An integrated module device based on vehicle-mounted perception sensor and implementation method

Abstract

The present invention provides an integrated module device based on a vehicle-mounted perception sensor and an implementation method, comprising: a housing; a protective lens; a perception processing unit is arranged in the housing; the perception processing unit includes a processor; a switch chip; a laser radar module; a camera module; a rain and snow sensor, fixed in the top area of ​​the housing and electrically connected to the processor; and also includes a cleaning assembly, which is driven by the feedback of the rain and snow sensor to clean the protective lens. This technical solution is integrated and unified, and is arranged in the top area of ​​the train. It is not only easy to install, but also has a good field of view, which is conducive to the information capture of radar and camera, and avoids the influence of dirty train glass and unsatisfactory reflectivity on the device. Moreover, the cleaning assembly arranged by itself can clean the protective lens in real time, thereby avoiding the influence of factors such as low accuracy in bad weather, and ensuring the accuracy of the operation of the device.

Description

Technical Field

[0001] The present invention generally relates to the field of rail transit, and in particular to an integrated module device based on a vehicle-mounted sensing sensor and an implementation method thereof. Background Art

[0002] Train intelligent perception sensor is a device installed on the train to collect various data information. It plays a key role in ensuring the safe and efficient operation of the train.

[0003] However, before the improvement, the train intelligent perception sensors were generally installed inside the car, relying on the windows or glass areas in front of the car, with high structural requirements and unable to adapt to different models; and the sensor return inspection accuracy is often delayed due to the glass thickness, material, reflective characteristics, curved surface, etc., and the debugging cycle is often long. During this period, changes in structure or even glass increase the engineering cost; further, since the glass in front of the sensor cannot be cleaned in real time, the sensor window is dirty, which has a greater impact on the number of radar point clouds and is prone to misjudgment of obstacles, an image algorithm threshold; further, at this stage, in elevated or open-air sections, once rain and snow occur, raindrops accumulate and refract the light path, causing the sensor to misjudge or fail to recognize.

[0004] Therefore, the inventors believe that the intelligent perception sensors for trains before the improvement had problems such as harsh installation conditions, long debugging cycles, dirty glass, insufficient reflectivity, and low accuracy in bad weather, which resulted in frequent false alarms or unexpected vehicle emergencies during actual line operation. In addition, the workload for adapting the sensor bracket during the installation and debugging process was extremely heavy and could not meet the needs of different vehicle models. Summary of the invention

[0005] According to the present invention, in view of the problems existing in the above-mentioned prior art, an integrated module device based on a vehicle-mounted sensing sensor is provided, comprising: a housing fixed to the top area of ​​the train head; a protective lens located on the side of the housing facing the direction of travel of the train; a sensing processing unit is arranged in the housing; the sensing processing unit includes a processor; a switch chip electrically connected to the processor; a laser radar module fixed to the side of the housing facing the protective lens and electrically connected to the switch chip; a camera module fixed to the side of the housing facing the protective lens and electrically connected to the switch chip; a rain and snow sensor fixed to the top area of ​​the housing; and a cleaning assembly driven by the feedback of the rain and snow sensor to clean the protective lens. By having the above-mentioned technical features, the device is integrated and unified, and is arranged in the top area of ​​the train, which is not only easy to install, but also has a good field of view, which is conducive to the information capture of the radar and camera, and avoids the influence of the train glass being dirty and the reflectivity not being satisfied on the device, and the cleaning assembly arranged by itself can clean the protective lens in real time, thereby avoiding the influence of factors such as low accuracy in bad weather, and ensuring the accuracy of the operation of the device.

[0006] In some embodiments, the cleaning assembly includes a brush handle, which is parallel to the protective lens and located on the side of the protective lens facing the direction of train travel; a scraping brush assembly, which is connected to the side of the brush handle facing the protective lens; and a driving assembly, which is connected to the brush handle and drives the brush handle to slide back and forth on the surface of the protective lens. Thus, the driving assembly can drive the brush handle to move, and the scraping brush assembly on one side of the brush handle can remove dust from the protective lens. The protective lens can be cleaned when the sensor self-test fails, so as to avoid the influence of factors such as insufficient reflectivity of the reflective lens and low accuracy in bad weather, further ensuring the accuracy of the device when it is working.

[0007] In some embodiments, the scraping brush assembly includes a rotating shaft, which is arranged along the length direction of the brush handle and is rotatably connected to the brush handle along its own axis; the bristles are fixed to the circumference of the rotating shaft in a spiral shape along the length direction of the rotating shaft; and the scraper is fixed to the circumference of the rotating shaft in a spiral shape along the length direction of the rotating shaft. Therefore, during the displacement of the brush plate, the bristles will rotate around the rotating shaft under the action of friction, and the brush itself is spiral-shaped, so that during the rotation process, the dirt and water stains scraped by the brush can be diverted, reducing the retention of dirt on the surface of the protective lens, and the dirt can be discharged from the diversion direction, thereby improving the scraping efficiency; and the scraper can not only scrape the water stains on the surface of the protective lens, but also block the liquid and divert the liquid, so that the blocked liquid is fully in contact with the bristles, thereby improving the brushing efficiency.

