Cleaning device for a vehicle, cleaning and sensor system, vehicle and method for cleaning a surface to be cleaned of a sensor

Abstract

The invention relates to a cleaning device (100) for a vehicle (1000), the cleaning device having: - at least one cleaning nozzle (320), which is configured for loading a surface (AR) to be cleaned of at least one sensor (300) with a cleaning fluid (RF, DL, F), - a fluid regulating device (270), in particular a fluid valve (272) or a pump (276), which is configured for selectively providing the cleaning fluid (RF) to the cleaning nozzle (320), - a regulating actuator (140) for generating a cleaning movement (BR) of the cleaning nozzle (320). According to the invention, it is provided in the cleaning device (100) that: - the cleaning device (100) has a switching device (160) for controlling the regulating actuator (140), - it is possible to generate the cleaning movement (BR) independently of the fluid regulating device (270).

Description

TECHNICAL FIELD

[0001] The invention relates to a cleaning device for sensors, in particular of a vehicle. The invention also relates to a corresponding cleaning and sensor system, a vehicle and a method for cleaning a surface to be cleaned of a sensor. BACKGROUND

[0002] Cleaning and sensor systems, in particular in vehicles, having a cleaning device for cleaning a surface to be cleaned of a sensor are known per se.

[0003] The cleaning and sensor system mentioned at the outset thus has a cleaning device for sensors, in particular of a vehicle. The cleaning device generally has:

[0004] - a cleaning nozzle which is configured for loading a surface to be cleaned of at least one sensor with cleaning fluid,

[0005] - fluid regulating means, in particular a fluid valve or a pump, which are configured for selectively providing cleaning fluid to the cleaning nozzle,

[0006] - a regulating actuator for generating a cleaning movement of the cleaning nozzle.

[0007] Such a cleaning device advantageously enables cleaning of contaminants that occur in the operation of a vehicle on a sensor and thus ensures the functionality of the sensor, for example a camera or a laser radar sensor.

[0008] In general, there is a target value conflict in terms of the arrangement of the cleaning nozzle, i.e. with respect to the surface to be cleaned of the sensor. On the one hand, the structure should be as compact and unobtrusive as possible, but on the other hand, in order to generate a high cleaning performance, an advantageous, in particular as perpendicular as possible, impact angle of the cleaning fluid on the surface to be cleaned is desired.

[0009] In this respect, there are already solutions for cleaning devices having a movable nozzle in the area of a vehicle headlight. Thus, DE 3828999 A1 describes a windscreen cleaning installation for a motor vehicle having a pressure generating device for delivering cleaning liquid, a valve and a nozzle, the nozzle being movable from a rest position in which it is flush with the nozzle carrier into a working position, wherein the valve is only opened when the nozzle carrier is in the moved position.

[0010] Similar cleaning devices are also described in DE 19517761 A1 and DE 19920470 A1.

[0011] Moreover, it is problematic to clean sensors having a relatively large surface or to clean a plurality of sensors, for example arranged in a housing, effectively with the cleaning device. Moreover, it is problematic to clean efficiently in the sense of a work mode of the cleaning device which saves cleaning fluid, in particular cleaning liquid.

[0012] It is therefore desirable to improve the function of the cleaning device with regard to at least one of the above-mentioned problem aspects. SUMMARY

[0013] On this basis it is the task of the present invention to specify an improved device and method which is improved with regard to at least one of the above-mentioned problem aspects.

[0014] In particular, the efficient cleaning of sensors having a relatively large surface or of a plurality of sensors and / or the efficient cleaning in the sense of a work mode which saves cleaning fluid should be able to be implemented improved.

[0015] The task with regard to the device is solved by the present invention with a cleaning device according to the invention.

[0016] The present invention is based on the cleaning device for a vehicle mentioned at the outset, which has

[0017] at least one cleaning nozzle which is configured for loading a surface of the at least one sensor to be cleaned with cleaning fluid,

[0018] a fluid regulating means, in particular a fluid valve or a pump, which is configured for selectively providing cleaning fluid to the cleaning nozzle,

[0019] a regulating actuator for generating a cleaning movement of the cleaning nozzle.

[0020] According to the invention, it is provided in the cleaning device that

[0021] the cleaning device has switching means for controlling the regulating actuator,

[0022] so that the cleaning movement can be generated independently of the fluid regulating means.

[0023] The task with regard to the device is also solved by the present invention with a cleaning and sensor system according to the invention.

[0024] The cleaning and sensor system for a vehicle has a sensor and a cleaning device according to the invention, as well as a supply device and a control unit which is configured for controlling the cleaning device. The supply device can have, for example, a compressed air source and / or a tank.

[0025] The task with regard to the method is also solved by the present invention with a method according to the invention.

[0026] The method for cleaning a surface of a sensor to be cleaned is characterized by the following steps:

[0027] - generating a cleaning movement of the cleaning nozzle and loading the surface to be cleaned with cleaning fluid, in particular cleaning liquid and / or compressed air, during the cleaning movement,

[0028] - generating a retraction movement opposite the direction of the cleaning movement and advantageously loading the surface to be cleaned with cleaning fluid, in particular compressed air, during the retraction movement.

[0029] The application is based on the insight that an adjustment actuator for generating a cleaning movement of the cleaning nozzle is advantageous. For cleaning sensors, in particular sensors having a relatively large surface and / or assemblies of multiple sensors, the application has recognized that a cleaning nozzle which can be moved in this way with an adjustment actuator facilitates the efficient cleaning of a relatively large surface to be cleaned and / or assemblies of multiple sensors, in particular in a manner which saves cleaning fluid.

[0030] This is advantageously achieved by a switching device for controlling the adjustment actuator. By means of the switching device and the fluid adjustment device which can be controlled independently thereof, cleaning fluid can advantageously be provided independently of the cleaning movement. As a result, it is advantageous if, during the loading of the surface to be cleaned with cleaning fluid, the cleaning nozzle can be moved over the surface to be cleaned of the sensor and, in particular, a jet of cleaning fluid can be moved over the surface to be cleaned of the sensor with the cleaning nozzle. The loading of cleaning fluid can take place independently of the cleaning movement.

