CN113709374A - Camera cleaning control method, device, equipment and system - Google Patents
Camera cleaning control method, device, equipment and system Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 78
- 230000001360 synchronised effect Effects 0.000 claims abstract description 49
- 238000005406 washing Methods 0.000 claims description 38
- 238000004590 computer program Methods 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 15
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
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Abstract
The application provides a camera cleaning control method, a camera cleaning control device, camera cleaning equipment and a camera cleaning control system, wherein the method comprises the following steps: determining a target camera which needs to be cleaned currently, and determining a cleaning time interval of the target camera according to a synchronous signal, wherein the cleaning time interval is located in a time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame, and the target camera is cleaned in the cleaning time interval. According to the method, the time period from the end of exposure of the current frame to the beginning of acquisition of the next frame can be obtained according to the synchronous signals, and the cleaning time period of the target camera is determined in the time period.
Description
Technical Field
The application relates to the technical field of vehicle assembly, in particular to a camera cleaning control method, device, equipment and system.
Background
Along with the development of vehicle assembly technology, more and more vehicles are equipped with vehicle-mounted camera cleaning devices, so that the vehicle-mounted cameras can be cleaned.
At present, a common camera cleaning control method is to detect whether a camera needs to be cleaned, and if it is determined that the camera needs to be cleaned, the camera is cleaned. However, when the camera is cleaned by the camera cleaning control method, the image acquisition of the camera is affected, so that the driving experience is affected.
Disclosure of Invention
The application provides a camera cleaning control method, device, equipment and system, which are used for realizing camera cleaning without influencing camera image acquisition.
In a first aspect, an embodiment of the present application provides a camera cleaning control method, including:
determining a target camera which needs to be cleaned currently;
determining a cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame;
and cleaning the target camera in the cleaning time period.
Further, the method as described above, the determining a cleaning period of the target camera according to the synchronization signal includes:
determining the acquisition starting time of the current frame and the interval duration of adjacent frame acquisition according to the synchronous signal;
determining the exposure starting time of the current frame based on the acquisition starting time of the current frame; wherein the exposure starting time of each frame is consistent with the acquisition starting time;
determining the exposure ending time of the current frame according to the acquisition starting time of the current frame and a preset exposure duration, and determining the cleaning time interval based on the exposure ending time of the current frame and the interval duration acquired by adjacent frames; and the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame.
Further, the method as described above, the determining a cleaning period of the target camera according to the synchronization signal includes:
determining whether the exposure of the current frame is finished at the current moment according to the synchronous signal;
if the exposure of the current frame is not finished, executing the step of determining the cleaning time period of the target camera according to the synchronous signal;
if the exposure of the current frame is finished, determining the residual duration from the current moment to the acquisition of the next frame according to the synchronous signal; if the residual time reaches a preset threshold value, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; and if the residual duration does not reach a preset threshold, taking the next frame as the current frame and executing the step of determining the cleaning time period of the target camera according to the synchronous signal.
Further, according to the method described above, if the remaining duration reaches a preset threshold, the step of determining the cleaning period of the target camera according to the synchronization signal is performed, and includes:
if the residual time reaches a preset threshold value, determining a cleaning time period based on the current time and the threshold value; wherein the starting time of the cleaning time interval is the current time, and the duration of the cleaning time interval is the threshold.
Further, the method for determining a target camera that needs to be cleaned currently includes:
acquiring images collected by each camera, and detecting lens attachments of the images collected by each camera;
and determining the target camera according to the detection result of the image acquired by each camera, wherein the detection result of the target camera is the existence of attachments.
Further, the method as described above, further comprising:
determining the type of an attachment corresponding to the target camera;
cleaning the target camera by adopting a corresponding cleaning method according to the type of the attachment; wherein the cleaning method comprises at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
Further, the method as described above, after the cleaning the target camera in the cleaning period, further includes:
acquiring an image acquired by the target camera, and detecting the image;
if the detection result of the target camera is that the attachment exists, returning to the step of determining the cleaning time period of the target camera according to the synchronous signal; otherwise, returning to the step of determining the target camera which needs to be cleaned currently.
In a second aspect, an embodiment of the present application provides a camera cleaning control device, including:
the determining module is used for determining a target camera which needs to be cleaned currently;
the determining module is further used for determining the cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame;
and the control module is used for cleaning the target camera in the cleaning time period.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;
a memory: a memory for storing the processor-executable instructions;
the processor is configured to call a program instruction in the memory to execute the camera washing control method according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, the computer-readable storage medium is used to implement the camera washing control method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the camera washing control method according to the first aspect.
