Vehicle-mounted visual acquisition module and unmanned vehicle

Abstract

The present disclosure relates to a vehicle-mounted vision acquisition module and an unmanned vehicle, the vehicle-mounted vision acquisition module comprising a shell, a gas delivery device, a liquid delivery device and a reflux pipe, the shell being used to cover the outside of the vision acquisition component and comprising a light-transmitting portion for transmitting the vision acquisition component, the shell being provided with an air jet nozzle and a liquid spray nozzle both located outside the light-transmitting portion, the air outlet of the gas delivery device and the liquid outlet of the liquid delivery device being communicated with the air jet nozzle and the liquid spray nozzle respectively, so that the air jet nozzle and the liquid spray nozzle can respectively spray gas and liquid onto the outer surface of the light-transmitting portion, a water collecting trough being formed on the shell, the water collecting trough being located outside the light-transmitting portion and below the air jet nozzle and the liquid spray nozzle, the water collecting trough being used to collect liquid sprayed from the liquid spray nozzle, the inlet of the reflux pipe being communicated with the water collecting trough, and the outlet of the reflux pipe being communicated with the liquid delivery device.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned vehicles, and in particular, to a vehicle-mounted visual acquisition module and an unmanned vehicle. Background Art

[0002] The exterior of unmanned vehicles or passenger vehicles with unmanned driving assistance systems requires multiple on-board visual acquisition components, such as cameras, which are used to sense and monitor the external environment of the vehicle and generate control decisions, thereby providing a reference for the vehicle's driving. Since the on-board visual acquisition components are set on the outside of the vehicle, a mounting cover is usually provided for centralized installation and protection of multiple on-board visual acquisition components. However, the mounting cover is exposed to the outside world and is prone to absorbing dirt such as floating dust and rain, which will cause photosensitivity and image distortion problems, affect the processing results of computer vision, and thus cause vehicle control errors. Summary of the invention

[0003] The purpose of the present disclosure is to provide a vehicle-mounted visual acquisition module and an unmanned vehicle to solve the above-mentioned problems existing in the related technology.

[0004] In order to achieve the above-mentioned objectives, the present disclosure provides a vehicle-mounted vision acquisition module, which includes a shell, a gas delivery device, a liquid delivery device and a reflux pipe. The shell is used to cover the outside of the vision acquisition component and includes a light-transmitting portion for transmitting the vision acquisition component. The shell is provided with an air jet nozzle and a liquid spray nozzle both located outside the light-transmitting portion. The air outlet of the gas delivery device and the liquid outlet of the liquid delivery device are respectively connected to the air jet nozzle and the liquid spray nozzle, so that the air jet nozzle and the liquid spray nozzle can respectively spray gas and liquid onto the outer surface of the light-transmitting portion. A water collecting trough is formed on the shell, and the water collecting trough is located outside the light-transmitting portion and below the air jet nozzle and the liquid spray nozzle. The water collecting trough is used to collect liquid sprayed by the liquid spray nozzle. The inlet of the reflux pipe is connected to the water collecting trough, and the outlet of the reflux pipe is connected to the liquid delivery device.

[0005] Optionally, the shell includes a top plate and a bottom plate that are relatively arranged, and a light-transmitting side plate located between the top plate and the bottom plate, the top plate, the bottom plate and the light-transmitting side plate together form a accommodating space for accommodating the visual acquisition component, the light-transmitting portion is the light-transmitting side plate, the outer peripheral edge of the top plate protrudes outward from the light-transmitting side plate and forms a first flange, the air nozzle and the liquid spray nozzle are arranged on the first flange, the outer peripheral edge of the bottom plate protrudes outward from the light-transmitting side plate and forms a second flange, and the water collection tank is formed on the second flange.

[0006] Optionally, a first groove and a second groove opening downward are formed on the first flange, the air nozzle is arranged on the top wall of the first groove, the liquid nozzle is formed on the top wall of the second groove, the first guide side wall of the first groove close to the light-transmitting side panel extends obliquely from the top wall of the first groove toward the light-transmitting side panel, and the second guide side wall of the second groove close to the light-transmitting side panel extends obliquely from the top wall of the second groove toward the light-transmitting side panel.