[0031] Advantageous refinements of the application specify the above-mentioned ideas within the scope of the tasks set and advantageous possible solutions with regard to further advantages.

[0032] It is provided within the scope of an advantageous refinement that the cleaning device has a first fluid adjustment device for a first cleaning fluid and a second fluid adjustment device for a second cleaning fluid. In particular, the first cleaning fluid is compressed air and the second cleaning fluid is cleaning liquid. By means of the first fluid adjustment device and the second fluid adjustment device, the two cleaning fluids can advantageously be provided at the cleaning nozzle independently of one another. In this way, an improved cleaning of the surface to be cleaned can be achieved. For example, in the cleaning method, the cleaning liquid as the second cleaning fluid can first be loaded onto the surface to be cleaned, thereby acting on dirt particles, and subsequently the compressed air as the first cleaning fluid can be loaded onto the surface to be cleaned in order to remove the softened dirt particles.

[0033] It is provided within the scope of an advantageous refinement that the cleaning fluid, in particular the first cleaning fluid, is compressed air and that in particular the fluid regulating device is a two-position two-way valve. In particular, the fluid pressure cylinder is a pneumatic pressure cylinder. The two-position two-way valve is advantageously formed as a two-position two-way solenoid valve. In particular, the two-position two-way valve is configured as a normally closed valve, that is to say in an uncontrolled state, in particular in a de-energized state, in the blocking position. Within the scope of the application, the two-position two-way valve can be configured as a pneumatic two-position two-way valve for gaseous cleaning fluid, in particular compressed air, or as a hydraulic two-position two-way valve for liquid cleaning fluid, in particular cleaning liquid. In a refinement, the two-position two-way valve can also be configured as a relay valve, in particular a pneumatic or hydraulic relay valve.

[0034] It is provided within the scope of an advantageous refinement that the cleaning fluid, in particular the second cleaning fluid, is a cleaning liquid and that in particular the fluid pressure cylinder is a hydraulic pressure cylinder. The second fluid regulating device is advantageously formed as a two-position two-way valve, advantageously as a two-position two-way solenoid valve. In a further preferred refinement, the second fluid regulating device is configured as a pump, advantageously as an electric pump.

[0035] It is provided within the scope of an advantageous refinement that the regulating actuator is configured as a fluid pressure cylinder, in particular a pneumatic pressure cylinder, having a pressure input for receiving an actuating pressure for generating the cleaning movement. By means of such a fluid pressure cylinder, the cleaning movement can advantageously be generated by means of an already existing, pressurized cleaning fluid received at the pressure input. In this way, a separate drive for generating the cleaning movement can advantageously be saved. By means of the switching device, the fluid pressure cylinder can advantageously be controlled in a manner independent of the provision of cleaning fluid to the cleaning nozzle.

[0036] Within the scope of an advantageous refinement, provision is made that the switching device is a two-position three-way valve. The two-position three-way valve can advantageously be configured as a pneumatic two-position three-way valve, which is used to switch gaseous cleaning fluid, in particular compressed air. In a refinement, the pneumatic two-position three-way valve can advantageously be configured as a relay valve, which can be switched by means of gaseous medium, i.e. in a pneumatic manner. The two-position three-way valve can advantageously be configured as a hydraulic two-position three-way valve. The hydraulic two-position three-way valve can advantageously be configured for switching liquid cleaning fluid, in particular cleaning liquid. The two-position three-way valve is advantageously configured as a two-position three-way solenoid valve. In a refinement, the hydraulic two-position three-way valve can advantageously be configured as a relay valve, which can be switched by means of liquid, i.e. in a hydraulic manner. The two-position three-way valve is advantageously configured as a normally open pneumatic valve, i.e. in an uncontrolled state, in particular in a de-energized state, in the open position. In the case of a regulating actuator configured as a fluid pressure cylinder, the open position advantageously enables the open- ing of the pressure input, in particular for the purpose of promoting a retraction movement of the nozzle rod.

[0037] Within the scope of an advantageous refinement, provision is made that the regulating actuator has a return spring, which is deformed against the cleaning movement and is configured for generating the retraction movement. By means of a return spring, which is deformed during the cleaning movement and thus stores energy for generating the retraction movement, a drive for generating the retraction movement can advantageously be saved.

[0038] Within the scope of an advantageous refinement, provision is made that the regulating actuator is configured as a linear drive, wherein the linear drive is configured for generating the cleaning movement and the switching device is configured as an electric motor. Advantageously, the linear drive is configured for generating the retraction movement. By means of a regulating actuator, which is thus mechanically, in particular electromechanically, driven, selective access to the individual nozzle positions can advantageously be implemented. To this end, the regulating actuator can have an electric motor, in particular an indexing motor with a rotary encoder or a similar position encoder. The linear regulating actuator is advantageously configured as a spindle drive or a worm gear drive, or has a suitable transmission mechanism for converting the rotary movement provided by the electric motor into linear movement.

[0039] Within the scope of a preferred refinement, provision is made of a control unit for controlling the switching device and / or at least one fluid regulating device, in particular for implementing a cleaning method by means of a time-staged control of the switching device and the fluid regulating device. The control unit is advantageously connected in a signal-conducting manner to at least one, advantageously all, fluid regulating devices and / or switching devices of the cleaning apparatus. The control unit is advantageously configured as an electronic control unit (ECU).

[0040] In the context of a preferred refinement, a suspension determination unit is provided, which is configured to give a suspension nozzle positioning and / or a suspension time depending on the sensor signals provided by the sensor. In particular, the suspension determination unit is configured to recognize the presence of one or more dirt particles and to give a suspension nozzle positioning (corresponding to the positioning of the dirt particles) depending thereon. By means of the suspension determination unit, time and / or cleaning fluid can advantageously be saved, and an effective, in particular on-demand, cleaning of the sensor can nevertheless be achieved.

[0041] In the context of a preferred refinement, a target determination unit is provided, which is configured to determine one or more target nozzle positionings or one or more target nozzle zones. The target determination unit is advantageously configured to recognize the dirt particles and their positioning on the surface to be cleaned on the basis of the camera signals and to provide one or more target nozzle positionings or one or more target nozzle zones depending on these positionings of the dirt particles. In particular, the one or more target nozzle positionings, or the one or more target nozzle zones, are provided to a control unit of the cleaning device. Advantageously, the target determination unit can be configured for determining a target cleaning fluid quantity to be loaded to the target nozzle positioning or the target nozzle zone. Advantageously, the target cleaning fluid quantity can be determined depending on the size of the contamination, in particular of the dirt particles, or on the arrangement of the dirt particles.