In a sixth aspect, an embodiment of the present application provides a camera cleaning system, including: the device comprises a cleaning control device, a plurality of cleaning devices, a synchronous signal generator and a plurality of cameras; the plurality of cleaning devices are arranged corresponding to the plurality of cameras one by one;
the synchronous signal generator is connected with the cleaning control device and used for generating and sending a synchronous signal to the cleaning control device;
the cleaning control device is connected with the plurality of cleaning devices and is used for determining a target camera which needs to be cleaned currently; determining a cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame; and in the cleaning time period, controlling a cleaning device corresponding to the target camera to clean the target camera.
Further, the system as described above, further comprising: a plurality of serializers provided in one-to-one correspondence with the plurality of cameras;
one end of each of the plurality of serializers is connected with the synchronizing signal generator, the other end of each of the plurality of serializers is correspondingly connected with the plurality of cameras one by one, and the other end of at least one of the plurality of serializers is connected with the cleaning control device and used for synchronously outputting the synchronizing signals generated by the synchronizing signal generator to the plurality of cameras and the cleaning control device.
The application provides a camera cleaning control method, a camera cleaning control device, a camera cleaning control equipment and a camera cleaning control system, wherein a target camera which needs to be cleaned at present is determined, and a cleaning time interval of the target camera is determined according to a synchronous signal, the cleaning time interval is located in a time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame, and the target camera is cleaned in the cleaning time interval. That is to say, the present application can acquire the period from the end of exposure of the current frame to the start of acquisition of the next frame according to the synchronization signal, and determine the cleaning period of the target camera in the period, because the information of the current frame is stored in the period, and the acquisition of the next frame is not started yet, it is ensured that the target camera is cleaned in the cleaning period determined thereby, and the image acquisition of the target camera is not affected.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
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 chart of a camera cleaning control method provided in the embodiment of the present application;
fig. 3 is a flowchart of a camera cleaning control method provided in the embodiment of the present application;
fig. 4 is a schematic diagram of a working timing sequence of a camera provided in the embodiment of the present application;
fig. 5 is an exposure schematic diagram of a camera provided in the embodiment of the present application;
fig. 6 is a schematic structural diagram of a camera cleaning control device provided in an embodiment of the present application;
FIG. 7 is a schematic structural diagram of an electronic device of the present application;
fig. 8 is a schematic view of a camera washing control system provided in an embodiment of the present application;
fig. 9 is a schematic diagram of an operating principle of a serializer according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application.
Along with the development of vehicle assembly technology, more and more vehicles are equipped with vehicle-mounted camera cleaning devices, so that the vehicle-mounted cameras can be cleaned.
At present, a common camera cleaning control method is to detect whether a camera needs to be cleaned, and if it is determined that the camera needs to be cleaned, the camera is immediately cleaned. However, since the camera needs to capture images according to a predetermined operation timing sequence when the camera is in operation, the camera is cleaned by the camera cleaning control method, which may cause the images captured by the camera to be blurred or even abnormal. Especially in the automatic driving scene, if the image collected by the camera is abnormal, not only the driving experience but also the driving safety can be influenced.
The application provides a camera cleaning control method, device, equipment and system, and aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
Fig. 1 is a flowchart of a camera washing control method provided in an embodiment of the present application, and as shown in fig. 1, the camera washing control method provided in the embodiment includes the following steps:
And 103, cleaning the target camera in the cleaning time period.
It should be noted that the execution main body of the camera washing control method provided in this embodiment may be a camera washing control device. In practical applications, the camera washing control device may be implemented by a computer program, such as application software, a computer program, and the like, or by a medium storing a related computer program, such as a usb disk, an optical disk, and the like; alternatively, it may be implemented by a physical device, such as a chip, etc., into which the relevant computer program is integrated or installed.
In this embodiment, in order to implement camera cleaning without affecting camera image acquisition, it is necessary to determine a cleaning period according to a synchronization signal of the camera, and clean the camera within the cleaning period. Specifically, since a plurality of cameras, such as a front-view camera, a rear-view camera, a look-around camera, and the like, may be provided in one vehicle, the camera washing control apparatus may first determine a target camera that needs to be washed currently among the plurality of cameras.