[0007] Optionally, a first through hole and a second through hole located inside the shell are formed on the top plate, a third through hole and a fourth through hole are formed on the first flange, the axes of the first through hole and the second through hole are both parallel to the horizontal direction, the axes of the third through hole and the fourth through hole are both parallel to the vertical direction, and a first internal flow channel connecting the first through hole and the third through hole, and a second internal flow channel connecting the second through hole and the fourth through hole are formed in the top plate;

[0008] The gas delivery device comprises a gas delivery pipe, the inlet of the gas delivery pipe is located outside the shell, the outlet of the gas delivery pipe passes through the bottom plate and is connected to the first through hole, the air nozzle is arranged at the third through hole, and the gas outlet of the gas delivery device is the outlet of the gas delivery pipe;

[0009] The liquid delivery device includes an infusion tube, the inlet of the infusion tube is located outside the shell, the outlet of the infusion tube passes through the bottom plate and is connected to the second through hole, the liquid spray nozzle is arranged at the fourth through hole, and the liquid outlet of the liquid delivery device is the outlet of the infusion tube.

[0010] Optionally, a fifth through hole located outside the shell is formed on the bottom plate, a sixth through hole is formed in the water collecting tank, the axis of the fifth through hole is parallel to the horizontal direction, the axis of the sixth through hole is parallel to the vertical direction, a third internal flow channel connecting the fifth through hole and the sixth through hole is formed in the bottom plate, and the inlet of the return pipe is connected to the fifth through hole.

[0011] Optionally, the liquid spray nozzle is located between the air spray nozzle and the light-transmitting portion.

[0012] Optionally, the height of the air jet nozzle is greater than the height of the liquid jet nozzle.

[0013] Optionally, there are multiple air nozzles, which are spaced apart along the circumference of the shell, there are multiple liquid spray nozzles, which are spaced apart along the circumference of the shell, and the water collection tank is formed as an annular water collection tank extending along the circumference of the shell.

[0014] Optionally, the liquid delivery device includes a water pump, a water storage tank and an infusion tube, the water pump and the water storage tank are located outside the shell, the outlet of the reflux pipe is connected to the water storage tank, the inlet of the water pump is connected to the outlet of the water storage tank, the outlet of the water pump is connected to the inlet of the infusion tube, the outlet of the infusion tube is connected to the spray nozzle, the liquid outlet of the liquid delivery device is the outlet of the infusion tube, and a filter element is provided in the water pump and / or the water storage tank.

[0015] Optionally, the visual acquisition component can identify whether there is dirt on the light-transmitting portion, and the water pump can be started when the visual acquisition component identifies the presence of dirt on the light-transmitting portion, so that the liquid spray nozzle sprays liquid toward the light-transmitting portion.

[0016] Optionally, the gas delivery device includes an air pump and a gas pipe, the inlet of the air pump is used to connect to the gas source, the outlet of the air pump is connected to the inlet of the gas pipe, the outlet of the gas pipe is connected to the air nozzle, and the gas outlet of the gas delivery device is the outlet of the gas pipe.

[0017] Optionally, the air pump is used to start when the rainfall information detected by the rain sensor on the unmanned vehicle meets a preset condition, so that the air nozzle sprays gas toward the light-transmitting portion.

[0018] The present disclosure also provides an unmanned vehicle, comprising the above-mentioned vehicle-mounted visual acquisition module.

[0019] Through the above technical solution, the liquid delivery device can spray liquid to the outer surface of the light-transmitting part through the liquid spray nozzle to dissolve and wash away the dirt on the outer surface of the light-transmitting part, thereby preventing dirt such as dust or mud from blocking the light-transmitting part and affecting the detection of the visual acquisition component. The gas delivery device can spray gas to the outer surface of the light-transmitting part through the gas nozzle to blow away the residual cleaning liquid or rainwater on the light-transmitting part, thereby ensuring that the light-transmitting part is in a clean and dry state, thereby preventing the liquid from affecting the photosensitivity of the visual acquisition component and causing problems such as image distortion, thereby improving the detection reliability of the vehicle-mounted visual acquisition module. By recycling the liquid used to clean the light-transmitting part through the sump and the reflux pipe, it is possible to prevent the liquid from dripping onto other structures to cause secondary pollution and affect the function of the vehicle-mounted visual acquisition module, and at the same time, multiple recycling of the liquid can reduce waste.

[0020] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0022] Figure 1 is a front view of a vehicle-mounted visual acquisition module provided by an exemplary embodiment of the present disclosure;

[0023] Figure 2 is a stereoscopic diagram of a vehicle-mounted visual acquisition module provided by an exemplary embodiment of the present disclosure;

[0024] Figure 3 is a stereoscopic diagram of a vehicle-mounted visual acquisition module provided by an exemplary embodiment of the present disclosure, wherein the light-transmitting portion is not shown;

[0025] Figure 4 yes Figure 3 An enlarged view of part "A" in FIG.

[0026] Figure 5 is a stereogram of a vehicle-mounted visual acquisition module provided by an exemplary embodiment of the present disclosure (with Figure 2 different perspectives);

[0027] Figure 6 It is a stereoscopic diagram of a vehicle-mounted visual acquisition module provided by an exemplary embodiment of the present disclosure, wherein the light-transmitting portion and a portion of the top plate are not shown.