[0042] The cleaning fluid F is advantageously formed by water. Advantageously, cleaning additives can be added to the water.

[0043] The fluid regulating means, which is configured as a two-position two-way valve, is preferably configured as a normally closed valve, which is preferably in the blocking position in the uncontrolled state, in particular in the de-energized state.

[0044] In particular, the at least one cleaning nozzle is rigidly connected to the nozzle rod.

[0045] In the context of a preferred refinement, the cleaning device is configured for selectively loading one or more cleaning fluids to one or more individual target nozzle positionings. In this refinement, it is advantageous that individual, local contaminations can be loosened in a cleaning fluid-saving manner. It is particularly advantageous that one or more cleaning fluids are selectively loaded to a plurality of associated target nozzle positionings, which together form a target nozzle zone. This refinement for selective, in particular controllable, loading can advantageously be achieved by independently actuating the switching means and the at least one fluid regulating means according to the idea of the application.

[0046] In a further aspect, the present application also relates to a vehicle, in particular a commercial vehicle or a passenger vehicle, having a cleaning device according to the first aspect of the present application. In a vehicle according to the second aspect of the present application, the advantages of the cleaning device according to the first aspect of the present application are advantageously used.

[0047] In a further advantageous refinement of the method, i.e. the cleaning method, during the cleaning movement, in particular throughout the cleaning movement, cleaning fluid is continuously applied to the surface to be cleaned, and during the retraction movement, in particular throughout the retraction movement, compressed air is continuously applied to the surface to be cleaned. In a further advantageous refinement of the method, a waiting step is provided between the cleaning movement and the retraction movement, or between the retraction movement and the cleaning movement.

[0048] In a further advantageous refinement of the method, at least one target nozzle position and / or at least one target nozzle zone is applied to the surface to be cleaned.

[0049] In a further advantageous refinement of the method, in particular a target cleaning fluid quantity is determined depending on the identified one or more dirt particles on the surface to be cleaned. When relatively large dirt particles are identified, a correspondingly relatively large target cleaning fluid quantity is selected.

[0050] In a further advantageous refinement of the method, the cleaning movement is ended prematurely depending on an abort nozzle position and / or an abort time. This in particular includes that when a pre-specified abort nozzle position and / or abort time is reached, the cleaning movement is ended before the final position is reached. The abort nozzle position and / or the abort time is advantageously determined depending on a sensor signal of a sensor.

[0051] It is to be understood that the cleaning device according to the first aspect of the present application, the vehicle according to the second aspect of the present application and the method according to the third aspect of the present application have identical and analogous sub-aspects. In this respect, reference is also made to the refinements of the aspects of the present application with respect to the refinements of the other aspects of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0052] Embodiments of the invention will now be described below with the aid of the accompanying drawings by comparison with the prior art shown in the same portions. These drawings do not necessarily reflect the embodiments precisely in size; rather, the drawings used for illustration are implemented in a schematic and / or slightly distorted form. For supplementary information regarding the teachings directly derived from the drawings, refer to the relevant prior art. It should be understood that various modifications and alterations to the manner and details of the embodiments can be made without departing from the overall spirit of the invention. The features of the invention disclosed in the specification, drawings, and claims, whether individually or in any combination, are of great importance to improvements of the invention. Furthermore, all combinations of at least two features disclosed in the specification, drawings, and / or claims fall within the scope of the invention. The overall spirit of the invention is not limited to the exact form or details of the preferred embodiments shown and described below, nor is it limited to a subject matter restricted to those claimed in the claims. With regard to the defined measurement range, values ​​within the mentioned limit range should also be disclosed as limit values ​​and are freely usable and protected by law.

[0053] Other advantages, features, and details of the present invention will become apparent from the following description of preferred embodiments. Wherein:

[0054] Figure 1A , Figure 1B , Figure 1C A first preferred embodiment of a cleaning device according to the concept of the present invention is shown;

[0055] Figure 2 A second preferred embodiment of another cleaning device according to the concept of the present invention is shown;

[0056] Figure 3 A third preferred embodiment of another cleaning device according to the concept of the present invention is shown;

[0057] Figure 4A , Figure 4B The possible first installation location of the cleaning equipment is schematically shown;

[0058] Figure 4C This shows another advantageous second mounting position;

[0059] Figure 5A , Figure 5B The advantageous cleaning nozzle is schematically shown;

[0060] Figure 6A An embodiment of a preferred cleaning method is shown;

[0061] Figure 6B Further embodiments of the preferred cleaning method are shown;

[0062] Figure 7 A vehicle with a cleaning device according to the inventive concept is shown. DETAILED DESCRIPTION

[0063] Fig. 1 shows a first preferred embodiment of a cleaning device 100 according to the inventive concept. The cleaning device 100 has an adjusting actuator 140 configured as a fluid pressure cylinder 142 for generating a cleaning movement BR. The fluid pressure cylinder 142 has a pressure input 148 for receiving an actuating pressure PA.

[0064] The fluid pressure cylinder 142 has a cylinder housing 222 with a cylinder interior space 228, which is advantageously embodied cylindrically along a cylinder axis ZA. In the cylinder interior space 228, a pressure plunger 226 is accommodated in a manner movable in translation along the cylinder axis ZA. The pressure plunger 226 has a diameter corresponding to the inner diameter of the cylinder interior space 228, so that the pressure plunger 226 is in pressure-tight contact with the inner wall 224 of the cylinder interior space 228. Optionally, the pressure plunger 226 can have a sealing ring arranged on its peripheral side for better sealing against the inner wall 224.

[0065] In the present case, the cleaning device 100 has a switching device 160 configured as a two-position three-way valve 162, in this case as a two-position three-way electromagnetic valve 164. The two-position three-way valve 162 is configured for controllably charging the pressure input 148 with pressure for providing the actuating pressure PA.

