Sensor washer system with ring nozzle assembly

Abstract

The present disclosure provides a "Sensor washer system with ring nozzle assembly". A ring nozzle assembly includes an inlet pipe, a ring pipe, at least three first jet nozzles, and a plurality of divider vanes. The ring pipe is connected to the inlet pipe. The first jet nozzles are fixed to the ring pipe and oriented to jet inwardly and in a first vertical direction, and are equally spaced apart from each other. The divider vanes are disposed within the ring pipe and extend along a length of the ring pipe, and define a flow passage for each first jet nozzle.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of vehicle sensors, and more specifically, to vehicle sensor cleaning. BACKGROUND

[0002] Autonomous vehicles and vehicles with advanced driver assistance systems (“ADAS”) can employ multiple vision sensors that provide situational awareness data to one or more controllers, including image data indicative of traffic, proximity to other vehicles, traffic control signals, traffic lane position, and the like. Example vision sensors include cameras and lidar sensors. Such vision sensors need to be kept clean to allow the vehicle to continue operation. Fluid washers can be used to clean the sensors. However, to be effective, such systems typically should have a supply of wash fluid available and provide sufficient flow of fluid to the sensors. SUMMARY

[0003] A ring nozzle assembly includes an inlet pipe, a ring pipe, at least three first jet nozzles, and a plurality of divider vanes. The ring pipe is connected to the inlet pipe. The first jet nozzles are fixed to the ring pipe and oriented to jet inwardly and in a first vertical direction, and are equally spaced apart from one another. The divider vanes are disposed within the ring pipe and extend along a length of the ring pipe, and define a flow passage for each first jet nozzle.

[0004] A sensor washing system includes a ring nozzle assembly. The ring nozzle assembly includes an inlet pipe, a ring pipe, at least three first jet nozzles, and a plurality of divider vanes. The ring pipe is connected to the inlet pipe. The first jet nozzles are fixed to the ring pipe and oriented to jet inwardly and in a first vertical direction, and are equally spaced apart from one another. The divider vanes are disposed within the ring pipe and extend along a length of the ring pipe, and define a flow passage for each first jet nozzle.

[0005] The ring nozzle assembly can also include a number of second jet nozzles equal in number to the first jet nozzles, the number of second jet nozzles being fixed to the ring pipe and oriented to jet inwardly and in a second vertical direction.

[0006] The ring nozzle assembly can have the ring pipe sized to encompass a circumference of a lidar sensor. The ring nozzle can have the nozzles oriented to allow the ring pipe to be positioned vertically between a first sensor region and a second sensor region. The first jet nozzles can be oriented to direct fluid inwardly and upwardly, and the second jet nozzles can be oriented to direct fluid inwardly and downwardly.

[0007] The annular nozzle assembly can have the second spray nozzles each positioned between two first spray nozzles. Each second spray nozzle can share a channel with one first spray nozzle.

[0008] The annular nozzle assembly can have all of the flow channels connected to a connection area. The dividing vanes can be helically oriented within the annular tube. Each flow channel can be in communication with one of the spray nozzles.

[0009] The annular nozzle assembly can have the annular tube sized to encompass a circumference of a housing of a lidar sensor at one of a top of a sensor housing and a bottom of the sensor housing. When the annular tube is sized to encompass the bottom of the sensor housing, the nozzles are oriented to direct fluid inward and upward. When the annular tube is sized to encompass the top of the sensor housing, the nozzles are oriented to direct fluid inward and downward.

[0010] The sensor washing system can include a fluid recovery system.

[0011] The fluid recovery system can include a collection bowl for being disposed below the annular tube.

[0012] The fluid recovery system can include a mounting plate having a first surface and a recessed second surface for mounting a lidar sensor, and a plurality of connecting fingers defining a discharge slot therebetween, connecting the second surface with the first surface. The connecting fingers can be disposed above the collection bowl.

[0013] The fluid recovery system can include a discharge port disposed in the collection bowl.

[0014] The sensor washing system can include a reservoir fluidly connected to the discharge port for receiving fluid therefrom.