[0008] In some embodiments, the driving assembly includes a limiting shaft, which passes through the brush handle and is slidably connected to the brush handle, and the two ends of the limiting shaft are fixed to the shell; a screw rod, which passes through the brush handle and is threadedly connected to the brush handle, and the two ends of the screw rod are rotatably connected to the shell, and the screw rod and the limiting shaft are parallel to each other; a power piece, which is fixed inside the shell and drives the screw rod to rotate around its own central axis. Thus, the power piece drives the screw rod to rotate, and through the threaded connection between the brush handle and the screw rod, and under the limitation of the limiting shaft, drives the brush handle to move in the direction of the screw rod. This assembly has a simple structure and will not block the sensor. It can ensure the displacement of the brush handle while ensuring the normal operation of the entire device.

[0009] In some embodiments, the cleaning assembly further comprises a water pump, the water inlet end of which is connected to an external water source, and the water outlet end of which is connected to the brush handle; the brush handle is provided with a plurality of water outlet holes on the side facing the protective lens, and the water outlet holes are connected to the connection between the water pump and the brush handle. Thus, the brush handle can not only serve as a carrier of the scraping brush assembly, but also provide a supply of washing liquid, further improving the washing efficiency.

[0010] In some embodiments, a gear is coaxially arranged on the rotating shaft, a strip-shaped rack is fixedly connected to the surface of the protective lens, the rack is parallel to the screw, and the rack and the gear are meshed with each other. Thus, the rotation of the rotating shaft and the scraping of the protective lens surface by the bristle scraper are realized through the meshing of the rack and the gear, thereby improving the scraping efficiency.

[0011] In some embodiments, a heating wire is embedded in the annular area around the protective lens, and the opening and closing of the heating wire is controlled by the processor, thereby improving the drying efficiency of the protective lens surface.

[0012] A method for implementing an integrated module device based on a vehicle-mounted perception sensor comprises the following steps:

[0013] In response to a power-on instruction, a sensor self-check action is performed;

[0014] In response to the self-checking action being passed, that is, the rain and snow sensor does not detect rain or snow, the integrated module device operates normally.

[0015] Thus, through the reciprocating self-check of the rain and snow sensor, the integrated module device can operate normally when no rain or snow is detected.

[0016] In some embodiments, it also includes:

[0017] In response to the self-checking action not passing, that is, the rain and snow sensor detects rain and snow, a scraping and brushing operation is performed, and the processor sends a signal to the power member to drive the power member to start, drive the brush handle to move back and forth on the surface of the protective lens, and make the scraping and brushing assembly act on the surface of the protective lens;

[0018] In response to the start of the scraping and brushing operation, water cleaning is performed, and the processor sends a signal to the power member to drive the power member to start, thereby driving the screw to rotate forward or reverse, and driving the brush handle to reciprocate on the surface of the protective lens, so that the scraping and brushing assembly acts on the surface of the protective lens;

[0019] In response to the power part and the water pump being turned off, accelerated drying is performed, and the processor sends an electrical signal to the heating wire, so that the heating wire is powered on to heat the surface of the protective lens;

[0020] In response to the heating wire being de-energized, performing a secondary sensor self-test;

[0021] In response to the secondary sensor self-test passing, that is, the rain and snow sensor does not detect rain or snow, the integrated module device operates normally;

[0022] In response to the secondary sensor self-test failing, that is, the rain and snow sensor detects rain and snow, the wiping operation is performed again.

[0023] Therefore, if rain or snow is detected, the brushing, washing and drying operations will be performed once until the rain or snow stops, so as to ensure the normal operation of the integrated module device and reduce misjudgment during the operation of the integrated module device.

[0024] In some embodiments, it also includes:

[0025] In response to the self-check action not being passed, that is, the rain and snow sensor detecting rain and snow, performing rain and snow sensor monitoring;

[0026] In response to the rain and snow sensor not reaching the threshold value of water accumulation, a scraping operation is performed, and the processor sends a signal to the power member to drive the power member to start, drive the brush handle to move back and forth on the surface of the protective lens, so that the scraping assembly acts on the surface of the protective lens;

[0027] In response to the power part being turned off, the lens heating is performed, and the processor sends an electrical signal to the heating wire, so that the heating wire is powered on to heat the surface of the protective lens;

[0028] In response to the heating wire being de-energized, performing a secondary sensor self-test;

[0029] In response to the secondary sensor self-test passing, that is, the rain and snow sensor does not detect rain or snow, the integrated module device operates normally.