[0066] In the embodiment shown in Figure 1A , the two-position three-way valve 162 is configured as a pneumatic two-position three-way valve 166. As Figure 1B shown in , the two-position three-way valve 162 has a first connection 162.1 pneumatically connected to a compressed air source 600, in this case to a compressor 602. The two-position three-way valve 162 has a second connection 162.2 pneumatically connected to the pressure input 148. The two-position three-way valve 162 has a third connection 162.3 pneumatically connected, in particular, to a gas discharge 680 to the ambient environment 682. In the charging position 162A of the two-position three-way valve 162, the first connection 162.1 is pneumatically connected to the second connection 162.2. In the discharging position 162B of the two-position three-way valve 162, the second connection 162.2 is pneumatically connected to the third connection 162.3, and in particular, the first connection 162.1 is blocked. Within the scope of the present invention, the two-position three-way valve 162 can be configured as a pneumatic two-position three-way valve for gaseous cleaning fluid RF, in particular compressed air DL, or as a hydropneumatic two-position three-way valve for liquid cleaning fluid RF, in particular cleaning liquid F.

[0067] In the case of a loading of the pressure input 148 with an execution pressure PA, in particular when the two-position three-way valve 162 is in the charging position 162A, an adjustment force FA acting on the pressure plunger 226 is generated. Due to the axial movability of the pressure plunger 226, an axial movement of the pressure plunger 226 in the form of a cleaning movement BR until an end position SE is generated. The cleaning device 100 also has a return spring 170, which is fastened with the pressure plunger 226 and is deformed when the pressure plunger 226 is moved out of its starting position SA. Due to the deformation of the return spring 170, a return force FR acting on the pressure plunger 226 is generated, which is directed opposite to the adjustment force FA.

[0068] The cleaning device 100 has a first cleaning nozzle 320.1 and a second cleaning nozzle 320.2, both of which are fastened on the nozzle rod 172. The nozzle rod 172 is firmly connected with the pressure plunger 226, whereby the cleaning movement BR generated by the pressure plunger 226 is transmitted to the cleaning nozzles 320, here the first cleaning nozzle 320.1 and the second cleaning nozzle 320.2. In all embodiments, instead of the individual cleaning nozzles 320.1, 320.2, the cleaning device 100 can also have a common cleaning nozzle 320 for the various cleaning fluids RF, in particular for compressed air DL and cleaning liquid F, in particular in the form of a combined nozzle with nozzle bodies, which each have a nozzle opening for the cleaning fluid RF.

[0069] In the case of a discharge of the pressure input 148, in particular when the two-position three-way valve 162 is in the discharge position 162B, the return force FA no longer acts on the pressure plunger 226, and the pressure plunger 226 with the nozzle rod 172 and the cleaning nozzles 320.1, 320.2 moves back into its starting position SA in the form of a retraction movement BE due to the return force FR. The adjustment actuator 140 is therefore designed to travel through an adjustment stroke AB between the starting position SA and the end position SE.

[0070] The cleaning device 100 has a first fluid adjustment means 270.1 in the form of a fluid valve 272 for a first cleaning fluid RF1 in the form of compressed air. The cleaning device 100 has a second fluid adjustment means 270.2 in the form of a pump 276 for a second cleaning fluid RF2 in the form of a cleaning liquid F.

[0071] The first fluid regulating device 270.1 is connected in a fluid-conducting manner with the first cleaning nozzle 320.1 via a first fluid line 332 in the form of a compressed air fluid line 334. The second fluid regulating device 270.2 is connected in a fluid-conducting manner with the second cleaning nozzle 320.2 via a second fluid line 332 in the form of a liquid fluid line 336. The fluid lines 332, in particular the compressed air fluid line 334 and the liquid fluid line 336, can advantageously be configured as channels or bores in the cleaning device 100, in particular in the cylinder housing 221 and the nozzle rod 172, as shown here. In other advantageous embodiments, the liquid line 332 is configured as a hose, a tube or a similar line body. A hybrid form is also advantageous for the fluid lines, for example a line body, in particular a hose, leading from the fluid regulating device to the nozzle rod, which is coupled to a bore extending in the nozzle rod to the cleaning nozzle. A section of this part of the fluid line, which is flexibly configured, can advantageously enable the nozzle rod to be moved relative to the remainder of the cleaning device.

[0072] The first fluid regulating device 270.1 is configured as a fluid valve 272 in the form of a two-position two-way valve 274. The two-position two-way valve 274 is preferably configured as a two-position two-way solenoid valve 275, as shown here. As shown in the Figure 1C The two-position two-way valve 274 has a first interface 274.1, which is pneumatically connected to a compressed air source 600, here a compressor 602. The two-position two-way valve 274 has a second interface 274.2, which is pneumatically connected to a cleaning nozzle 320, here the first cleaning nozzle 320.1. In a first blocking position 274A, the pneumatic connection between the first interface 274.1 and the second interface 274.2 is interrupted. In a second open position 274B, the first interface 274.1 is pneumatically connected to the second interface 274.2. Within the scope of the present application, the two-position two-way valve 274 can be configured as a pneumatic two-position two-way valve 280 for gaseous cleaning fluid RF, in particular compressed air DL, or as a hydropneumatic two-position two-way valve 282 for liquid cleaning fluid RF, in particular cleaning liquid F.

[0073] The second fluid regulating device 270.2, i.e. the pump 276, is advantageously formed as an electric pump 277, as shown here, and is connected in a fluid-conducting manner to a liquid source 660 in the form of a liquid tank 664. As shown here, the liquid tank 664 is formed in particular by a cleaning water tank 665.

[0074] In this regard, in Figure 1AThe cleaning and sensor system 120 of the vehicle 1000 is shown in its entirety with a sensor 300 and a cleaning device 100 according to the idea of the application. The cleaning and sensor system 120 also has a supply device 500. As explained, the supply device 500 can have a compressed air source 600 and / or a liquid tank 664.

[0075] The cleaning and sensor system 120 also has a control unit 700, which is configured for controlling the cleaning device 100, which is explained hereinafter. The cleaning device 100 thus has an electrical control unit 700, which is configured for controlling the cleaning device 100 and for this purpose is connected in a signal-conducting manner to the main controllable components. At present, the control unit 700 is connected in a signal-conducting manner to the switching means 160 in the form of a two-position three-way valve 162, to the first fluid regulating means 270.1 in the form of a two-position two-way valve 274 and to the second fluid regulating means 270.2 in the form of a pump 276.