[0015] The sensor washing system can further include a pump disposed between and fluidly connected to the reservoir and the annular nozzle assembly for supplying fluid from the reservoir to the annular nozzle assembly.

[0016] The sensor washing system can further include a filter disposed between and fluidly connected to the discharge port and the reservoir for filtering fluid passing from the discharge port to the reservoir.

[0017] The sensor washing system can have the first surface including a surface finish that matches a surface finish of an adjacent vehicle body panel. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective view of a vehicle incorporating an example annular nozzle assembly suitable for use with a lidar sensor.

[0019] Figure 2 is a side view of the annular nozzle assembly and lidar sensor of Figure 1

[0020] Figure 3 is a schematic view of an example sensor cleaning system of the annular nozzle and example fluid recovery system of Figure 1

[0021] Figure 4 is a plan view of the annular nozzle assembly of Figure 1

[0022] Figure 4A , Figure 4B , Figure 4C , Figure 4D , Figure 4E , Figure 4F , Figure 4G and Figure 4H are cross-sectional views of the annular nozzle assembly of Figure 4

[0023] Figure 5 is an exploded view of the annular nozzle assembly and fluid recovery system. DETAILED DESCRIPTION

[0024] The relative orientation and direction recited in this specification (e.g., up, down, bottom, forward, rearward, front, back, rear, outboard, inboard, inward, outward, transverse, left, right) are not to be construed as limiting, but are instead for the convenience of the reader to understand at least one embodiment of the described structure. This example orientation is from the perspective of an occupant seated in a seat facing the instrument panel. Like reference numerals in the several figures indicate like parts.

[0025] Figure 1 ​​​​is a perspective view of an example vehicle 10 including an example sensor assembly 12 and an example sensor washing system 14. The vehicle 10 can operate in a semi-autonomous mode (i.e., a partially autonomous mode that requires some (i.e., occasional) human driver intervention for operation) or a fully autonomous mode (i.e., a fully autonomous mode that does not require human driver intervention). For purposes of the present disclosure, an autonomous mode is defined as a mode in which each of vehicle propulsion (e.g., via a powertrain including electric motors and / or internal combustion engines), braking, and steering are controlled by an autonomous vehicle controller (i.e., one (or more) computing devices); in a semi-autonomous mode, the controller controls one or two of vehicle propulsion, braking, and steering. The sensor assembly 12 can include a lidar sensor disposed inside a sensor housing 15. Figure 2 and Figure 3 The sensor washing system 14 is shown more fully in

[0026] In the example illustration of Figure 2 The sensor assembly 12 is secured to an example mounting plate 16, which can constitute a portion of a roof panel of the vehicle 10. Alternatively, the mounting plate and sensor assembly 12 can be secured to a roof-mounted sensor cover (not shown) that incorporates the plate 16, sensor assembly 12, and multiple sensors for generating situational awareness data.

[0027] The example mounting plate 16 fits within a roof opening 18 of the vehicle 10. The plate 16 is complementary in shape to the opening 18 and provides a substantially continuous, smooth flow profile substantially identical to the roofline of the vehicle 10 without the sensor assembly 12. The plate 16 can be attached with a seal 20, shown in Figure 2

[0028] Figure 3 The sensor washing system 14 and its example constituent components are shown in the schematic illustration of FIG. 4. The sensor washing system 14 can include a ring nozzle assembly 26 for spraying cleaning fluid 28 on the sensor housing 15, a fluid recovery system 30 for recovering the fluid 28 from the sensor housing 15, a reservoir 32 for receiving the fluid from the fluid recovery system 30, a filter 34 for cleaning the fluid 28 before it exits the recovery system 30 to the reservoir 32, and a pump 36 for circulating the fluid 28 from the reservoir 32 to the ring nozzle assembly 26. The constituent components can also include connecting lines 38 that connect the other constituent elements of the system 14, such as the ring nozzle assembly 26 to the pump 36, the pump 36 to the filter 34, the filter 34 to the reservoir 32, and the reservoir 32 to the fluid recovery system 30. Figure 3 ​Connectors 39A and 39B (e.g., snap-on type connectors) can be used to engage the annular nozzle assembly 26 with a fluid connection line 38 from a pump and to engage the recovery system 30 with the fluid line 38 to the filter 34, respectively.