[0030] Therefore, different execution strategies can be adjusted according to the degree of rain and snow to ensure the normal operation of the integrated module device.

[0031] In some embodiments, it also includes:

[0032] In response to the failure of the secondary sensor self-test, that is, the rain and snow sensor detects rain and snow, water cleaning is performed, and the processor sends a signal to the water pump to drive the water pump to start, so that the external water source is sprayed out through the water outlet hole of the brush handle;

[0033] In response to the water pump being started, the scraping and brushing operation is performed again, driving the brush handle to move back and forth in front of the protective lens, so that the scraping and brushing assembly cooperates with the water source to clean the protective lens.

[0034] Therefore, according to the degree of rain and snow, whether to add water for cleaning can be adjusted to reduce the impact of rain and snow on the protective lens.

[0035] In some embodiments, it also includes:

[0036] In response to the self-check action not being passed, that is, the rain and snow sensor detecting rain and snow, performing rain and snow sensor monitoring;

[0037] In response to the rain and snow sensor water accumulation reaching a threshold, the sensor self-check action is performed again;

[0038] In response to the sensor self-test passing, that is, the rain and snow sensor does not detect rain or snow, the integrated module device operates normally;

[0039] In response to the sensor self-check not passing, that is, the rain and snow sensor detecting rain and snow, the scraper and brush adjustment is performed, and the processor sends a signal to the power member to drive the power member to start with different powers, thereby driving the screw to rotate forward or reverse, and driving the brush handle to reciprocate on the surface of the protective lens, so that the scraper and brush assembly acts on the surface of the protective lens;

[0040] In response to the power component being started, the sensor self-check operation is performed again;

[0041] In response to the sensor self-test passing, that is, the rain and snow sensor does not detect rain or snow, a power-part power-off operation is performed.

[0042] Therefore, according to the self-inspection work of the rain and snow sensor for many times, the power of the power parts is increased to improve the cleaning efficiency of the cleaning assembly to ensure the normal operation of the integrated module device.

[0043] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A system framework diagram of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown;

[0045] Figure 2 The overall structural diagram of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown;

[0046] Figure 3 A schematic structural diagram of a cleaning assembly of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention is shown;

[0047] Figure 4 A schematic structural diagram of a scraping brush assembly in a cleaning assembly of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention is shown;

[0048] Figure 5 A schematic diagram showing the installation position of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown;

[0049] Figure 6 A schematic diagram showing another installation position of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention;

[0050] Figure 7 A normal situation flow chart of a method for implementing an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown;

[0051] Figure 8 A flowchart of rain and snow conditions of an implementation method of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown;

[0052] Fig. 9 A flow chart of other situations of a method for realizing an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown.

[0053] Explanation of symbols

[0054] 1. Shell; 11. Protective lens; 2. Cleaning assembly; 21. Brush handle; 211. Water outlet; 22. Driving assembly; 221. Limiting shaft; 222. Screw; 223. Power part; 23. Scraping brush assembly; 231. Rotating shaft; 232. Brush bristles; 234. Scraper; 31. Processor; 32. Switch chip; 33. LiDAR module; 34. Camera module; 35. Rain and snow sensor; 36. Power module; 41. Gear; 42. Rack. DETAILED DESCRIPTION

[0055] Hereinafter, preferred embodiments (or implementation modes) of the present invention will be described in detail with reference to the accompanying drawings.

[0056] Reference below Figure 1-Figure 9 To describe an integrated module device based on a vehicle-mounted perception sensor and an implementation method of the present invention.

[0057] Figure 1 The system framework diagram of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown. Figure 2 The overall structure diagram of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention is shown. Figure 1 and Figure 2 As shown, the embodiment provides an integrated module device based on a vehicle-mounted sensing sensor, including a housing 1, one side of which is an opening and a protective lens 11 is provided at the opening. A circuit board is fixed in the housing 1, and a sensing processing unit is also provided. A cleaning assembly 2 for cleaning the surface of the protective lens 11 is also provided in the area of ​​the housing 1 located at the protective lens 11.

[0058] The perception processing unit includes a processor 31, a switch chip 32, a laser radar module 33, a camera module 34, and a rain and snow sensor 35. The processor 31, which is coupled to the circuit board, can be an MCU, a CPU or an FPGA, which can perform switch configuration and data stream processing to meet the adaptation of the existing intelligent perception safety computer platform or act as a processing host alone for signal recognition and obstacle detection. The switch chip 32 is coupled to the circuit board and is electrically connected to the circuit board; the switch chip 32 is the core component of the network switch. In this embodiment, the switch chip 32 can use the KSZ9477 chip, which has powerful switching management functions, rich network management functions, and can support multiple standards and protocols to meet the network communication capabilities of the connected devices and improve the stability of the connected devices when they are working.