[0076] The cleaning device 100, in particular the fluid pressure cylinder 142, can advantageously be provided with a pressure sensor 260 as shown here, which is connected in a fluid-conducting manner to the cylinder interior space 228 or is arranged in the cylinder interior space. By means of the pressure sensor 260, the pressure present in the cylinder interior space 228, in particular the actuating pressure PA, can advantageously be determined. By means of the pressure sensor 260, a plausibility check of the function of the fluid pressure cylinder 142 and / or of the switching means 160 can advantageously be carried out. By means of the pressure sensor 260, the nozzle positioning SD can advantageously be determined on the basis of the actuating pressure PA known, in particular on the basis of the assigned relationship of the actuating pressure PA to the respective nozzle positioning SD previously determined in a metrological manner.

[0077] Figure 2 A second preferred embodiment of a further cleaning device 100' of a further cleaning and sensor system 120' is shown, wherein the differences to the cleaning device 100 shown in Figure 1A The cleaning device 100 differs from the cleaning device 100 shown in

[0078] The first fluid regulating means 270.1 for selectively providing compressed air DL is configured as a fluid valve 272, namely as a two-position two-way valve 274 in the form of a two- position two-way solenoid valve 275, analogously to the cleaning device 100 shown in Figure 1A

[0079] ​Furthermore, the additional cleaning device 100' has a second fluid regulating device 270.2 in the form of a fluid valve 272, namely a two-position two-way valve 274 in the form of a two-position two-way solenoid valve 275, which is preferably configured as a normally closed valve as shown in the figure. Therefore, compared with the cleaning device 100 shown in FIG. 1, a separate fluid valve 272 is used as the second fluid regulating device 270.2, especially because the pump 276 is also used to supply the switching device 160, i.e., to generate the actuation pressure PA. With the second fluid regulating device 270.2, the cleaning fluid can be selectively supplied to the cleaning nozzle 320. Currently, in the second fluid regulating device, the connection of the guide fluid between the pump output 276.1 and the cleaning nozzle 320 can be selectively opened and closed by the two-position two-way valve 274.

[0080] The switching device 160, configured as a two-position three-way valve 162, is a hydraulically powered two-position three-way valve 168 in the other cleaning device 100', because it is used to switch the cleaning fluid F. As a feature, in this embodiment, the third interface 162.3 is connected to the liquid tank 664 via a return line 667 to allow the cleaning fluid F to flow back from the internal space 228 into the liquid tank 663 in the vent position 162B of the two-position three-way valve 162.

[0081] exist Figure 3 The diagram shows a third preferred embodiment of yet another sensor and cleaning system 120” and yet another cleaning device 100”, which is consistent with Figure 1A The cleaning device 100 shown differs in that the regulating actuator 140 is configured as a linear drive 150, which is driven by a switching device 160 configured as an electric motor 152. The linear drive 150 is preferably configured as a spindle drive 154. With the regulating actuator configured as a linear drive 150, it is advantageous to selectively approach and hold the respective nozzle positions SD. Therefore, various motion curves of the cleaning nozzles 320 can be advantageously achieved.

[0082] Figure 4A and Figure 4B The diagram schematically illustrates a possible first mounting position EB1 for the cleaning devices 100, 100', 100" according to the concept of the invention. Mounting positions EB1 and EB2 specifically describe the arrangement of the cleaning devices 100, 100', 100" relative to the sensor 300 and relative to the direction of gravity G. To illustrate the preferred cleaning method 400, in... Figure 4A The state during the first step S1 is illustrated in the example, and in Figure 4BThe state during the second step S2 is shown in Fig. 2. Advantageously, the first installation position EB1 is such that the cleaning motion BR is directed in the direction of the gravitational force G or almost in the direction of the gravitational force G (for example shown here with a certain degree of inclination relative to the direction of the gravitational force G). In Figure 6A In the advantageous embodiment of the cleaning method 400 additionally shown in Fig. 2, the cleaning motion BR is generated in the first step S1 via actuation of the switching device 160, which is not shown here, and advantageously during the cleaning motion BR, by actuation of the fluid regulating device 270, in particular the second fluid regulating device 270.2, the surface AR of the sensor 300 to be cleaned is loaded with cleaning liquid F. In Figure 4A In Fig. 2, the nozzle rod 172 is shown shortly before reaching the end position SE in the first nozzle position SD1. With reaching the end position SE, the loading of cleaning liquid F is advantageously stopped by corresponding actuation of the fluid regulating device 270, in particular the second fluid regulating device 270.2.

[0083] The duration of the first step S1 is advantageously pre-given by the duration of the cleaning motion BR, in particular by the movement of the nozzle rod 172 from the start position SA to the end position SE. The duration of the cleaning motion BR depends on the movement speed of the piston, which in turn depends in particular on the execution pressure PR. The duration of the cleaning motion BR can be a few seconds, for example 3 seconds.

[0084] In the subsequent second step S2, the retraction motion BE is generated by corresponding actuation of the switching device 160, in particular by bleeding the two-position three-way valve 162, and advantageously during the retraction motion BE, by actuation of the fluid regulating device 270, in particular the first fluid regulating device 270.1 in the form of the two-position two-way valve 272, the surface AR to be cleaned is loaded with compressed air DL. With reaching the start position SA, the loading of compressed air DL is advantageously stopped by corresponding actuation of the fluid regulating device 270, in particular the first fluid regulating device 270.1. With the shown arrangement of the cleaning device 100, by simultaneously performing the retraction motion BE and the loading of compressed air DL, it is advantageously achieved that the cleaning liquid F previously applied to the surface AR to be cleaned is removed from the surface AR to be cleaned with the gravitational force G and by means of the compressed air DL. This means that the cleaning fluid jet SF in the form of a compressed air jet, which is discharged from the cleaning nozzle 320 and impinges on the surface AR to be cleaned, moves in the direction of the gravitational force G and pushes or blows the cleaning liquid F, which is advantageously with the dirt particles 303 softened by the cleaning liquid F, off the surface AR to be cleaned. The duration of the second step S2 is advantageously dependent on the duration of the retraction motion BE, which in turn depends in particular on the return spring 170. The duration of the retraction motion BE can be a few seconds, for example 3 seconds.