[0029] The annular nozzle assembly 26 includes an inlet tube 40, an annular tube 42, a plurality of first jet nozzles 44, and a plurality of divider vanes 46. As best seen in Figure 4 The annular tube 42, which has an annular shape, is connected to the inlet tube 40 at a connection region 48 of the annular tube 42. The annular tube 42 has a ring- inside-diameter RID that is sized to encompass a circumference of the sensor housing 15 that can be concentric with it. The sensor housing 15 can be substantially cylindrical in shape. A radial gap X can be provided between the inner diameter RID and the sensor housing 15 when both the annular nozzle assembly 26 and the sensor assembly 12 are fixed relative to the mounting plate 16.

[0030] The plurality of first jet nozzles 44 are fixed to the annular tube 42 and are oriented to direct fluid inwardly toward the sensor housing 15 and a central axis 50 of the annular tube 42 and in a first vertical direction A (e.g., upwardly). The first jet nozzles 44 can be uniformly spaced apart from one another about a circumference of the tube 42.

[0031] The divider vanes 46 are disposed within the annular tube 42 and define a plurality of flow channels 52A, 52B, 52C, 52D, with an example number of four flow channels within the annular tube 42. The flow channels 52A, 52B, 52C, 52D, collectively and generally designated as flow channels 52, can each extend a circumferential length within the annular tube 42 that is substantially equal in length to a circumferential length of the tube 42. The number of flow channels 52 can vary with the number of first jet nozzles 44 and can be equal to the number of first jet nozzles 44.

[0032] In alternative configurations, as few as three nozzles 44 can be used to direct fluid in the first vertical direction A. More nozzles 44 can be employed, for example, a total of six first jet nozzles 44, as can be required to adequately clean the sensor housing 15. The number of nozzles 44 that is considered ideal can depend on a combination of the circumference of the housing 15 and a nozzle spray pattern (not shown).

[0033] The example annular tube 42 can include a plurality of second spray nozzles 54. The second spray nozzles 54 can be evenly spaced around the circumference of the tube 42 and interposed between the first spray nozzles 44. The second spray nozzles 54 can be oriented to direct a spray inwardly toward the central axis 50 and in a second vertical direction B (e.g., downwardly). The number of second spray nozzles 54 can vary proportionally to the number of first spray nozzles 44, such that it is equal to the number of first spray nozzles 44.

[0034] The sensor housing 15 of the sensor assembly 12 can enclose a single lidar sensor, or two lidar sensors, one above the other. The illustrated washing system 14 is configured for use with two lidar sensors. The annular tube 42 is located substantially midway between the top and bottom of the housing 15. The first spray nozzles 44 are directed toward a first sensor region of the housing 15, i.e., an upper sensor region, with the nozzles 44 directed to spray in a first (e.g., upward) direction to clean a portion of the housing 15 that protects an upper sensor. The second spray nozzles 54 are directed toward a second sensor region of the housing 15, i.e., a lower sensor region, with the nozzles 54 directed to spray in a second (e.g., downward) direction to clean a portion of the housing 15 that protects a lower sensor. Alternatively, for a sensor assembly having a single lidar sensor, the annular tube 42 can be located at the top or bottom of the housing 15, with all of the nozzles mounted on the tube 42 directed toward the housing 15. In the case where the tube 42 is located at the top of the housing 15, the nozzles 54 would be oriented to direct fluid spray inwardly and downwardly. In the case where the tube 42 is located at the bottom of the housing 15, the nozzles 44 would be oriented to direct fluid spray inwardly and upwardly.