[0059] The laser radar module 33 is fixed in the housing 1 and is disposed toward the protective lens 11. It is also connected to the switch chip 32 on the circuit board through an interface. The laser radar has the functions of environmental perception and obstacle recognition. After it is fixed on the train, as the train runs, the laser radar can quickly scan the track in the direction of the train's travel and transmit the scanned signal through a network signal so that the train can take corresponding actions. The camera module 34 is fixed in the housing 1 and is disposed toward the protective lens 11. It is also connected to the switch chip 32 on the circuit board through an interface. The camera module 34 also serves as a terminal for collecting information and cooperates with the laser radar module 33 to achieve image collection and transmit visual data to the processor 31 for processing, which helps to extract useful information in conjunction with the model data.

[0060] The rain and snow sensor 35 is fixed on the top of the housing 1, and its receiving area is interconnected with the external environment. It is also fixed on the circuit board and electrically connected to the processor 31. The rain and snow sensor 35 monitors the external environment, so as to receive rain and snow data in the environment, convert the rain and snow data into electrical signals, and transmit them to the processor 31 for processing, so as to determine whether to start the cleaning assembly 2. In addition, a temperature and humidity sensor electrically connected to the processor 31 is fixed on the circuit board. In combination with the rain and snow data of the rain and snow sensor 35, it is helpful to more comprehensively perceive the data changes of the external environment, thereby improving the accuracy of the control of the opening and closing timing of the cleaning assembly 2.

[0061] In addition, a power module 36 is provided in the housing 1 for electrically connecting the power unit of the circuit board, the laser radar module 33, and the camera module 34, so as to ensure the normal operation and stability of the power-consuming equipment. To adapt to the sensor, the device also supports POE or independent power supply to meet the needs of different types and models of sensors and achieve universal adaptation.

[0062] In some embodiments, in order to ensure the stability of the operation of the integrated module device, at least two groups of the above-mentioned perception processing units can be set. During the movement of the train, on the one hand, the parallel processing of multiple groups of perception processing units can play a role in mutual checking and reducing false alarms; if the relevant equipment fails, the normal operation of a single perception processing unit can also ensure the normal operation of the integrated module device.

[0063] Figure 3 The schematic diagram of the structure of the cleaning assembly of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention is shown. Figure 3As shown, the cleaning assembly 2 includes a brush handle 21, which is plate-shaped and is located on the side of the protective lens 11 away from the shell 1; the brush handle 21 is connected to the shell 1 through a driving component 22, and the driving component 22 includes a limiting shaft 221, which passes through one end of the brush handle 21 and is slidably connected to the brush handle 21, and both ends of the limiting shaft 221 are fixedly connected to the shell 1; a screw 222 is provided at the other end of the brush handle 21, the screw 222 passes through the other end of the brush handle 21 and is threadedly connected to the brush handle 21, the screw 222 and the limiting shaft 221 are parallel to each other, and both ends of the screw 222 surround the shell 1 The central axis of the screw 222 rotates with the shell 1; a power piece 223 is provided at one end of the screw 222, and the power piece 223 can be a servo motor, a stepper motor or a brushless motor, etc. The power piece 223 is fixed inside the shell 1, and its output shaft is coaxially fixed with the screw 222, thereby driving the screw 222 to rotate, so that the brush handle 21 slides along the length direction of the screw 222 under the restriction of the limit shaft 221 and in cooperation with the thread of the screw 222. The power piece is electrically connected to the interface on the circuit board and is driven by the processor, so that the power of the motor can be controlled by the electrical signal sent by the processor.

[0064] Figure 4 The structure diagram of the scraping brush assembly 23 in the cleaning assembly 2 of the integrated module device based on the vehicle-mounted sensing sensor according to an embodiment of the present invention is shown. Figure 4 As shown, a scraping brush assembly 23 is provided on the side of the brush handle 21 facing the protective lens 11, and the scraping brush assembly 23 includes a rotating shaft 231, which is arranged along the length direction of the brush handle 21, and its two ends are respectively connected to the inner wall of the brush handle 21, and is rotatably connected to the brush handle 21 around its own central axis of the rotating shaft 231; bristles 232 are fixedly connected to the circumference of the rotating shaft 231, one end of the bristles 232 is fixed on the rotating shaft 231, and is spirally distributed along the length direction of the rotating shaft 231; a scraper 234 is also provided on the circumference of the rotating shaft 231, and the scraper 234 is a flexible plate body, one end of which is fixedly connected to the circumference of the rotating shaft 231, and is spirally distributed along the length direction of the rotating shaft 231.

[0065] A gear 41 is coaxially fixed to the circumference of the rotating shaft 231, and a strip-shaped rack 42 is fixed to the surface of the protective lens 11 along the length direction of the screw 222, so that the power member 223 drives the brush handle 21 to move, and the gear 41 and the rack 42 are meshed with each other, driving the rotating shaft 231 to rotate at a high speed, and the bristles 232 can rub the surface of the protective lens 11, which is conducive to the removal of stains, and the scraper 234 can wipe off excess stains and excess water stains, thereby accelerating the evaporation of residual water stains on the surface. Since the bristles 232 and the scraper 234 are both spirally distributed, during the rotation of the rotating shaft 231, the bristles 232 themselves form a guide channel for the stains, which accelerates the efficiency of removing dirt.