[0028] Description of Reference Numerals

[0029] 10-shell; 20-visual collection component; 1-light-transmitting part; 2-top plate; 21-first flange; 211-first groove; 2111-first guide side wall; 212-second groove; 2121-second guide side wall; 22-first through hole; 23-second through hole; 3-bottom plate; 31-second flange; 32-water collecting trough; 33-sixth through hole; 4-light-transmitting side plate; 5-gas conveying device; 51-jet nozzle; 52-gas pipe; 6-liquid conveying device; 61-liquid nozzle; 62-liquid pipe; 7-reflux pipe. DETAILED DESCRIPTION

[0030] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0031] In the present disclosure, unless otherwise stated, directional words such as "vertical direction, horizontal direction" refer to the vertical direction and horizontal direction of the vehicle-mounted visual acquisition module in the working position. Figure 1 As shown; "inside" and "outside" refer to the "inside" and "outside" relative to the outline of the component or structure itself. In addition, it should be noted that the terms used, such as "first" and "second", are used to distinguish one element from another, and do not have order and importance. In addition, in the description with reference to the drawings, the same mark in different drawings represents the same element.

[0032] like Figures 1 to 6 As shown, the present disclosure provides a vehicle-mounted vision acquisition module, which includes a shell 10, a gas delivery device 5, a liquid delivery device 6 and a return pipe 7. The shell 10 is used to cover the outside of the vision acquisition component 20 and includes a light-transmitting portion 1 for transmitting the vision acquisition component 20. The shell 10 is provided with an air jet nozzle 51 and a liquid spray nozzle 61 both located on the outside of the light-transmitting portion 1. The air outlet of the gas delivery device 5 and the liquid outlet of the liquid delivery device 6 are respectively connected to the air jet nozzle 51 and the liquid spray nozzle 61, so that the air jet nozzle 51 and the liquid spray nozzle 61 can respectively spray gas and liquid onto the outer surface of the light-transmitting portion 1. A water collecting trough 32 is formed on the shell 10. The water collecting trough 32 is located on the outside of the light-transmitting portion 1 and below the air jet nozzle 51 and the liquid spray nozzle 61. The water collecting trough 32 is used to collect liquid sprayed by the liquid spray nozzle 61. The inlet of the return pipe 7 is connected to the water collecting trough 32, and the outlet of the return pipe 7 is connected to the liquid delivery device 6.

[0033] Here, it should be noted that the above-mentioned visual acquisition component 20 refers to a device that can collect and store images, such as a camera, radar, infrared instrument, laser sensor and other devices. The visual acquisition component 20 collects external information through the light-transmitting part 1 of the shell 10. When the outer surface of the light-transmitting part 1 is dirty (such as dust or dirt, etc.), the liquid delivery device 6 can spray liquid to the outer surface of the light-transmitting part 1 through the liquid spray nozzle 61 to dissolve and wash away the dirt on the outer surface of the light-transmitting part 1. When there is residual cleaning liquid covering the light-transmitting part 1, or rainwater from the outside splashes on the outside of the light-transmitting part 1, the gas delivery device 5 can spray gas to the outer surface of the light-transmitting part 1 through the gas nozzle 51 to blow away the liquid on the light-transmitting part 1, which plays a role in drying, ensuring that the light-transmitting part 1 is in a clean and dry state, and preventing the liquid from affecting the photosensitivity of the visual acquisition component 20 and causing problems such as image distortion. The liquid flowing down the outer surface of the light-transmitting portion 1 can be collected in the water collecting tank 32. On the one hand, it can prevent the liquid from dripping onto other structures below the light-transmitting portion 1 and causing secondary pollution. On the other hand, the water collecting tank 32 is connected to the liquid conveying device 6 through the reflux pipe 7 to recycle the liquid for reuse, thereby avoiding waste of liquid.

[0034] Through the above technical solution, the liquid delivery device 6 can spray liquid to the outer surface of the light-transmitting part 1 through the liquid spray nozzle 61, dissolve and wash away the dirt on the outer surface of the light-transmitting part 1, thereby preventing dust or dirt and other dirt from blocking the light-transmitting part 1 and affecting the detection of the visual collection component 20. The gas delivery device 5 can spray gas to the outer surface of the light-transmitting part 1 through the gas nozzle 51 to blow away the residual cleaning liquid or rainwater on the light-transmitting part 1, ensure that the light-transmitting part 1 is in a clean and dry state, prevent the liquid from affecting the photosensitivity of the visual collection component 20 and causing image distortion and other problems, and improve the detection reliability of the vehicle-mounted visual collection module. The liquid used to clean the light-transmitting part 1 is recovered through the water collection tank 32 and the reflux pipe 7, which can prevent the liquid from dripping onto other structures to cause secondary pollution, and the multiple recycling of the liquid can reduce waste.