[0085] Between the first step S1 and the second step S2, a waiting step SW can advantageously be provided in order to advantageously enable a longer duration of the effect of the cleaning liquid F, in particular to enable a maceration of the dirt particles on the surface AR to be cleaned.

[0086] In an advantageous, optional modification of the first step S1, the cleaning movement BR is not ended until the end position SE, but is ended prematurely in the abort step SAE at the abort nozzle position SDA and / or at the abort time TDA. The abort nozzle position SDA can in particular be carried out in dependence on an evaluation of the sensor signal 306 and can in particular be identified when one or more dirt particles 303 on the surface AR to be cleaned are identified and the position of the dirt particles corresponds to a determined nozzle position SD. This nozzle position SD is identified as the abort nozzle position SDA, since the cleaning nozzle is in sufficient proximity to this nozzle position to remove the dirt particles 303.

[0087] The targeted approach to the abort nozzle position SDA can be carried out in different ways. Advantageously, this control can be carried out by means of the pressure sensor 260, wherein a measured pressure value of the pressure PA corresponds to the nozzle position SD, and via this relationship the abort nozzle position SDA can be converted as a set value into a pressure set value. When the pressure set value is reached, the cleaning movement BR is ended prematurely by actuating the switching device 160.

[0088] In the case of the adjustment actuator 140 being configured as a linear drive 150 and / or the switching device 160 being configured as an electric motor, the approach to the abort nozzle position SDA can advantageously be controlled via a motor control of the electric motor 152.

[0089] Alternatively or additionally, the nozzle position SD required to reach the abort nozzle position SDA can advantageously be estimated via a known movement speed of the nozzle rod 172, in turn a displacement duration, here the abort nozzle position SDA is converted into a time set value, when this time set value has elapsed the cleaning movement BR is ended prematurely by control of the switching device 160.

[0090] In an embodiment, the cleaning movement BR can be ended prematurely at the abort time TDA. In particular when the cleaning device 100 is configured to identify the presence of a dirt particle 303 on the surface AR to be cleaned in real time or with a sufficiently low delay, the cleaning movement BR can be ended prematurely by actuating the switching device 160 when it is identified by evaluation of the sensor signal 306 that a previously identified dirt particle 303 has been removed.

[0091] The early termination of the cleaning movement BR takes place in particular by a corresponding actuation of the switching device 160, which leads to an early initiation of the retraction movement BE. In the case of a plurality of dirt particles 303 or a plurality of groups of dirt particles 303, a stop nozzle positioning SDA is given, in which all dirt particles 303 are detected in the case of the (to be early stopped) cleaning movement BR. In this case, the stop nozzle positioning SDA thus corresponds to the outermost dirt particle 303 in the direction of the cleaning movement BR.

[0092] The recognition of the presence of a dirt particle 303 (and in particular the determination of the stop nozzle positioning SDA corresponding to the positioning of the dirt particle 303) can advantageously take place in a stop determination unit 740. The stop determination unit 740 is advantageously arranged in the control unit 700 or in the vehicle control unit 1020. By means of such a contamination-dependent cleaning, which only moves up to the stop nozzle positioning SDA, it is advantageously possible to save time and cleaning fluid F.

[0093] The cleaning device 100, in particular the control unit 700, can advantageously have a target determination unit 750 for recognizing the presence of a dirt particle 303 and for providing at least one target nozzle positioning SDZ and / or at least one target nozzle zone SZZ. On the basis of the target nozzle positioning SDZ and / or the target nozzle zone SZZ, it is advantageously possible for the individual regions of the surface AR to be cleaned, which have a dirt particle 303, to be approached by the cleaning nozzle 320 and to be approached in a manner that saves cleaning fluid RF.

[0094] Such a determination of the stop nozzle positioning SDA and the early termination of the cleaning movement BR can optionally take place in a similar manner in a further first step S1'and a further third step S3' of a further cleaning method 400'.

[0095] However, due to the independent actuation of the switching device and the at least one fluid regulating device, it is also advantageously possible for other method types to be flexibly implemented with the cleaning device 100 according to the concept of the application.

[0096] Figure 4C A further advantageous second installation positioning EB2 is shown, which differs from the installation positioning EB1 shown in Figure 4A and Figure 4B in the reversal of the vertical direction, so that the cleaning movement BR takes place in the direction of the gravitational force G or almost in the direction of the gravitational force G. Correspondingly, the opposite retraction movement BE takes place against or almost against the gravitational force G. For such a second installation positioning EB2, a further cleaning method 400' can advantageously be carried out, which will be explained in more detail in connection with Figure 6B .

[0097] Figure 5AAn advantageous cleaning nozzle 320 is schematically shown, which is currently configured for generating a cleaning fluid jet SF in the form of a flat jet SFF. The cleaning fluid jet SF can in particular comprise compressed air and cleaning fluid, as well as a mixture of both or other cleaning fluids in the form of a spray.

[0098] Within the scope of the application, the cleaning nozzle 320 can also be a cleaning nozzle 320 for generating a circular jet SFR or an elliptical jet SFE, for example, in order to generate other forms of cleaning fluid jets SF. The flat jet SFF has a widening flat shape (from the cleaning nozzle 320) which impinges on the surface AR of the sensor 300 to be cleaned essentially linearly with a jet width BS. This can be seen in particular in the surface plan view of the sensor 300 shown in Figure 5B . The cleaning movement BR with an adjustment stroke AB can advantageously be generated by means of the actuator 140 in order to achieve a movement of the cleaning fluid jet SF over the surface of the sensor 300 as Figure 5B indicated as a flat jet SFF. Thus, the surface AR to be cleaned is defined by the jet width BS and the adjustment stroke AB which advantageously extends perpendicular to the jet width BS. In the linear flat jet SFF, an approximately rectangular surface AR to be cleaned is obtained. In Figure 5B addition, the shapes of alternative cleaning fluid jets SF are shown in dashed lines in, namely the shape of a circular jet SFR and an elliptical jet SFE, which can be moved in a similar manner in the cleaning movement BR over the surface of the sensor 300 by means of the respective cleaning nozzle 320.