[0066] In some embodiments, the bristles 232 are provided in two groups and are arranged on both sides of the scraper 234. During the rotation of the shaft 231, the scraper 234 can not only scrape off the water stains, but also divert the water stains and separate the water stains on both sides of the scraper 234, so that the water stains are close to the bristles 232 area, thereby greatly improving the cleaning and drainage efficiency.

[0067] The cleaning assembly 2 also includes a water pump. Since the water pump can be arranged near a water source and connected through a pipeline, it is not shown in the figure. The input end of the water pump can be connected to the external water source through a pipe body; the water outlet end of the water pump can be connected to one side of the brush handle 21 through the pipe body. The brush handle 21 is evenly provided with a plurality of water outlet holes 211 on the side facing the protective lens 11. Each water outlet hole 211 is connected to the connection between the pipe body and the brush handle 21. With the start of the water pump, the cleaning liquid discharged from the water outlet hole 211 is sprayed out at a high speed. On the one hand, it can be splashed on the surface of the protective lens 11 to accelerate cleaning and elimination, and on the other hand, it can be splashed on the surface of the bristles 232 to accelerate the sewage discharge efficiency of the stains. The water pump is electrically connected to the processor through the interface of the circuit board, so that the opening and closing of the water pump can be controlled by the electrical signal sent by the processor.

[0068] The protective lens 11 is located on one side of the housing 1. An annular heating wire is embedded around the protective lens 11. One end of the heating wire is connected to the power module 36 and is driven by the processor 31. After the power element 223 stops, the heating wire is powered on to heat the protective lens 11, thereby accelerating the evaporation efficiency of the water stains on the protective lens 11.

[0069] Figure 5 The figure shows the installation position of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention. Figure 5 As shown, 1 represents the driving direction, X represents the longitudinal direction, Y represents the lateral direction, and Z represents the vertical direction. The housing 1 is installed in the middle area of ​​the top of the train head, and the installation lens faces the side of the train travel direction. The cavity formed by the housing 1 and the protective lens 11 itself reaches the IP65 waterproof level or above. The device is ≤500mm from the longitudinal X center of the vehicle, and the vehicle body does not block the sensing range of the laser radar module 33 and the camera module 34 after installation.

[0070] Figure 6 FIG. 2 shows another installation position diagram of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention. Figure 6As shown, in some embodiments, the device is installed at the front of the locomotive head and embedded inside the locomotive head. The device is located at a vertical Z not lower than 1200mm from the rail surface, and the module center is ≤500mm from the vehicle longitudinal X center. When the device is installed at the front of the locomotive, except that the protective lens 11 is flat, the shape of the housing 1 can be connected to the contour of the vehicle.

[0071] Compared with the improved train intelligent sensing sensor, the shell 1 of this device can be installed on the top or head of the train, and can be fixed to each other by screws without the need for additional bracket adaptation. The integrated design is compatible with a wider range of vehicle models, and on-site debugging is less difficult and is not affected by the internal structure of the vehicle and poor consistency. The sensor and its own protective lens are determined based on the debugging data, avoiding the influence of the vehicle glass on the collection of existing sensors and saving on-site debugging time. The device is also equipped with a cleaning assembly 2, which can perform cleaning operations according to environmental conditions, reducing the influence of factors such as insufficient reflectivity and low accuracy in bad weather.

[0072] Figure 7 The following is a flow chart showing a normal situation of an implementation method of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention. Figure 7 As shown, a method for implementing an integrated module device based on a vehicle-mounted perception sensor includes the following steps:

[0073] S1: Power on. The power module 36 is connected to an external power source to power on the device.

[0074] S2: Sensor self-check, in response to the power-on command, the sensor self-check action is performed;

[0075] In response to the self-checking action being passed, that is, the rain and snow sensor 35 does not detect rain or snow, the integrated module device operates normally.

[0076] S3: Scraping and brushing operation. In response to the failure of the self-check, that is, the rain and snow sensor 35 detects rain and snow, the scraping and brushing operation is performed. At this time, the processor 31 sends a signal to the power member 223 to start the power member 223, drive the brush handle 21 to move back and forth on the surface of the protective lens 11, and make the scraping and brushing assembly 23 act on the surface of the protective lens 11.

[0077] S4: Add water to clean. In response to the start of the scraping and brushing operation, add water to clean. At this time, the processor 31 sends a signal to the power member 223 to start the power member 223, thereby driving the screw 222 to rotate forward or reverse, and driving the brush handle 21 to move back and forth on the surface of the protective lens 11, so that the scraping and brushing assembly 23 acts on the surface of the protective lens 11.