[0035] The annular tube 42 and its dividing vanes 46 can be manufactured by injection molding the annular tube 42. Each flow channel can have a limited number (e.g., one or two) of nozzles connected to the flow channel for receiving the fluid 28. The vanes 46 and thus the channels 52 can be helical in shape. The helix angle of the vanes 46 and the number of flow channels 52 can depend on the number of nozzles 44, 54 and the distance between each nozzle 44, 54. In accordance with the example of Figure 4A 、 Figure 4B 、 Figure 4C 、 Figure 4D 、 Figure 4E 、 Figure 4F 、 Figure 4G and Figure 4H the number of flow channels 52 (e.g., four) is set equal to the number of nozzles 44, 54 (e.g., eight) divided by two. In accordance with the example of Figure 1In the example shown, the helix angle allows each channel 52A, 52B, 52C, 52D to rotate 90° for every 90° along the circumference of the annular tube 42. Therefore, each channel 52 can be in fluid communication with two nozzles (e.g., a first spray nozzle 44 and a second spray nozzle 54) and supply cleaner fluid to said two nozzles.

[0036] In example system 14, nozzles 44 and 54 are not located within the connecting area 48, but are positioned along channels 52A, 52B, 52C, and 52D as described above. The four first injection nozzles 44 are substantially 90° apart from each other. Figure 4 The view Figure 1 Similarly, the four second injection nozzles 54 are positioned in the same manner. The second injection nozzles 54 are located substantially in the middle between the first injection nozzles, or at a 45° angle to the first injection nozzles. To keep the injection nozzles 44, 54 outside the connection area, the first injection nozzle 44 and the second injection nozzle 54 closest to the inlet pipe 40 are spaced 22.5° apart from the inlet pipe 40.

[0037] As in Figure 2 and Figure 5 As best seen in the diagram, the fluid recovery system 30 may include a mounting plate 16, a collection bowl 56, and a collection bowl discharge port 58. The mounting plate 16 may include a main surface 60, i.e., a first surface, and a recessed mounting surface 62, i.e., a second surface. The main surface 60 may match the surface finish of an adjacent body panel defining the opening 18. A lidar sensor assembly 12 may be mounted to the mounting surface 62. The mounting surface 62 is recessed below the main surface 60. A plurality of connecting fingers 64 connect the mounting surface 62 to the main surface 60. A discharge slot 66 is also defined between the fingers 64 and acts as a process filter for larger debris (e.g., leaves). The fingers 64 are located below the annular tube. The collection bowl 56 is disposed below the annular tube 42 and the mounting plate 16, with the discharge slot 66 and the fingers 64 disposed above the collection bowl 56. The collection bowl 56 may be secured to the mounting plate 16 by any suitable method (e.g., adhesive, welding) suitable for forming the bowl 56 and the plate 16. If the inlet pipe 40 passes through the bowl 56, a seal can be provided between the pipe 40 and the bowl 56. The bowl outlet 58 is provided in the collecting bowl 56, located at or substantially at the bottom of the collecting bowl 56.

[0038] The sensor washer system operates in the following manner. In response to a signal that the housing 15 needs cleaning, a system controller (e.g., an autonomous vehicle controller, not shown) can actuate the pump 36. The signal can be provided by any available system that can determine the need for cleaning, such as a virtual driver system ("VDS") that can be incorporated within the autonomous vehicle controller. The VDS can receive data from sensors at the housing 15, such as an infrared sensor disposed inside the housing and an infrared emitter outside the housing, where the need for cleaning is determined by the VDS from the intensity of the infrared light impinging on the sensor. The pump 36 draws fluid 28 from the reservoir 32 and passes the fluid through the fluid connection line 38 to the inlet tube 40. The fluid 28 passes from the inlet tube 40 into the connection area 48 of the annular tube 42. The fluid 28 passes from the connection area 48 into each of the channels 52A, 52B, 52C, 52D and from there to and through the spray nozzles 44, 54. The fluid 28 exiting the spray nozzles 44, 54 impinges on the housing 15 and wets the housing. At least some of the fluid 28 on the housing 15 travels down the housing 15, over the housing 15 under the force of gravity, some of which falls on the fingers 64 and then through the drain slots 66, and some of which passes directly through the slots 66 and into the collection bowl 56. The fluid 28 collected in the collection bowl 56 passes through the drain 58 and into the connection line 38, and to the reservoir via the filter 34. The filter 34 can be any type suitable to remove debris (e.g., leaves and parts of insects), and can include a filter element suitable to remove soluble impurities (e.g., salt). The fluid 28 exiting the filter 34 returns to the reservoir 32 for reuse.