[0099] In particular, by means of the independent control of the switching device and the at least one fluid adjustment device, embodiments can be realized in which one or more cleaning fluids can be selectively applied to one or more individual target nozzle positions SDZ, advantageously for loosening individual local dirt particles 303. It is particularly advantageous that it is also possible to selectively apply one or more cleaning fluids to a plurality of consecutive target nozzle positions SDZ, which together form a target nozzle zone SZZ. Figure 5B A target nozzle position SDZ is exemplarily shown in, which is located at a local accumulation of dirt particles 303. In addition, a target nozzle zone SZZ is shown there, which surrounds the dirt particles 303. Advantageously, one or more target nozzle positions SDZ or one or more target nozzle zones SZZ can be determined by means of a target determination unit 750, which is configured to identify the dirt particles 303 and their positions on the surface AR to be cleaned on the basis of the camera signal 306 and to provide one or more target nozzle positions SDZ or one or more target nozzle zones SZZ in dependence on these positions of the dirt particles 303.

[0100] With the selective actuation of at least one target nozzle positioning SDZ or at least one target nozzle zone SZZ, it is advantageously possible to clean in multiple pulses over the displacement distance, especially when there are not contaminants or dirt particles everywhere.

[0101] Advantageously, the target determination unit 750 can be configured for determining a target cleaning fluid quantity RFZ to be loaded to the target nozzle positioning SDZ or to the target nozzle zone SZZ. The target cleaning fluid quantity RFZ can advantageously be determined depending on the size of the contaminants, especially of the dirt particles 303, or on the arrangement of the dirt particles 303.

[0102] For example, in the cleaning movement BR, after a displacement of 1 cm a first target cleaning fluid quantity RFZ of 1 ml is loaded at a first target nozzle positioning SDZ and after a displacement of 4 cm a second target cleaning fluid quantity RFZ of 2 ml of cleaning liquid is loaded at a second target nozzle positioning SDZ, in the retraction movement air cleaning is performed accordingly at both target nozzle positionings SDZ. The target nozzle positionings SDZ and the target cleaning fluid quantities RFZ can be freely determined uniquely according to the identified contaminants.

[0103] In Figure 6A An embodiment of the preferred cleaning method 400 as already described above is shown in

[0104] Figure 6B A further embodiment of the preferred further cleaning method 400' is shown in In a further first step S1 ', the cleaning nozzle 320 is displaced in the cleaning movement BR, especially by actuating the switching device 160, and simultaneously loads the surface AR to be cleaned with cleaning liquid F, especially by actuating the second fluid regulating device 270.2. With reaching the end position ES, especially the loading of cleaning liquid F is stopped.

[0105] In a further second step S2', the cleaning nozzle 320 is retracted in the retraction movement BE, especially by actuating the switching device 160, advantageously without loading of cleaning fluid RF.

[0106] In a further third step S3', the cleaning nozzle 320 is displaced again in the cleaning movement BR, especially by actuating the switching device 160, and simultaneously loads the surface AR to be cleaned with compressed air DL, especially by actuating the first fluid regulating device 270.1.

[0107] In a further fourth step S4', the cleaning nozzle 320 is retracted again in the retraction movement BE, especially by actuating the switching device 160. With reaching the end position ES, especially the loading of compressed air DL is stopped.

[0108] In the further cleaning method 400' a waiting step SW can also be provided at one or more positions between steps S1'to S4'.

[0109] Figure 7 A vehicle 1000 is shown, which is currently a passenger vehicle 1002, which has a cleaning device 100 according to the concept of the application. In other preferred embodiments, the vehicle 1000 can be formed as a commercial vehicle 1004. The vehicle 1000 has a sensor 300 in the front region, for example a camera 314, near which a cleaning device 100 according to the concept of the application is arranged, which has a cleaning nozzle 320 which can be moved by means of an adjustment actuator 140. The surface AR to be cleaned of the sensor 300 can be cleaned by means of the cleaning device 100. The cleaning device 100 also has or is assigned an electrical control unit 700. The electrical control unit 700 is configured for actuating the cleaning device 100, in particular for actuating the switching means 160 and the at least one fluid adjustment means 270, and for this purpose is connected to the cleaning device 100 in a signal-conducting manner by means of at least one control line 702.

[0110] The vehicle 1000 also has a vehicle control unit 1020 for providing the main vehicle functions. The vehicle control unit 1020 is advantageously connected to the control unit 700 of the cleaning device 100 in a signal-conducting manner via a vehicle control line 1024. In this way, the cleaning device 100 can advantageously be controlled by the vehicle control unit 1020, for example the cleaning method 400, 400' is called up in the vehicle control unit. The vehicle control line 1024 can advantageously be configured as a vehicle bus line 1026, for example a CAN bus. The sensor 300 is advantageously connected to the vehicle control unit 1020 in a signal-conducting manner via a sensor line 304 for forwarding a sensor signal 306.

[0111] The sensor 300 can in particular be formed as a camera 314, a lidar sensor 316, an ultrasonic sensor 318 or a similar sensor.

[0112] List of reference signs (part of the description)