[0035] The housing 10 is disposed outside the visual acquisition component 20. For visual acquisition components 20 with different structures and functions, the housing 10 can be formed into various shapes. As an exemplary embodiment, Figure 2 and Figure 5 As shown, the shell 10 may include a top plate 2 and a bottom plate 3 that are relatively arranged, and a light-transmitting side plate 4 located between the top plate 2 and the bottom plate 3. The top plate 2, the bottom plate 3 and the light-transmitting side plate 4 together form a storage space for accommodating the visual acquisition component 20. The above-mentioned light-transmitting portion 1 is the light-transmitting side plate 4. The outer peripheral edge of the top plate 2 protrudes outward from the light-transmitting side plate 4 and forms a first flange 21. The air jet 51 and the liquid jet 61 are arranged on the first flange 21. The outer peripheral edge of the bottom plate 3 protrudes outward from the light-transmitting side plate 4 and forms a second flange 31. The water collecting tank 32 is formed on the second flange 31. Since the first flange 21 and the second flange 31 both protrude outward from the light-transmitting side panel 4 and are arranged opposite to each other on both sides of the light-transmitting side panel 4, the air jet 51 and the liquid spray nozzle 61 are arranged on the first flange 21, and the water collection tank 32 is formed on the second flange 31. When the liquid spray nozzle 61 sprays liquid on the light-transmitting side panel 4 or there is liquid on the light-transmitting side panel 4, the liquid will automatically flow to the second flange 31 under the action of gravity, so that it can quickly leave the light-transmitting side panel 4 and be collected in the water collection tank 32 for recycling, reducing the residual liquid on the light-transmitting side panel 4. When there is little residual liquid on the light-transmitting side panel 4, the air jet 51 sprays the light-transmitting side panel 4 to quickly dry the light-transmitting side panel 4, and the light-transmitting side panel 4 resumes normal use, reducing the duration of the cleaning process affecting the vehicle-mounted visual acquisition module.

[0036] The air jet nozzle 51 and the liquid jet nozzle 61 are arranged on the first flange 21. Since the gas and liquid ejected by the air jet nozzle 51 and the liquid jet nozzle 61 are usually distributed in a fan shape, in order to ensure that the gas and liquid ejected by the air jet nozzle 51 and the liquid jet nozzle 61 can reach the surface of the light-transmitting portion 1, optionally, as Figures 2 to 4As shown, a first groove 211 and a second groove 212 opening downward may be formed on the first flange 21, the air nozzle 51 is arranged on the top wall of the first groove 211, and the liquid spray nozzle 61 is formed on the top wall of the second groove 212. The first groove 211 is close to the first guide side wall 2111 of the light-transmitting side panel 4 and extends obliquely from the top wall of the first groove 211 toward the light-transmitting side panel 4, and the inclined first guide side wall 2111 can guide the gas sprayed by the air nozzle 51, so that the gas can be sprayed toward the outer surface of the light-transmitting side panel 4, thereby removing dust and liquid on the light-transmitting side panel 4; the second guide side wall 2121 of the second groove 212 is close to the light-transmitting side panel 4 and extends obliquely from the top wall of the second groove 212 toward the light-transmitting side panel 4, so as to guide the liquid sprayed by the liquid spray nozzle 61, so that the liquid can be sprayed toward the outer surface of the light-transmitting side panel 4, dissolving and cleaning the dirt on the light-transmitting side panel 4. Furthermore, since the air nozzle 51 is arranged inside the first groove 211 and the liquid spray nozzle 61 is arranged inside the second groove 212, the first groove 211 and the second groove 212 can respectively protect the air nozzle 51 and the liquid spray nozzle 61, thereby preventing the air nozzle 51 and the liquid spray nozzle 61 from protruding from the first flange 21, preventing the air nozzle 51 and the liquid spray nozzle 61 from being damaged by the outside world, and improving the service life.