[0039] As used herein, the adverb "substantially" means that the shape, structure, measurement, quantity, time, etc. can deviate from the precise described geometry, distance, measurement, quantity, time, etc. due to imperfections in materials, processing, manufacturing, data transmission, calculation speed, etc.

[0040] The present disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the present disclosure can be practiced otherwise than as specifically described.

[0041] According to the present invention, there is provided a ring nozzle assembly having a ring tube connected to an inlet tube, at least three first jet nozzles fixed to the ring tube, oriented inwardly and in a first vertical direction, and equally spaced apart from one another, and a plurality of divider vanes disposed within the ring tube, extending along the length of the ring tube, and defining a flow passage for each first jet nozzle.

[0042] According to embodiments, the present invention is further characterized by a plurality of second jet nozzles equal in number to the first jet nozzles, the plurality of second jet nozzles fixed to the ring tube, oriented inwardly and in a second vertical direction.

[0043] According to embodiments, the ring tube is sized to encompass a circumference of a lidar sensor and the nozzles are oriented to allow the ring tube to be positioned vertically between a first sensor region and a second sensor region, with the first jet nozzles oriented to direct fluid inwardly and upwardly and the second jet nozzles oriented to direct fluid inwardly and downwardly.

[0044] According to embodiments, the second jet nozzles are each located between two first jet nozzles and each second jet nozzle shares a passage with one first jet nozzle.

[0045] According to embodiments, the flow passages are all connected to a connection region in which the inlet tube is connected to the ring tube, and the divider vanes are helically oriented within the ring tube and each flow passage is in communication with one of the jet nozzles.

[0046] According to embodiments, the ring tube is sized to encompass a circumference of a housing of a single lidar sensor at one of a top of a sensor housing and a bottom of the sensor housing, and when the ring tube is sized to encompass the bottom of the sensor housing, the nozzles are oriented to direct fluid inwardly and upwardly, and when the ring tube is sized to encompass the top of the sensor housing, the nozzles are oriented to direct fluid inwardly and downwardly.

[0047] According to the present invention, there is provided a sensor washing system having a ring nozzle assembly including a ring tube connected to an inlet tube, at least three first jet nozzles fixed to the ring tube, oriented inwardly and in a first vertical direction, and equally spaced apart from one another, and a plurality of divider vanes disposed within the ring tube, extending along the length of the ring tube, and defining a flow passage for each first jet nozzle.

[0048] According to embodiments, the application features a plurality of second spray nozzles equal in number to the first spray nozzles, the plurality of second spray nozzles affixed to the annular tube, oriented to spray inwardly and in a second vertical direction.

[0049] According to embodiments, the annular tube is sized to encompass a circumference of a laser radar sensor and the nozzles are oriented to allow the annular tube to be positioned vertically between a first sensor region and a second sensor region, wherein the first spray nozzles are oriented to direct fluid inwardly and upwardly and the second spray nozzles are oriented to direct fluid inwardly and downwardly.

[0050] According to embodiments, the second spray nozzles are each located between two first spray nozzles and each second spray nozzle shares a passageway with one first spray nozzle.

[0051] According to embodiments, the flow channels are all connected to a connection region in which the inlet tube is connected to the annular tube and the dividing vanes are oriented helically within the annular tube and each flow channel is in communication with one of the spray nozzles.

[0052] According to embodiments, the annular tube is sized to encompass a circumference of a housing of a single laser radar sensor at one of a top of a sensor housing and a bottom of the sensor housing and when the annular tube is sized to encompass the bottom of the sensor housing, the nozzles are oriented to direct fluid inwardly and upwardly and when the annular tube is sized to encompass the top of the sensor housing, the nozzles are oriented to direct fluid inwardly and downwardly.

[0053] According to embodiments, the application features a fluid recovery system.

[0054] According to embodiments, the fluid recovery system includes a collection bowl for being disposed below the annular tube.