The number of the target cameras may be one or multiple, and this embodiment does not limit this.
In one example, in order to determine a target camera that needs to be cleaned currently, the camera cleaning control device may acquire images captured by the cameras and perform lens attachment detection on the images captured by the cameras. The specific detection method is not limited in this embodiment. Next, the camera cleaning control device may determine, according to the detection result of the image acquired by each camera, that the camera is determined to be the target camera currently to be cleaned as the attachment exists.
Next, the camera washing control device may determine the washing period of the target camera according to the synchronization signal. The specific determination method will be described in detail in embodiment two of the present application, and details are not described herein.
The cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame.
It should be noted that, since there may be a synchronization application between the cameras, it is necessary to operate the cameras according to the same operation timing, and therefore, the signals controlling the operation of the cameras are synchronized, that is, the synchronization signals.
Further, a current frame refers to a frame that is being processed or has completed processing at the current time, including but not limited to acquisition, exposure, readout.
Finally, the camera cleaning control device can clean the target camera in the cleaning time period.
In one example, on the basis of any of the other embodiments, after the camera washing control device washes the target camera in the washing period, it may be further determined whether the target camera needs to be washed again.
Specifically, the camera cleaning control device can acquire an image acquired by the target camera and detect the image. If the detection result of the target camera is that the attachment exists, the target camera is not cleaned, the target camera needs to be cleaned again, and at the moment, the camera cleaning control device can return to execute the step of determining the cleaning time period of the target camera according to the synchronous signal. If the detection result of the target camera is that no attachment exists, the target camera is cleaned, and at the moment, the camera cleaning control device can return to the step of determining the target camera which needs to be cleaned currently.
By the mode, the problem that the target camera is not cleanly cleaned can be effectively avoided.
In addition, on the basis of the first embodiment, in a possible implementation manner, the camera washing control device may use different washing methods to wash the target camera. Specifically, the camera washing control device may first determine the type of the attached matter corresponding to the target camera. The specific determination method is not limited in this embodiment.
The type of the attachment includes, but is not limited to, raindrops, snowflakes, dirt, paper, and the like.
Next, the camera cleaning control device may clean the target camera by using a corresponding cleaning method according to the type of the attached matter. Wherein, the cleaning method comprises at least one of the following steps: water spray cleaning, wiper cleaning and air jet cleaning. For example, in practical applications, if the type of the attachment is raindrops, the target camera may be cleaned by a wiper cleaning method, if the type of the attachment is dirty, such as mud spots, the target camera may be cleaned by both a water jet cleaning method and a wiper cleaning method, and if the type of the attachment is paper sheets, the target camera may be cleaned by an air jet cleaning method.
By the mode, the target camera can be cleaned by adopting a corresponding cleaning method according to different attachment types, so that the cleaning effect can be guaranteed.
In an example, fig. 2 is a schematic flowchart of a camera cleaning control method provided in an embodiment of the present application, and as shown in fig. 2, the camera cleaning control apparatus may first detect whether an attached matter exists on a lens of each camera, and if not, return to the step of performing the above detection, and if so, further detect a type of the attached matter, and select a corresponding cleaning method according to the type of the attached matter. After the cleaning method is selected, the camera cleaning control device can judge whether the cleaning process is triggered or not, namely whether cleaning is performed or not, and if the cleaning process is not triggered or not, namely cleaning is not performed, the camera cleaning control device can perform cleaning control according to a synchronization signal (Vsync), namely, a cleaning time interval is determined according to the synchronization signal, and corresponding cameras are cleaned in the cleaning time interval. And after the cleaning is finished, returning to the step of judging whether the cleaning process is triggered or not, wherein the cleaning process is triggered at the moment, namely the cleaning is carried out at the moment, returning to the step of detecting whether the lens of each camera has attachments or not, and further judging whether the cleaning needs to be carried out again or not.
The camera cleaning control method provided in this embodiment determines a target camera that needs to be cleaned currently, and determines a cleaning time period of the target camera according to a synchronization signal, where the cleaning time period is located in a time period from the end of exposure of a current frame to the start of acquisition of a next frame, and the target camera is cleaned in the cleaning time period. That is to say, in the embodiment of the present application, a period from the end of exposure of a current frame to the start of acquisition of a next frame may be obtained according to a synchronization signal, and a cleaning period of a target camera is determined in the period, because information of the current frame is stored in the period and acquisition of the next frame is not started yet, it is ensured that the target camera is cleaned in the cleaning period determined thereby, and image acquisition of the target camera is not affected.