[0078] S5: Accelerated drying. In response to the power component 223 and the water pump being turned off, accelerated drying is performed. The processor 31 sends an electrical signal to the heating wire, so that the heating wire is powered on to heat the surface of the protective lens 11, thereby accelerating the evaporation of water stains rising from the protective lens 11.

[0079] S6: Secondary sensor self-test. In response to the heating wire being de-energized, the secondary sensor self-test is performed. In response to the secondary sensor self-test passing, that is, the rain and snow sensor 35 does not detect rain and snow, the integrated module device operates normally. In response to the secondary sensor self-test failing, that is, the rain and snow sensor 35 detects rain and snow, the scraping operation is performed again, and the steps are executed in sequence.

[0080] Figure 8 The flowchart of the rain and snow situation of an implementation method of an integrated module device based on a vehicle-mounted sensing sensor according to an embodiment of the present invention is shown. Figure 8 As shown, in some embodiments, in a rainy and snowy weather environment, a method for implementing an integrated module device based on a vehicle-mounted sensing sensor includes the following steps:

[0081] S1: Power on. The power module 36 is connected to an external power source to power on the device.

[0082] S2: The rain and snow sensor 35 monitors. In response to the water accumulation in the rain and snow sensor 35 not reaching the threshold value, the integrated module device operates normally.

[0083] S3: sensor self-check, in response to the water accumulation in the rain and snow sensor 35 reaching a threshold value, the sensor self-check action is performed;

[0084] In response to the sensor self-check passing, that is, the rain and snow sensor 35 does not detect rain or snow, the integrated module device operates normally.

[0085] S4: Brush adjustment. In response to the sensor self-test failing, that is, the rain and snow sensor 35 detecting rain and snow, the brush adjustment action is performed. At this time, the processor 31 sends a signal to the power member 223 to drive the power member 223 to start. The processor 31 can adjust the output power of the power member 223, thereby driving the screw 222 to rotate forward or reverse, and accelerate the movement rate of the brush handle 21, driving the brush handle 21 to move back and forth on the surface of the protective lens 11, so that the brush assembly 23 acts on the surface of the protective lens 11.

[0086] S5: Secondary sensor self-check operation. In response to the power component 223 being started, the secondary sensor self-check operation is performed again. In response to the sensor self-check operation failing, that is, the rain and snow sensor 35 detects rain and snow, the wiper adjustment is jumped and the output power of the power component 223 is increased.

[0087] S6: The power component 223 stops. In response to the sensor self-check operation passing, that is, the rain and snow sensor 35 does not detect rain or snow, the power component 223 stops. At this time, the processor 31 sends an electrical signal to the power component 223 to stop the power component 223 from rotating, and the brush handle 21 moves to the area that does not block the camera module 34 and the lidar module 33, and then jumps to the sensor self-check operation.

[0088] Fig. 9 The flowchart of another situation of the implementation method of an integrated module device based on a vehicle-mounted perception sensor according to an embodiment of the present invention is shown. Fig. 9 As shown, in some embodiments, when fog or foreign matter blocks the protective lens 11 area, a method for implementing an integrated module device based on a vehicle-mounted sensing sensor includes the following steps:

[0089] S1: Power on. The power module 36 is connected to an external power source to power on the device.

[0090] S2: Sensor self-check, in response to the power-on command, the sensor self-check action is performed;

[0091] In response to the self-checking action being passed, that is, the rain and snow sensor 35 does not detect rain or snow, the integrated module device operates normally.

[0092] S3: The rain and snow sensor 35 monitors. In response to the self-check action failing, that is, the rain and snow sensor 35 detects rain and snow, the rain and snow sensor 35 monitors.

[0093] S31: the sensor performs self-check again, and in response to the water accumulation in the rain and snow sensor 35 reaching the threshold value, the sensor self-check action is performed;

[0094] In response to the sensor passing the self-test again, that is, the rain and snow sensor 35 does not detect rain or snow, the integrated module device operates normally.

[0095] S32: Brush adjustment. In response to the failure of the sensor self-test, that is, the rain and snow sensor 35 detects rain and snow, the brush adjustment action is performed. At this time, the processor 31 sends a signal to the power component 223 to start the power component 223. The processor 31 can adjust the output power of the power component 223, thereby driving the screw 222 to rotate forward or reverse, and accelerate the movement rate of the brush handle 21, driving the brush handle 21 to move back and forth on the surface of the protective lens 11, so that the brush assembly 23 acts on the surface of the protective lens 11.

[0096] S33: The sensor performs three self-checks. In response to the power component 223 being started, the sensor performs three self-checks. In response to the sensor failing the three self-checks, that is, the rain and snow sensor 35 detects rain and snow, the sensor jumps to perform wiper adjustment and increases the output power of the power component 223.