[0055] According to embodiments, the fluid recovery system includes a mounting plate having a first surface and a recessed second surface for mounting a laser radar sensor and a plurality of connecting fingers defining a discharge slot therebetween, connecting the second surface with the first surface and the connecting fingers are disposed above the collection bowl.

[0056] According to embodiments, the fluid recovery system further includes a discharge port disposed in the collection bowl.

[0057] According to embodiments, the application features a reservoir fluidly connected to the discharge port for receiving fluid therefrom.

[0058] According to embodiments, the present application is further characterized by a pump disposed between and fluidly connected to each of the reservoir and the annular nozzle assembly for supplying fluid from the reservoir to the annular nozzle assembly.

[0059] According to embodiments, the present application is further characterized by a filter disposed between and fluidly connected to each of the drain and the reservoir for filtering fluid passing from the drain to the reservoir.

[0060] According to embodiments, the first surface includes a surface finish that matches a surface finish of an adjacent vehicle body panel.

Claims

1. A ring nozzle assembly comprising: a ring tube connected to an inlet tube; at least three first jet nozzles fixed to the ring tube, oriented to jet inwardly and in a first vertical direction, and equally spaced apart from one another; and a plurality of divider vanes disposed within the ring tube, extending along a length of the ring tube, and defining a flow passage for each first jet nozzle; wherein the vanes and flow passages are helical in shape to cause the flow passages to have a limited number of nozzles connected thereto.

2. The ring nozzle assembly of claim 1, further comprising a plurality of second jet nozzles equal in number to the first jet nozzles, the plurality of second jet nozzles fixed to the ring tube, oriented to jet inwardly and in a second vertical direction.

3. The ring nozzle assembly of claim 2, wherein the ring tube is sized to encompass a circumference of a lidar sensor housing and the nozzles are oriented to allow the ring tube to be positioned vertically between a first sensor region and a second sensor region with the first jet nozzles oriented to direct fluid inwardly and upwardly and the second jet nozzles oriented to direct fluid inwardly and downwardly.

4. The ring nozzle assembly of claim 2, wherein the second jet nozzles are each located between two first jet nozzles and each second jet nozzle shares a flow passage with one first jet nozzle.

5. The ring nozzle assembly of claim 1, wherein the flow passages are all connected to a connection region where the inlet tube connects to the ring tube and the divider vanes are helically oriented within the ring tube and each flow passage is in communication with one of the jet nozzles.

6. The ring nozzle assembly of claim 1, wherein the ring tube is sized to encompass a circumference of a lidar sensor housing.

7. The ring nozzle assembly of claim 6, wherein the ring tube is sized to encompass a circumference of the lidar sensor housing at one of a top of the sensor housing and a bottom of the sensor housing and when the ring tube is sized to encompass the bottom of the sensor housing, the nozzles are oriented to direct fluid inwardly and upwardly and when the ring tube is sized to encompass the top of the sensor housing, the nozzles are oriented to direct fluid inwardly and downwardly.

8. A sensor washing system comprising: the ring nozzle assembly of any of claims 1-7; and a fluid recovery system.

9. The sensor washing system of claim 8, wherein the fluid recovery system comprises a collection bowl for being disposed below the ring tube.

10. The sensor washing system of claim 9, wherein the fluid recovery system comprises: a mounting plate having a first surface and a recessed second surface for mounting a lidar sensor housing; and a plurality of connection fingers defining a discharge slot therebetween, connecting the second surface with the first surface, and disposed above the collection bowl.

11. The sensor washing system of claim 10, wherein the fluid recovery system further comprises a drain port disposed in the collection bowl.

12. The sensor washing system of claim 11, further comprising a reservoir fluidly connected to the drain port for receiving fluid therefrom.

13. The sensor washing system of claim 12, further comprising a pump disposed between and fluidly connected to the reservoir and the annular nozzle assembly for supplying fluid from the reservoir to the annular nozzle assembly.

14. The sensor washing system of claim 13, further comprising a filter disposed between and fluidly connected to the drain port and the reservoir for filtering fluid passing from the drain port to the reservoir.

15. The sensor washing system of claim 10, wherein the first surface comprises a surface finish that matches a surface finish of an adjacent vehicle body panel.

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