Example two
Fig. 3 is a flowchart of a camera washing control method according to an embodiment of the present application, and as shown in fig. 3, step 102 of the camera washing control method according to the embodiment specifically includes the following steps based on the first embodiment:
In this embodiment, the camera washing control means may determine the washing period of the target camera based on the synchronization signal. Specifically, in an example, fig. 4 is a schematic diagram of an operation timing sequence of a camera provided in the embodiment of the present application, and as shown in fig. 4, Pclk is an operation clock inside the camera, where the operation clock may be multiplied by a Phase Locked Loop (PLL) inside the camera according to an external reference clock, and the operation timing sequence inside the camera is obtained based on the operation clock.
Vsync is a synchronization signal that, in one possible implementation, may be computationally generated internally to the camera head according to Pclk and frame interval (frame _ interval) configurations. In yet another possible embodiment, the synchronization signal may be provided by an external device (e.g., a sync generator) that may output the synchronization signal at a fixed frequency, such as 30Hz or 60 Hz.
According to the synchronization signal, the camera washing control device can determine the collection start time of the current frame and the interval duration (Frametime) of the adjacent frame collection. In addition, since the exposure start time of each frame coincides with the capture start time, the camera wash control device may determine the exposure start time of the current frame based on the capture start time of the current frame.
The exposure time is a preset exposure time per frame, in an example, fig. 5 is an exposure schematic diagram of a camera provided in an embodiment of the present application, as shown in fig. 5, within the exposure time per frame, the camera performs line-by-line exposure on pixels of the frame, starting from a first line, and after the exposure of the first line is finished, the exposure of a second line is started, and so on. Accordingly, after the exposure is finished, the camera can read out the data of the frame line by line. As shown in fig. 4, Readtime is a read time length of each frame of Data, Linetime is a read time length of each line of Data in each frame of Data, and Data is read Data.
Next, the camera cleaning control device may determine the exposure end time of the current frame according to the acquisition start time of the current frame and a preset exposure duration. Specifically, the exposure end time of the current frame is the collection start time of the current frame plus a preset exposure duration. And determining the acquisition starting time of the next frame according to the acquisition starting time of the current frame and the interval duration of the adjacent frame acquisition. Specifically, the next frame acquisition start time is the acquisition start time of the current frame plus the interval duration of adjacent frame acquisition. Based on the exposure end time of the current frame and the acquisition start time of the next frame, the cleaning time period can be determined.
Wherein, the cleaning time interval (cleartime) is positioned in the time interval (Frametime-exposure) from the end of the exposure of the current frame to the beginning of the acquisition of the next frame.
The camera cleaning control method provided by this embodiment determines, according to a synchronization signal, a collection start time of a current frame and an interval duration of adjacent frame collection, and further determines an exposure start time of the current frame, and then determines, according to the collection start time of the current frame and a preset exposure duration, an exposure end time of the current frame, and determines, based on the exposure end time of the current frame and the interval duration of adjacent frame collection, a cleaning period, which is located within a period from the exposure end of the current frame to the collection start of a next frame, that is, a blanking period of camera operation, thereby ensuring matching of the cleaning period and a working timing sequence of the camera, and further avoiding an influence of camera cleaning on image collection of the camera.
EXAMPLE III
On the basis of the first embodiment, in order to further explain the camera cleaning control method of the present application, step 102 includes: determining whether the exposure of the current frame is finished at the current moment according to the synchronous signal; if the exposure of the current frame is not finished, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; if the exposure of the current frame is finished, determining the residual duration from the current moment to the acquisition of the next frame according to the synchronous signal; if the residual time reaches a preset threshold value, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; and if the residual duration does not reach a preset threshold, taking the next frame as the current frame and executing the step of determining the cleaning time period of the target camera according to the synchronous signal.
In this embodiment, since the current frame may be in different processing stages at the current time, for the different processing stages, a corresponding method needs to be adopted to determine the cleaning period of the target camera.
