线方案支持通过单个差分链路实现高速视频数据传输和双向控制通信的全双工控制。通过单个差分对整合视频数据和控制可减少互连线尺寸和重量，同时还消除了偏差问题并简化了系统设计。多个串行器的另一端可通过GPIO接口和多个摄像头一一对应连接，并且至少一个串行器的另一端连接至清洗控制装置，用于将同步信号发生器生成的同步信号，按照固定的频率(例如30Hz或者60Hz)，同步输出给多个摄像头以及清洗控制装置，以使多个摄像头可以根据该同步信号进行工作，清洗控制装置可以根据该同步信号确定摄像头的清洗时段。
实施例八
图13为本申请的电子设备的结构示意图，如图13所示，本申请还提供了一种电子设备500，包括：存储器501和处理器502。
存储器501，用于存放程序。具体地，程序可以包括程序代码，所述程序代码包括计算机执行指令。存储器501可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
处理器502，用于执行存储器501存放的程序。
其中，计算机程序存储在存储器501中，并被配置为由处理器502执行以实现本申请任意一个实施例提供的摄像头清洗控制方法。相关说明可以对应参见附图中的步骤所对应的相关描述和效果进行理解，此处不做过多赘述。
其中，本实施例中，存储器501和处理器502通过总线连接。所述总线可以是工业标准体系结构(Industry Standard Architecture，简称为ISA)总线、外部设备互连(Peripheral Component Interconnect，简称为PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture，简称为EISA)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图13中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
实施例九
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行以实现本申请任意一个实施例提供的摄像头清洗控制方法。
实施例十
本申请实施例还提供一种计算机程序产品，包括计算机程序，所述计算机程序被处理器执行时实现本申请任意一个实施例提供摄像头清洗控制方法。
在本申请所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能模块可以集成在一个处理模块中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用硬件加软件功能模块的形式实现。
用于实施本申请的方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程摄像头清洗控制装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本申请的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
此外，虽然采用特定次序描绘了各操作，但是这应当理解为要求这样操作以所示出的特定次序或以顺序次序执行，或者要求所有图示的操作应被执行以取得期望的结果。在一定环境下，多任务和并行处理可能是有利的。同样地，虽然在上面论述中包含了若干具体实现细节，但是这些不应当被解释为对本申请的范围的限制。在单独的实施例的上下文中描述的某些特征还可以组合地实现在单个实现中。相反地，在单个实现的上下文中描述的各种特征也可以单独地或以任何合适的子组合的方式实现在多个实现中。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本申请的真正范围和精神由下面的权利要求书指出。
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求书来限制。以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (23)