[0037] In the embodiment where the housing 10 includes the light-transmitting side panel 4, the visual collection component 20 collects external information from multiple directions through the light-transmitting side panel 4. In order to avoid the gas delivery device 5 and the liquid delivery device 6 from blocking the light-transmitting side panel 4 when arranged, optionally, as Figure 3 and Figure 6 As shown, the top plate 2 may be formed with a first through hole 22 and a second through hole 23 located inside the shell 10, and the first flange 21 may be formed with a third through hole and a fourth through hole, the axis of the first through hole 22 and the axis of the second through hole 23 are both parallel to the horizontal direction, the axis of the third through hole and the axis of the fourth through hole are both parallel to the vertical direction, and a first internal flow channel connecting the first through hole 22 and the third through hole, and a second internal flow channel connecting the second through hole 23 and the fourth through hole are formed in the top plate 2; the gas delivery device 5 includes a gas delivery pipe 5 2, the inlet of the gas pipe 52 is located outside the shell 10, the outlet of the gas pipe 52 passes through the bottom plate 3 and is connected to the first through hole 22, the air nozzle 51 is arranged at the third through hole, and the gas outlet of the gas delivery device 5 is the outlet of the gas pipe 52; the liquid delivery device 6 includes a liquid delivery pipe 62, the inlet of the liquid delivery pipe 62 is located outside the shell 10, the outlet of the liquid delivery pipe 62 passes through the bottom plate 3 and is connected to the second through hole 23, the liquid nozzle 61 is arranged at the fourth through hole, and the liquid outlet of the liquid delivery device 6 is the outlet of the liquid delivery pipe 62.

[0038] In the above embodiment, if Figure 2As shown, the air pipe 52 and the liquid pipe 62 are arranged inside the shell 10 through the bottom plate 3 and extend from the inside of the shell 10 to the top plate 2. The extension paths of the air pipe 52 and the liquid pipe 62 are both located in the blind area of ​​the visual collection component 20, which can avoid blocking the light-transmitting side plate 4 and the visual collection component 20, ensuring that the visual collection component 20 has a good lighting range. In addition, Figure 6 As shown, the gas pipe 52 and the liquid pipe 62 extend from the inside of the shell 10 to the top plate 2 after passing through the bottom plate 3. Since the axis of the first through hole 22 and the axis of the second through hole 23 are parallel to the horizontal direction, the outlets of the gas pipe 52 and the liquid pipe 62 can be arranged parallel to the horizontal direction and connected to the first through hole 22 and the second through hole 23, thereby reducing the bending of the gas pipe 52 and the liquid pipe 62 and ensuring the smooth flow of the gas pipe 52 and the liquid pipe 62. The outlet of the gas pipe 52 is connected to the air nozzle 51 through the first internal channel, and the outlet of the liquid pipe 62 is connected to the liquid nozzle 61 through the second internal channel. The flow paths of the gas and liquid are changed through the first internal channel and the second internal channel, so that the gas and liquid entering parallel to the horizontal direction can flow out parallel to the vertical direction to reach the light-transmitting side plate 4.

[0039] Since the pressure required for liquid spraying is greater than the pressure of the gas, and the gas and liquid sprayed by the air nozzle 51 and the liquid spray nozzle 61 are usually distributed in a fan shape, optionally, the liquid spray nozzle 61 can be located between the air nozzle 51 and the light-transmitting portion 1, that is, the liquid spray nozzle 61 is closer to the light-transmitting portion 1 in the horizontal direction than the air nozzle 51, and the gas spray range of the air nozzle 51 on the light-transmitting portion 1 can cover the liquid coverage range of the liquid spray nozzle 61, and the air nozzle 51 can completely dry the residual liquid on the light-transmitting portion 1 to avoid residual dead corners.

[0040] When the air jet nozzle 51 and the liquid jet nozzle 61 are arranged, since the air jet nozzle 51 is connected to the gas delivery device 5 and the liquid jet nozzle 61 is connected to the liquid delivery device 6, the gas delivery device 5 and the liquid delivery device 6 are relatively independent. For the convenience of arrangement, the air jet nozzle 51 and the liquid jet nozzle 61 can be arranged staggered in the height direction. As an exemplary embodiment, Figure 3 and Figure 4As shown, the height of the air jet 51 can be greater than the height of the liquid jet 61. Since the pressure required for liquid injection is greater than the pressure required for gas injection, the gas and liquid ejected by the air jet 51 and the liquid jet 61 are usually distributed in a fan shape. The lower height of the liquid jet 61 can be closer to the light-transmitting portion 1, reducing the demand for liquid injection pressure. At the same time, since the height of the air jet 51 is greater than the height of the liquid jet 61, the gas injection range of the air jet 51 on the light-transmitting portion 1 can cover the liquid coverage range of the liquid jet 61, thereby ensuring that the air jet 51 can clean the liquid remaining on the light-transmitting portion 1, avoiding liquid residue in the air jet blind area and affecting the lighting and detection of the visual acquisition component 20, thereby improving the detection reliability of the vehicle-mounted visual acquisition module. In an embodiment in which a first internal flow channel and a second internal flow channel are formed in the top plate 2, when the height of the air jet 51 is greater than the height of the liquid jet 61, the first internal flow channel and the second internal flow channel can be staggered in the vertical direction, or, as Figure 6 As shown, the first internal flow channel and the second internal flow channel may be staggered in the horizontal direction.