Specifically, the camera cleaning control device may determine whether the exposure of the current frame has ended at the current time according to the synchronization signal. If the exposure of the current frame is not finished, it indicates that the current frame is in the exposure stage, and the remaining time length from the current moment to the start of the next frame acquisition is certainly longer than the time length of the cleaning time period, that is, the remaining time length is enough to complete the cleaning, the step of determining the cleaning time period of the target camera according to the synchronization signal in the second embodiment of the present application may be executed.
Correspondingly, if the exposure of the current frame is finished, it indicates that the remaining time length from the current time to the start of the next frame acquisition is not necessarily greater than the time length of the cleaning time period, that is, the remaining time length is not necessarily capable of completing the cleaning.
And if the residual time reaches a preset threshold value, indicating that the residual time can be cleaned. In one possible embodiment, the camera washing control means may determine the washing period based on the current time and a threshold value. The starting time of the cleaning time interval is the current time, and the duration of the cleaning time interval is a threshold value.
If the remaining duration does not reach the preset threshold, it indicates that the remaining duration cannot be cleaned, and the camera cleaning control device may use the next frame as the current frame and execute the step of determining the cleaning time period of the target camera according to the synchronization signal in the second embodiment of the present application.
By the method, the cleaning time period of the target camera can be further determined according to different processing stages of the current frame at the current moment, and the matching between the cleaning time period and the working time sequence of the camera is further ensured.
Example four
Fig. 6 is a schematic structural diagram of a camera washing control device provided in an embodiment of the present application, and as shown in fig. 6, the camera washing control device provided in this embodiment includes: a determination module 41 and a control module 42. The determining module 41 is configured to determine a target camera that needs to be cleaned currently. The determining module 41 is further configured to determine a cleaning time period of the target camera according to the synchronization signal; and the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame. And the control module 42 is configured to clean the target camera in the cleaning time period.
The camera cleaning control device provided by this embodiment determines a target camera that needs to be cleaned currently, and determines a cleaning time period of the target camera according to a synchronization signal, where the cleaning time period is located in a time period from the end of exposure of a current frame to the start of acquisition of a next frame, and the target camera is cleaned in the cleaning time period. That is to say, in the embodiment of the present application, a period from the end of exposure of a current frame to the start of acquisition of a next frame may be obtained according to a synchronization signal, and a cleaning period of a target camera is determined in the period, because information of the current frame is stored in the period and acquisition of the next frame is not started yet, it is ensured that the target camera is cleaned in the cleaning period determined thereby, and image acquisition of the target camera is not affected.
In an optional embodiment, the determining module 41 is further configured to determine, according to the synchronization signal, an acquisition start time of the current frame and an interval duration of acquisition of an adjacent frame; determining the exposure starting time of the current frame based on the acquisition starting time of the current frame; wherein the exposure starting time of each frame is consistent with the acquisition starting time; determining the exposure ending time of the current frame according to the acquisition starting time of the current frame and a preset exposure duration, and determining the cleaning time interval based on the exposure ending time of the current frame and the interval duration acquired by adjacent frames; and the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame.
In an optional embodiment, the determining module 41 is further configured to determine whether the exposure of the current frame is finished at the current time according to the synchronization signal; if the exposure of the current frame is not finished, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; if the exposure of the current frame is finished, determining the residual duration from the current moment to the acquisition of the next frame according to the synchronous signal; if the residual time reaches a preset threshold value, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; and if the residual duration does not reach a preset threshold, taking the next frame as the current frame and executing the step of determining the cleaning time period of the target camera according to the synchronous signal.
In an optional embodiment, the determining module 41 is further configured to determine a cleaning time period based on the current time and a preset threshold if the remaining time length reaches the preset threshold; wherein the starting time of the cleaning time interval is the current time, and the duration of the cleaning time interval is the threshold.
In an optional embodiment, the determining module 41 is further configured to acquire an image acquired by each camera, and perform lens attachment detection on the image acquired by each camera; and determining the target camera according to the detection result of the image acquired by each camera, wherein the detection result of the target camera is the existence of attachments.
In an optional embodiment, the determining module 41 is further configured to determine a type of an attachment corresponding to the target camera. The camera cleaning control device further comprises: a selecting module 43, configured to clean the target camera by using a corresponding cleaning method according to the type of the attachment; wherein the cleaning method comprises at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
In an optional embodiment, the camera washing control apparatus further includes: an acquisition module 44 and a return module 45. The obtaining module 44 is configured to obtain an image collected by the target camera, and detect the image. The return module 45 is configured to return to the step of determining the cleaning time period of the target camera according to the synchronization signal if the detection result of the target camera indicates that the attachment exists; otherwise, returning to the step of determining the target camera which needs to be cleaned currently.