  1. 一种摄像头清洗控制方法，其特征在于，包括：
    确定当前需进行清洗的目标摄像头；
    根据同步信号，确定所述目标摄像头的清洗时段；
    在所述清洗时段内，对所述目标摄像头进行清洗。
  2. 根据权利要求1所述的方法，其特征在于，所述摄像头设置有多个镜片；所述确定当前需进行清洗的目标摄像头，包括：
    确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；
    所述根据同步信号，确定所述目标摄像头的清洗时段，包括：
    根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；
    所述在所述清洗时段内，对所述目标摄像头进行清洗，包括：
    在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
  3. 根据权利要求2所述的方法，其特征在于，所述根据同步信号，确定所述第一镜片的切换时段，包括：
    根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长；
    基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致；
    根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
  4. 根据权利要求2或3所述的方法，其特征在于，所述摄像头包括切换装置，所述多个镜片设置于所述切换装置上；所述将当前使用的镜片切换为第二镜片，包括：
    控制所述切换装置运转，以带动所述切换装置上的多个镜片发生位移，直至所述第二镜片移动至镜片切换前所述第一镜片对应的位置。
  5. 根据权利要求4所述的方法，其特征在于，所述切换装置包括可旋转的轮盘， 所述多个镜片均匀分布在所述轮盘上，且相邻镜片之间的相对角度相等；所述控制所述切换装置运转，以带动所述切换装置上的多个镜片发生位移，直至所述第二镜片移动至镜片切换前所述第一镜片对应的位置，包括：
    控制所述轮盘沿预定旋转方向旋转，且旋转的角度为所述相对角度。
  6. 根据权利要求4所述的方法，其特征在于，所述切换装置包括往复机构，所述多个镜片沿所述往复机构的运动方向分布在所述往复机构上，且相邻镜片之间的距离相等；所述控制所述切换装置运转，以带动所述切换装置上的多个镜片发生位移，直至所述第二镜片移动至镜片切换前所述第一镜片对应的位置，包括：
    控制所述往复机构执行往复运动，且往复运动的位移为所述距离。
  7. 根据权利要求2-6任一项所述的方法，其特征在于，所述确定当前需进行清洗的目标摄像头，包括：
    获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测；
    根据各摄像头采集的图像的检测结果，确定所述目标摄像头，其中所述目标摄像头的检测结果为存在附着物。
  8. 根据权利要求7所述的方法，其特征在于，所述对所述第一镜片进行清洗，包括：
    确定所述目标摄像头对应的附着物的类型；
    根据所述附着物的类型，采用对应的清洗方法对所述第一镜片进行清洗；其中，所述清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。
  9. 根据权利要求1所述的方法，其特征在于，所述根据同步信号，确定所述目标摄像头的清洗时段，包括：
    根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
  10. 根据权利要求9所述的方法，其特征在于，所述根据同步信号，确定所述目标摄像头的清洗时段，包括：
    根据同步信号，确定当前帧的采集开始时刻和相邻帧采集的间隔时长；
    基于所述当前帧的采集开始时刻，确定所述当前帧的曝光开始时刻；其中，每帧的曝光开始时刻与采集开始时刻一致；
    根据所述当前帧的采集开始时刻和预先设定的曝光时长，确定所述当前帧的曝光结束时刻，并基于所述当前帧的曝光结束时刻和相邻帧采集的间隔时长，确定所述清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内。
  11. 根据权利要求9所述的方法，其特征在于，所述根据同步信号，确定所述目标摄像头的清洗时段，包括：
    根据同步信号，确定在当前时刻下，当前帧的曝光是否已结束；
    若当前帧的曝光未结束，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；
    若当前帧的曝光已结束，则根据同步信号，确定自当前时刻起至下一帧采集开始之间的剩余时长；若所述剩余时长达到预设的阈值，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；若所述剩余时长未达到预设的阈值，则将下一帧作为当前帧并执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤。
  12. 根据权利要求11所述的方法，其特征在于，所述若所述剩余时长达到预设的阈值，则执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤，包括：
    若所述剩余时长达到预设的阈值，则基于当前时刻和所述阈值确定清洗时段；其中，所述清洗时段的开始时刻为所述当前时刻，所述清洗时段的时长为所述阈值。
  13. 根据权利要求9-12任一项所述的方法，其特征在于，所述确定当前需进行清洗的目标摄像头，包括：
    获取各摄像头采集的图像，并对各摄像头采集的图像进行镜头附着物检测；
    根据各摄像头采集的图像的检测结果，确定所述目标摄像头，其中所述目标摄像头的检测结果为存在附着物。
  14. 根据权利要求13所述的方法，其特征在于，所述方法还包括：
    确定所述目标摄像头对应的附着物的类型；
    根据所述附着物的类型，采用对应的清洗方法对所述目标摄像头进行清洗；其中，所述清洗方法包括以下至少一种：喷水清洗、雨刮清洗以及喷气清洗。
  15. 根据权利要求1-14任一项所述的方法，其特征在于，所述在所述清洗时段内，对所述目标摄像头进行清洗之后，还包括：
    获取所述目标摄像头采集的图像，并对所述图像进行检测；
    若所述目标摄像头的检测结果为存在附着物，则返回执行所述根据同步信号，确定所述目标摄像头的清洗时段的步骤；否则，返回执行所述确定当前需进行清洗的目标摄像头的步骤。
  16. 一种摄像头清洗控制装置，其特征在于，包括：
    确定模块，用于确定当前需进行清洗的目标摄像头；
    所述确定模块，还用于根据同步信号，确定所述目标摄像头的清洗时段；
    处理模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
  17. 根据权利要求16所述的装置，其特征在于，
    确定模块，具体用于确定当前需进行清洗的目标摄像头，所述目标摄像头当前使用第一镜片；
    所述确定模块，还具体用于根据同步信号，确定所述第一镜片的切换时段；其中，所述切换时段位于当前帧曝光结束起至下一帧采集开始前的时段内，切换完成后的时段为所述第一镜片的清洗时段；
    所述处理模块，具体用于在所述切换时段内，将当前使用的镜片切换为第二镜片，并在切换完成后，对所述第一镜片进行清洗；其中，所述第二镜片为所述摄像头内设置的多个镜片中除所述第一镜片以外的其他镜片。
  18. 根据权利要求16所述的装置，其特征在于，所述处理模块包括控制模块；
    所述确定模块，具体用于根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内；
    所述控制模块，用于在所述清洗时段内，对所述目标摄像头进行清洗。
  19. 一种电子设备，其特征在于，包括：存储器，处理器；
    存储器：用于存储所述处理器可执行指令的存储器；
    其中，所述处理器用于调用所述存储器中的程序指令执行如权利要求1-15任一项所述的摄像头清洗控制方法。
  20. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1-15任一项所述的摄像头清洗控制方法。
  21. 一种计算机程序产品，包括计算机程序，其特征在于，所述计算机程序被处理器执行时实现如权利要求1-15任一项所述的摄像头清洗控制方法。
  22. 一种摄像头清洗系统，其特征在于，包括：清洗控制装置、多个清洗装置、同步信号发生器以及多个摄像头；所述多个清洗装置与多个摄像头一一对应设置；
    所述同步信号发生器和所述清洗控制装置连接，用于生成并向所述清洗控制装置发送同步信号；
    所述清洗控制装置和所述多个清洗装置连接，用于确定当前需执行清洗的目标摄像头；根据同步信号，确定所述目标摄像头的清洗时段；其中，所述清洗时段位于当前帧曝光结束起至下一帧采集开始前的时段内；在所述清洗时段内，控制所述目标摄像头对应的清洗装置对所述目标摄像头进行清洗。
  23. 根据权利要求22所述的系统，其特征在于，所述系统还包括：与所述多个摄像头一一对应设置的多个串行器；
    所述多个串行器的一端和所述同步信号发生器连接，另一端和所述多个摄像头一一对应连接，至少一个串行器的所述另一端连接所述清洗控制装置，用于将所述同步信号发生器生成的同步信号，同步输出给所述多个摄像头以及所述清洗控制装置。
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CN113612926A (zh) * 2021-09-01 2021-11-05 寒武纪行歌(南京)科技有限公司 摄像头清洗方法、装置、设备及可读存储介质
CN113709374A (zh) * 2021-09-01 2021-11-26 寒武纪行歌(南京)科技有限公司 摄像头清洗控制方法、装置、设备及系统

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CN116853189A (zh) * 2023-07-20 2023-10-10 重庆赛力斯新能源汽车设计院有限公司 一种汽车倒车摄像头防污装置、控制方法及汽车
CN116853189B (zh) * 2023-07-20 2025-07-15 重庆赛力斯凤凰智创科技有限公司 一种汽车倒车摄像头防污装置、控制方法及汽车

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