[0041] The liquid in the water collection tank 32 can flow to the liquid delivery device 6 through the return pipe 7. Optionally, as Figure 3 and Figure 5 As shown, a fifth through hole located outside the shell 10 may be formed on the bottom plate 3, a sixth through hole 33 is formed in the water collecting tank 32, the axis of the fifth through hole is parallel to the horizontal direction, the axis of the sixth through hole 33 is parallel to the vertical direction, a third internal flow channel connecting the fifth through hole and the sixth through hole 33 is formed in the bottom plate 3, and the inlet of the return pipe 7 is connected to the fifth through hole. The liquid in the water collecting tank 32 can enter the return pipe 7 through the third internal flow channel, which can prevent the liquid from dripping onto other structures to cause secondary pollution and affect the function of the vehicle-mounted visual acquisition module. For example, when the vehicle-mounted visual acquisition module is arranged on an unmanned vehicle, the water collecting tank 32 can prevent the liquid from dripping onto the unmanned vehicle and affecting the driving process of the unmanned vehicle. Since the axis of the fifth through hole is parallel to the horizontal direction, the return pipe 7 can be attached to the bottom of the bottom plate 3 and extend in the horizontal direction to connect to the fifth through hole, avoiding interference with other structures during the arrangement process.

[0042] Optionally, the return pipe 7 may be located outside the housing 10 to avoid the return pipe 7 being disposed inside the housing 10 and occupying space inside the housing.

[0043] The liquid in the water collection tank 32 may be the liquid after cleaning the light-transmitting side plate 4, or may be external liquid such as rainwater. The liquid enters the liquid conveying device 6 through the reflux pipe 7 and is recycled. Optionally, the liquid conveying device 6 may include a water pump, a water storage tank, and a liquid infusion pipe 62. The water pump and the water storage tank are located outside the housing 10. The outlet of the reflux pipe 7 is connected to the water storage tank, the inlet of the water pump is connected to the outlet of the water storage tank, the outlet of the water pump is connected to the inlet of the liquid infusion pipe 62, the outlet of the liquid infusion pipe 62 is connected to the liquid spray nozzle 61, and the liquid outlet of the liquid conveying device 6 is the outlet of the liquid infusion pipe 62. A filter element is provided in the water pump and / or the water storage tank, and the filter element can filter the liquid to remove impurities and dirt in the liquid. The filtered liquid is sprayed onto the light-transmitting side plate 4 through the liquid infusion pipe 62 and the liquid spray nozzle 61 to clean the light-transmitting side plate 4, thereby ensuring that the liquid has a good cleaning effect and avoiding secondary pollution.

[0044] The above-mentioned on-board visual acquisition module can be applied to an unmanned vehicle and electrically connected to the controller inside the unmanned vehicle. The on-board visual acquisition module is used to collect external information and transmit the external information collected to the controller of the unmanned vehicle as a basis for the unmanned vehicle to perform automatic driving. In order to be able to clean the dirt on the light-transmitting part 1 of the on-board visual acquisition module in a timely manner, optionally, the water pump and the visual acquisition component 20 can both be used to be electrically connected to the controller of the unmanned vehicle. The visual acquisition component 20 is configured to be able to identify whether there is dirt on the light-transmitting part 1. The water pump can be started when the visual acquisition component 20 identifies the presence of dirt on the light-transmitting part 1, so that the liquid nozzle 61 sprays liquid to the light-transmitting part 1. In this way, the liquid conveying device 6 can automatically clean the light-transmitting part 1.

[0045] In addition, the structure of the gas delivery device 5 can be various. Optionally, the gas delivery device 5 can include an air pump and an air delivery pipe 52. The inlet of the air pump is used to communicate with the gas source, the outlet of the air pump is communicated with the inlet of the air delivery pipe 52, the outlet of the air delivery pipe 52 is communicated with the air nozzle 51, and the gas outlet of the gas delivery device 5 is the outlet of the air delivery pipe 52. Here, the gas source can be the outside atmosphere or a vehicle-mounted gas tank, which is not limited in the present disclosure.