It should be noted that, for the technical solution and the effect executed by the camera cleaning control device provided in this embodiment, reference may be made to relevant contents of the foregoing method embodiments, and details are not described herein again.
EXAMPLE five
Fig. 7 is a schematic structural diagram of an electronic device according to the present application, and as shown in fig. 7, the present application further provides an electronic device 500, including: a memory 501 and a processor 502.
The memory 501 stores programs. In particular, the program may include program code comprising computer-executable instructions. The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
A processor 502 for executing the programs stored in the memory 501.
The computer program is stored in the memory 501 and configured to be executed by the processor 502 to implement the camera washing control method provided by any one of the embodiments of the present application. The related descriptions and effects corresponding to the steps in the drawings can be correspondingly understood, and redundant description is not repeated here.
In this embodiment, the memory 501 and the processor 502 are connected by a bus. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
EXAMPLE six
The embodiment of the application also 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 by any one of the embodiments of the application.
EXAMPLE seven
The embodiment of the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for controlling camera cleaning provided in any one of the embodiments of the present application is implemented.
Example eight
Fig. 8 is a schematic diagram of a camera washing control system according to an embodiment of the present application, and as shown in fig. 8, in the camera washing control system according to the embodiment, a synchronization signal is provided by a synchronization signal generator, and the camera washing control system according to the embodiment includes: the device comprises a cleaning control device, a plurality of cleaning devices, a synchronous signal generator and a plurality of cameras. Wherein, a plurality of belt cleaning device set up with a plurality of cameras one-to-one.
The synchronous signal generator is connected with the cleaning control device and used for generating and sending a synchronous signal to the cleaning control device.
The cleaning control device is connected with the plurality of cleaning devices and is used for determining a target camera which needs to be cleaned currently and determining the cleaning time interval of the target camera according to the synchronous signal. The cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame. And in the cleaning time period, controlling a cleaning device corresponding to the target camera to clean the target camera.
In a possible implementation mode, because the vehicle-mounted positions of the around-looking camera, the back-up rearview camera and the like are often separated from the central processing unit by distances of tens of centimeters less and meters long, the camera cleaning control system can adopt a serial transmission mode in consideration of signal stability, wiring harness cost and other factors. Accordingly, the system further comprises: and the serializers are arranged in one-to-one correspondence with the cameras. Fig. 9 is a schematic diagram of an operating principle of a Serializer according to an embodiment of the present disclosure, and as shown in fig. 9, a synchronization signal Generator (Frame Sync Generator) is connected to one end of the plurality of serializers (serializers), and as an example, the synchronization signal Generator may output a plurality of synchronization signals in parallel through a serial-parallel converter (HUB Deserializer), and one end of the plurality of serializers (serializers) and an output port of the serial-parallel converter are connected in a one-to-one correspondence, where the output port of the serial-parallel converter may be a GPIO interface. The other ends of the plurality of serializers can be correspondingly connected with the plurality of cameras one by one through GPIO interfaces, the other end of at least one serializer is connected to the cleaning control device and used for synchronously outputting the synchronous signals generated by the synchronous signal generator to the plurality of cameras and the cleaning control device according to a fixed frequency (such as 30Hz or 60Hz) so that the plurality of cameras can work according to the synchronous signals, and the cleaning control device can determine the cleaning time period of the cameras according to the synchronous signals.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware form, and can also be realized in a form of hardware and a software functional module.
Program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable camera washing control apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. 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.
In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The 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, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the application. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (13)
1. A camera cleaning control method is characterized by comprising the following steps:
determining a target camera which needs to be cleaned currently;
determining a cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame;
and cleaning the target camera in the cleaning time period.
2. The method of claim 1, wherein determining the washing period of the target camera according to the synchronization signal comprises:
determining the acquisition starting time of the current frame and the interval duration of adjacent frame acquisition according to the synchronous signal;
determining the exposure starting time of the current frame based on the acquisition starting time of the current frame; wherein the exposure starting time of each frame is consistent with the acquisition starting time;
determining the exposure ending time of the current frame according to the acquisition starting time of the current frame and a preset exposure duration, and determining the cleaning time interval based on the exposure ending time of the current frame and the interval duration acquired by adjacent frames; and the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame.