[0097] S34: The power component 223 stops. In response to the sensor failing three self-check operations, that is, the rain and snow sensor 35 detects rain and snow, the power component 223 stops. At this time, the processor 31 sends an electrical signal to the power component 223 to stop the power component 223 from rotating, and the brush handle 21 moves to the area where the camera module 34 and the lidar module 33 are not blocked.

[0098] S4: Scraping and brushing operation. In response to the water accumulation in the rain and snow sensor 35 not reaching the threshold, the scraping and brushing operation is performed. At this time, the processor 31 sends a signal to the power member 223 to start the power member 223, and drives the brush handle 21 to move back and forth on the surface of the protective lens 11, so that the scraping and brushing assembly 23 acts on the surface of the protective lens 11, and then jumps to the sensor for quality inspection again.

[0099] S5: lens heating. In response to the power element 223 being turned off, lens heating is performed. At this time, the processor 31 sends an electrical signal to the heating wire, so that the heating wire is powered on to heat the surface of the protective lens 11, thereby accelerating the evaporation of water stains on the surface of the protective lens 11.

[0100] S6: Secondary sensor self-test, in response to the heating wire being powered off, the secondary sensor self-test is performed;

[0101] In response to the secondary sensor self-test passing, that is, the rain and snow sensor 35 does not detect rain or snow, the integrated module device operates normally.

[0102] S7: adding water to clean. In response to the failure of the secondary sensor self-check, that is, the rain and snow sensor 35 detects rain and snow, adding water to clean is performed. At this time, the processor 31 sends a signal to the water pump to start the water pump, so that the external water source is sprayed out through the water outlet 211 of the brush handle 21;

[0103] In response to the water pump being started, the scraping operation is switched to make the brush handle 21 scrape and brush the surface of the protective lens 11 back and forth, and the operations are performed in sequence.

[0104] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0105] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An integrated module device based on a vehicle-mounted sensing sensor, characterized in that: include: The housing (1) is fixed to the top area of ​​the train head; A protective lens (11) is located on a side of the housing (1) facing the direction in which the train travels; A perception processing unit is arranged in the housing (1); the perception processing unit comprises Processor(31); A switch chip (32) electrically connected to the processor (31); A laser radar module (33) is fixed on a side of the housing (1) facing the protective lens (11) and is electrically connected to the switch chip (32); A camera module (34) is fixed to a side of the housing (1) facing the protective lens (11) and is electrically connected to the switch chip (32); A rain and snow sensor (35) is fixed to the top area of ​​the housing (1) and is electrically connected to the processor (31); and further includes The cleaning assembly (2) is driven by feedback from the rain and snow sensor (35) to clean the protective lens (11).

2. The integrated module device based on the vehicle-mounted sensing sensor according to claim 1 is characterized in that: The cleaning assembly (2) comprises A brush handle (21) is parallel to the protective lens (11) and is located on a side of the protective lens (11) facing the direction of travel of the train; A scraping brush assembly (23) connected to the side of the brush handle (21) facing the protective lens (11); and further comprising The driving assembly (22) is connected to the brush handle (21) and drives the brush handle (21) to slide back and forth on the surface of the protective lens (11).

3. The integrated module device based on the vehicle-mounted sensing sensor according to claim 1 is characterized in that: The scraper assembly (23) comprises A rotating shaft (231), which is arranged along the length direction of the brush handle (21) and is rotatably connected to the brush handle (21) along its own axis; Bristles (232) are fixed on the circumference of the rotating shaft (231) in a spiral shape along the length direction of the rotating shaft (231); The scraper (234) is fixed in a spiral shape on the circumference of the rotating shaft (231) along the length direction of the rotating shaft (231).

4. The integrated module device based on the vehicle-mounted sensing sensor according to claim 3 is characterized in that: The drive assembly (22) comprises A limiting shaft (221) is passed through the brush handle (21) and is slidably connected to the brush handle (21), and both ends of the limiting shaft (221) are fixed to the housing (1); A screw rod (222) passes through the brush handle (21) and is threadedly connected to the brush handle (21); two ends of the screw rod (222) are rotatably connected to the housing (1); and the screw rod (222) and the limiting shaft (221) are parallel to each other; The power member (223) is fixed inside the housing (1) and drives the screw rod (222) to rotate around its own central axis.

5. The integrated module device based on the vehicle-mounted sensing sensor according to claim 4 is characterized in that: The cleaning assembly (2) also includes A water pump, the water inlet end of which is connected to an external water source, and the water outlet end of which is connected to the brush handle (21); A plurality of water outlet holes (211) are provided on a side of the brush handle (21) facing the protective lens (11), and the water outlet holes (211) are in communication with a connection point between the water pump and the brush handle (21).