[0046] In order to ensure that the on-board visual acquisition module can be used normally in a rainy environment, optionally, the air pump is used to be electrically connected to the controller of the unmanned vehicle, and the controller is electrically connected to the rain sensor. The air pump is used to start when the rainfall information detected by the rain sensor on the unmanned vehicle meets the preset conditions, so that the air nozzle 51 sprays gas. In a rainy environment, when the rainfall information detected by the rain sensor on the unmanned vehicle meets the preset conditions, the controller of the unmanned vehicle can control the air pump to start, so that the air nozzle 51 sprays gas to remove rainwater on the light-transmitting part 1, thereby realizing the automatic water removal function.

[0047] In order to ensure that the light-transmitting portion 1 can be fully cleaned, optionally, there can be multiple air nozzles 51, and multiple air nozzles 51 are arranged at intervals along the circumference of the shell 10, and there can be multiple liquid spray nozzles 61, and multiple liquid spray nozzles 61 are arranged at intervals along the circumference of the shell 10, and the water collection tank 32 is formed as an annular water collection tank 32 extending along the circumference of the shell 10. Multiple air nozzles 51 and liquid spray nozzles 61 arranged at intervals along the circumference of the shell 10 can form an annular gas injection range and liquid injection range in the circumference of the shell 10, so as to fully and thoroughly cover the light-transmitting portion 1, avoid the occurrence of cleaning dead corners, and ensure the functional reliability of the vehicle-mounted visual acquisition module. Among them, the specific number of air nozzles 51 and liquid spray nozzles 61 can be determined based on the injection angles of the air nozzles 51 and liquid spray nozzles 61, the size of the shell 10, and the arrangement direction of the visual acquisition component 20, and the present disclosure does not make specific restrictions on this.

[0048] The present disclosure also provides an unmanned vehicle, which includes the above-mentioned vehicle-mounted vision acquisition module. Optionally, the above-mentioned vehicle-mounted vision acquisition module can be installed on the top of the vehicle through a mounting bracket.

[0049] Here, it should be noted that the above-mentioned unmanned vehicle refers to a vehicle that relies on an intelligent driver's instrument based on a computer system in the vehicle to achieve unmanned driving. The unmanned vehicle can be, for example, an unmanned cargo delivery vehicle used to deliver goods in a logistics system, or an unmanned takeaway delivery vehicle used to deliver takeaways, or an unmanned transfer vehicle used to transfer goods between multiple shelves, etc. The present disclosure does not limit the specific type of unmanned vehicle.

[0050] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0051] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0052] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A vehicle-mounted visual acquisition module, characterized in that: The invention comprises a shell (10), a gas delivery device (5), a liquid delivery device (6) and a reflux pipe (7); the shell (10) is used to cover the outside of a visual acquisition component (20) and comprises a light-transmitting portion (1) for transmitting the visual acquisition component (20); the shell (10) is provided with an air jet nozzle (51) and a liquid jet nozzle (61) both located outside the light-transmitting portion (1); the air outlet of the gas delivery device (5) and the liquid outlet of the liquid delivery device (6) are respectively connected to the air jet nozzle (51) and the liquid jet nozzle (61), so that the air jet nozzle (51) and the liquid jet nozzle (61) can respectively spray gas and liquid onto the outer surface of the light-transmitting portion (1); and the shell (10) is formed with a water collecting tank ( The water collecting trough (32) is located outside the light-transmitting portion (1) and below the air jet nozzle (51) and the liquid spray nozzle (61). The water collecting trough (32) is used to collect liquid sprayed by the liquid spray nozzle (61). The inlet of the reflux pipe (7) is connected to the water collecting trough (32), and the outlet of the reflux pipe (7) is connected to the liquid conveying device (6). The shell (10) includes a top plate (2) and a bottom plate (3) arranged opposite to each other, and a light-transmitting side plate (4) located between the top plate (2) and the bottom plate (3). The top plate (2), the bottom plate (3) and the light-transmitting side plate (4) together form a storage space for accommodating the visual acquisition component (20). The light-transmitting portion (1) is the The light-transmitting side plate (4) is provided with a first flange (21) protruding outwardly from the light-transmitting side plate (4), the outer peripheral edge of the top plate (2) protrudes outwardly from the light-transmitting side plate (4) and forms a first flange (21), the air jet nozzle (51) and the liquid jet nozzle (61) are arranged on the first flange (21), the outer peripheral edge of the bottom plate (3) protrudes outwardly from the light-transmitting side plate (4) and forms a second flange (31), the water collecting groove (32) is formed on the second flange (31), a first groove (211) and a second groove (212) opening downwardly are formed on the first flange (21), the air jet nozzle (51) is arranged on the top wall of the first groove (211), the liquid jet nozzle (61) is formed on the top wall of the second groove (212), and the first groove (211) is close to the bottom wall of the bottom plate (3). The first guide side wall (2111) of the light-transmitting side plate (4) extends obliquely from the top wall of the first groove (211) toward the light-transmitting side plate (4); the second guide side wall (2121) of the second groove (212) close to the light-transmitting side plate (4) extends obliquely from the top wall of the second groove (212) toward the light-transmitting side plate (4); the top plate (2) is formed with a first through hole (22) and a second through hole (23) located inside the shell (10); the first flange (21) is formed with a third through hole and a fourth through hole; the axis of the first through hole (22) and the axis of the second through hole (23) are both parallel to the horizontal direction, and the axis of the third through hole and the axis of the fourth through hole are both parallel to the vertical direction;A first internal flow channel connecting the first through hole (22) and the third through hole, and a second internal flow channel connecting the second through hole (23) and the fourth through hole are formed in the top plate (2); the gas delivery device (5) comprises a gas delivery pipe (52), the inlet of the gas delivery pipe (52) is located outside the shell (10), the outlet of the gas delivery pipe (52) passes through the bottom plate (3) and is connected to the first through hole (22), the air jet nozzle (51) is arranged at the third through hole, and the gas outlet of the gas delivery device (5) is the outlet of the gas delivery pipe (52); the liquid delivery device (6) comprises a liquid delivery pipe (62), the inlet of the liquid delivery pipe (62) is located outside the shell (10), the outlet of the liquid delivery pipe (62) passes through the bottom plate (3) and is connected to the second through hole (23), the liquid jet nozzle (61) is arranged at the fourth through hole, and the liquid outlet of the liquid delivery device (6) is the outlet of the liquid delivery pipe (62). , 2. The vehicle-mounted visual acquisition module according to claim 1, characterized in that: A fifth through hole is formed on the bottom plate (3) and is located outside the shell (10); a sixth through hole (33) is formed in the water collecting tank (32); the axis of the fifth through hole is parallel to the horizontal direction; the axis of the sixth through hole (33) is parallel to the vertical direction; a third internal flow channel is formed in the bottom plate (3) and is connected to the fifth through hole and the sixth through hole (33); and the inlet of the return pipe (7) is connected to the fifth through hole.