3. The method of claim 1, wherein determining the washing period of the target camera according to the synchronization signal comprises:
determining whether the exposure of the current frame is finished at the current moment according to the synchronous signal;
if the exposure of the current frame is not finished, executing the step of determining the cleaning time period of the target camera according to the synchronous signal;
if the exposure of the current frame is finished, determining the residual duration from the current moment to the acquisition of the next frame according to the synchronous signal; if the residual time reaches a preset threshold value, executing the step of determining the cleaning time period of the target camera according to the synchronous signal; and if the residual duration does not reach a preset threshold, taking the next frame as the current frame and executing the step of determining the cleaning time period of the target camera according to the synchronous signal.
4. The method according to claim 3, wherein the step of determining the cleaning period of the target camera according to the synchronization signal if the remaining time reaches a preset threshold comprises:
if the residual time reaches a preset threshold value, determining a cleaning time period based on the current time and the threshold value; wherein the starting time of the cleaning time interval is the current time, and the duration of the cleaning time interval is the threshold.
5. The method of claim 1, wherein the determining the target camera currently needing cleaning comprises:
acquiring images collected by each camera, and detecting lens attachments of the images collected by each camera;
and determining the target camera according to the detection result of the image acquired by each camera, wherein the detection result of the target camera is the existence of attachments.
6. The method of claim 5, further comprising:
determining the type of an attachment corresponding to the target camera;
cleaning the target camera by adopting a corresponding cleaning method according to the type of the attachment; wherein the cleaning method comprises at least one of the following: water spray cleaning, wiper cleaning and air jet cleaning.
7. The method of any one of claims 1-6, wherein after the cleaning the target camera during the cleaning period, further comprising:
acquiring an image acquired by the target camera, and detecting the image;
if the detection result of the target camera is that the attachment exists, returning to the step of determining the cleaning time period of the target camera according to the synchronous signal; otherwise, returning to the step of determining the target camera which needs to be cleaned currently.
8. A camera washing control device, characterized by comprising:
the determining module is used for determining a target camera which needs to be cleaned currently;
the determining module is further used for determining the cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame;
and the control module is used for cleaning the target camera in the cleaning time period.
9. An electronic device, comprising: a memory, a processor;
a memory: a memory for storing the processor-executable instructions;
wherein the processor is configured to call the program instructions in the memory to execute the camera washing control method according to any one of claims 1 to 7.
10. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the camera washing control method according to any one of claims 1 to 7.
11. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the camera washing control method according to any one of claims 1-7.
12. A camera cleaning system, comprising: the device comprises a cleaning control device, a plurality of cleaning devices, a synchronous signal generator and a plurality of cameras; the plurality of cleaning devices are arranged corresponding to the plurality of cameras one by one;
the synchronous signal generator is connected with the cleaning control device and used for generating and sending a synchronous signal to the cleaning control device;
the cleaning control device is connected with the plurality of cleaning devices and is used for determining a target camera which needs to be cleaned currently; determining a cleaning time period of the target camera according to the synchronous signal; the cleaning time interval is positioned in the time interval from the end of exposure of the current frame to the beginning of acquisition of the next frame; and in the cleaning time period, controlling a cleaning device corresponding to the target camera to clean the target camera.
13. The system of claim 12, further comprising: a plurality of serializers provided in one-to-one correspondence with the plurality of cameras;
one end of each of the plurality of serializers is connected with the synchronizing signal generator, the other end of each of the plurality of serializers is correspondingly connected with the plurality of cameras one by one, and the other end of at least one of the plurality of serializers is connected with the cleaning control device and used for synchronously outputting the synchronizing signals generated by the synchronizing signal generator to the plurality of cameras and the cleaning control device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111020424.0A CN113709374A (en) | 2021-09-01 | 2021-09-01 | Camera cleaning control method, device, equipment and system |
| PCT/CN2022/097201 WO2023029633A1 (en) | 2021-09-01 | 2022-06-06 | Camera cleaning control method and apparatus, device, and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111020424.0A CN113709374A (en) | 2021-09-01 | 2021-09-01 | Camera cleaning control method, device, equipment and system |
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Cited By (1)
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| WO2023029633A1 (en) * | 2021-09-01 | 2023-03-09 | 寒武纪行歌(南京)科技有限公司 | Camera cleaning control method and apparatus, device, and system |
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