6. The integrated module device based on the vehicle-mounted sensing sensor according to claim 5, characterized in that: A gear (41) is coaxially arranged on the rotating shaft (231), a strip-shaped rack (42) is fixedly connected to the surface of the protective lens (11), the rack (42) and the screw rod (222) are parallel to each other, and the rack (42) and the gear (41) are meshed with each other.

7. The integrated module device based on vehicle-mounted sensing sensor according to claim 2 is characterized in that: A heating wire is embedded in the annular area around the protective lens (11), and the opening and closing of the heating wire is controlled by the processor (31).

8. A method for implementing an integrated module device based on a vehicle-mounted sensing sensor, used for the integrated walking device described in any one of claims 1 to 7, characterized in that: The steps include: In response to a power-on instruction, a sensor self-check action is performed; In response to the self-checking action being passed, that is, the rain and snow sensor (35) does not detect rain or snow, the integrated module device operates normally.

9. The method for implementing an integrated module device based on a vehicle-mounted sensing sensor according to claim 8, characterized in that: Also includes: In response to the self-checking function failing, i.e. the rain and snow sensor (35) detecting rain and snow, a scraping operation is performed, and the processor (31) sends a signal to the power member (223), driving the power member (223) to start, driving the brush handle (21) to reciprocate on the surface of the protective lens (11), so that the scraping assembly (23) acts on the surface of the protective lens (11); In response to the start of the scraping operation, water cleaning is performed, and the processor (31) sends a signal to the power member (223), driving the power member (223) to start, thereby driving the screw (222) to rotate forward or reverse, and driving the brush handle (21) to reciprocate on the surface of the protective lens (11), so that the scraping assembly (23) acts on the surface of the protective lens (11); In response to the power member (223) and the water pump being turned off, accelerated drying is performed, and the processor (31) sends an electrical signal to the heating wire, so that the heating wire is powered on to heat the surface of the protective lens (11); In response to the heating wire being de-energized, performing a secondary sensor self-test; In response to the secondary sensor self-test passing, that is, the rain and snow sensor (35) does not detect rain or snow, the integrated module device operates normally; In response to the secondary sensor self-check failing, namely the rain and snow sensor (35) detecting rain and snow, the scraping operation is performed again.

10. The method for implementing an integrated module device based on a vehicle-mounted perception sensor according to claim 7, characterized in that: Also includes: In response to the self-check action not being passed, i.e. the rain and snow sensor (35) detecting rain and snow, performing rain and snow sensor (35) monitoring; In response to the rain and snow sensor (35) indicating that the water accumulation has not reached a threshold value, a scraping operation is performed, and the processor (31) sends a signal to the power member (223), driving the power member (223) to start, driving the brush handle (21) to reciprocate on the surface of the protective lens (11), so that the scraping assembly (23) acts on the surface of the protective lens (11); In response to the power member (223) being turned off, the lens heating is performed, and the processor (31) sends an electrical signal to the heating wire, so that the heating wire is powered on to perform a heating operation on the surface of the protective lens (11); In response to the heating wire being de-energized, performing a secondary sensor self-test; In response to the secondary sensor self-check passing, that is, the rain and snow sensor (35) does not detect rain or snow, the integrated module device operates normally.

11. The method for implementing an integrated module device based on a vehicle-mounted sensing sensor according to claim 10, characterized in that: Also includes: In response to the failure of the secondary sensor self-test, that is, the rain and snow sensor (35) detects rain and snow, water cleaning is performed, and the processor (31) sends a signal to the water pump to drive the water pump to start, so that the external water source is sprayed out through the water outlet (211) of the brush handle (21); In response to the water pump being started, the scraping and brushing operation is performed again, driving the brush handle (21) to move back and forth in front of the protective lens (11), so that the scraping and brushing assembly (23) cooperates with the water source to clean the protective lens (11).

12. The method for implementing an integrated module device based on a vehicle-mounted perception sensor according to claim 7, characterized in that: Also includes: In response to the self-check action not being passed, i.e. the rain and snow sensor (35) detecting rain and snow, performing rain and snow sensor (35) monitoring; In response to the water accumulation of the rain and snow sensor (35) reaching a threshold value, the sensor self-check action is performed again; In response to the sensor self-check passing, that is, the rain and snow sensor (35) does not detect rain or snow, the integrated module device operates normally; In response to the sensor self-check failing, that is, the rain and snow sensor (35) detecting rain and snow, the scraper adjustment is performed, and the processor (31) sends a signal to the power member (223), driving the power member (223) to start with different powers, thereby driving the screw (222) to rotate forward or reverse, and driving the brush handle (21) to reciprocate on the surface of the protective lens (11), so that the scraper assembly (23) acts on the surface of the protective lens (11); In response to the power member (223) being started, the sensor self-checking operation is performed again; In response to the sensor self-check passing, that is, the rain and snow sensor (35) does not detect rain and snow, the power element (223) is powered off and the process jumps to the self-check action.

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