3. The vehicle-mounted visual acquisition module according to any one of claims 1-2, characterized in that: The liquid spray nozzle (61) is located between the air spray nozzle (51) and the light-transmitting portion (1).

4. The vehicle-mounted visual acquisition module according to claim 3, characterized in that: The height of the air jet nozzle (51) is greater than the height of the liquid jet nozzle (61).

5. The vehicle-mounted visual acquisition module according to any one of claims 1-2, characterized in that: There are a plurality of air jets (51), which are spaced apart along the circumference of the shell (10); there are a plurality of liquid spray nozzles (61), which are spaced apart along the circumference of the shell (10); and the water collecting trough (32) is formed as an annular water collecting trough (32) extending along the circumference of the shell (10).

6. The vehicle-mounted visual acquisition module according to claim 1, characterized in that: The liquid conveying device (6) comprises a water pump, a water storage tank and a liquid infusion tube (62); the water pump and the water storage tank are located outside the housing (10); the outlet of the reflux tube (7) is connected to the water storage tank; the inlet of the water pump is connected to the outlet of the water storage tank; the outlet of the water pump is connected to the inlet of the liquid infusion tube (62); the outlet of the liquid infusion tube (62) is connected to the liquid spray nozzle (61); the liquid outlet of the liquid conveying device (6) is the outlet of the liquid infusion tube (62); and a filter element is provided in the water pump and / or the water storage tank.

7. The vehicle-mounted visual acquisition module according to claim 6, characterized in that: The visual acquisition component (20) is capable of identifying whether dirt is present on the light-transmitting portion (1), and the water pump is capable of being started when the visual acquisition component (20) identifies the presence of dirt on the light-transmitting portion (1), so that the liquid spraying nozzle (61) sprays liquid toward the light-transmitting portion (1).

8. The vehicle-mounted visual acquisition module according to claim 1, characterized in that: The gas delivery device (5) comprises an air pump and an air delivery pipe (52); the inlet of the air pump is used to communicate with a gas source; the outlet of the air pump is communicated with the inlet of the air delivery pipe (52); the outlet of the air delivery pipe (52) is communicated with the air nozzle (51); and the air outlet of the gas delivery device (5) is the outlet of the air delivery pipe (52).

9. The vehicle-mounted visual acquisition module according to claim 8, characterized in that: The air pump is used to start when the rainfall information detected by the rainfall sensor on the unmanned vehicle meets a preset condition, so that the air nozzle (51) sprays gas toward the light-transmitting portion (1).

10. An unmanned vehicle, characterized in that: It comprises the vehicle-mounted vision acquisition module described in any one of claims 1-9.

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