[0113] 100, 100', 100" cleaning device

[0114] 120, 120', 120" sensor and cleaning system

[0115] 140 adjustment actuator

[0116] 142 pressure cylinder

[0117] 148 pressure input

[0118] 150 linear drive

[0119] 152 motor

[0120] 154 spindle drive

[0121] 160 switching means

[0122] 162 two-position three-way valve

[0123] 162.1 first port of the two-position three-way valve

[0124] 162.2 port of the two-position three-way valve

[0125] 162.3 port of the two-position three-way valve

[0126] 162A charging position of the two-position three-way valve

[0127] 162B discharging position of the two-position three-way valve

[0128] 164 two-position three-way solenoid valve

[0129] 166 pneumatically operated two-position three-way valve

[0130] 168 hydraulically operated two-position three-way valve

[0131] 170 return spring

[0132] 172 nozzle rod

[0133] 222 cylinder housing

[0134] 224 inner wall

[0135] 226 pressure plunger

[0136] 228 cylinder interior

[0137] 260 pressure sensor

[0138] 270 fluid regulating means

[0139] 270.1 first fluid regulating means

[0140] 270.2 second fluid regulating means

[0141] 272 fluid valve

[0142] 274 two-position two-way valve

[0143] 274.1 first port of the two-position two-way valve

[0144] 274.2 second port of the two-position two-way valve

[0145] 274A blocking position of the two-position two-way valve

[0146] 274B open position of a two-position two-way valve

[0147] 275 two-position two-way solenoid valve

[0148] 276 pump

[0149] 276.1 pump output

[0150] 277 electric pump

[0151] 280 pneumatically operated two-position two-way solenoid valve

[0152] 282 hydraulically operated two-position two-way solenoid valve

[0153] 300 sensor

[0154] 303 dirt particle

[0155] 304 sensor line

[0156] 306 sensor signal

[0157] 314 camera

[0158] 316 lidar sensor

[0159] 318 ultrasonic sensor

[0160] 320 cleaning nozzle

[0161] 320.1 first cleaning nozzle

[0162] 320.2 second cleaning nozzle

[0163] 332 fluid line

[0164] 334 compressed air fluid line

[0165] 336 liquid fluid line

[0166] 400' cleaning method

[0167] 400 further cleaning method

[0168] 500 supply device

[0169] 600 compressed air source

[0170] 602 compressor

[0171] 660 liquid source

[0172] 664 liquid tank

[0173] 665 cleaning water tank

[0174] 667 return line

[0175] 680 gas outlet

[0176] 682 ambient environment

[0177] 700 control unit

[0178] 702 control line

[0179] 740 abort determination unit

[0180] 750 target determination unit

[0181] 1000 vehicle

[0182] 1002 passenger vehicle

[0183] 1004 commercial vehicle

[0184] 1020 vehicle control unit

[0185] 1024 vehicle control line

[0186] 1026 vehicle bus line

[0187] AB adjustment travel

[0188] AR surface to be cleaned

[0189] BE retraction movement

[0190] BR cleaning movement

[0191] BS jet width

[0192] DL compressed air

[0193] EB installation position

[0194] EB1, EB2 first, second installation position

[0195] F cleaning liquid

[0196] FA adjustment force

[0197] FR reset force

[0198] G gravity

[0199] S1, S2 first, second step

[0200] S1', S2', S3', S4' first to fourth step

[0201] SW waiting step

[0202] SA start position

[0203] SD nozzle positioning

[0204] SDA abort nozzle positioning

[0205] SDZ target nozzle positioning

[0206] SE end position

[0207] SF cleaning fluid jet

[0208] SFE elliptical jet

[0209] SFF flat jet

[0210] SFR round jet

[0211] SZZ target nozzle zone

[0212] TDA abort time

[0213] RF cleaning fluid

[0214] RF1, RF2 first, second cleaning fluid

[0215] RFZ target cleaning fluid volume

[0216] ZA cylinder axis

Claims

1. Cleaning device (100) for a sensor (300), wherein The cleaning device (100) has: - at least one cleaning nozzle (320), which is configured for loading a surface (AR) of at least one sensor (300) to be cleaned with a cleaning fluid (RF, DL, F), - fluid regulating means (270), which are configured for selectively providing cleaning fluid (RF) to the cleaning nozzle (320), - regulating actuators (140) for generating a cleaning movement (BR) of the cleaning nozzle (320), characterized in that - the cleaning device (100) has switching means (160) for controlling the regulating actuators (140), - so that the cleaning movement (BR) can be generated independently of the fluid regulating means (270), - the regulating actuators (140) are configured as fluid pressure cylinders (142), which have a pressure input (148) for receiving an actuating pressure (PA) for generating the cleaning movement (BR), wherein pressurized cleaning fluid (RF, DL, F) is received at the pressure input (148).

2. The cleaning device (100) according to claim 1, characterized in that - the cleaning device (100) has first fluid regulating means (270.1, 272) for a first cleaning fluid (RF1, DL) and second fluid regulating means (270.2, 276) for a second cleaning fluid (RF2, F).

3. The cleaning device (100) according to claim 1 or 2, characterized in that - the cleaning fluid (RF) is compressed air (DL), and - the fluid regulating means (270) are two-position two-way valves (274).

4. The cleaning device (100) according to claim 1 or 2, characterized in that - the cleaning fluid (RF), and - the fluid regulating means (270) are pumps (276) and / or two-position two-way valves (274).

5. The cleaning device (100) according to claim 1 or 2, characterized in that - the switching means (160) are two-position three-way valves (162).

6. The cleaning device (100) according to claim 1 or 2, characterized in that - the regulating actuators (140) have return springs (170), which are deformed against the cleaning movement (BR) and are configured for generating a retraction movement (BE).

7. The cleaning device (100) according to claim 1 or 2, characterized in that - the regulating actuators (140) are configured as linear drives (150), wherein the linear drives (150) are configured for generating the cleaning movement (BR), and - the switching means (160) are configured as electric motors (152).

8. The cleaning device (100) according to claim 1 or 2, characterized in that - a control unit (700) for controlling the switching means (160) and the at least one fluid regulating means (270).

9. The cleaning device (100) according to claim 1 or 2, characterized in that having an abort determination unit (740) which is configured to give an abort nozzle position (SDA) and / or an abort time (TDA) in dependence on a sensor signal (306) provided by the sensor (300).

10. The cleaning device (100) according to claim 1, characterized in that the sensor (300) is a sensor (300) of a vehicle (1000).

11. The cleaning device (100) according to claim 1, characterized in that the fluid regulating means (270) is a fluid valve (272) or a pump (276).

12. The cleaning device (100) according to claim 1, characterized in that the regulating actuator (140) is configured as a pneumatic pressure cylinder (144).

13. The cleaning device (100) according to claim 2, characterized in that the first cleaning fluid (RF1) is compressed air (DL), and the first fluid regulating means (270.1, 272) is a two-position two-way valve (274).

14. The cleaning device (100) according to claim 2, characterized in that the second cleaning fluid (RF2) is a cleaning liquid (F), and the second fluid regulating means (270.2, 276) is a pump (276) and / or a two- position two-way valve (274).

15. The cleaning device (100) according to claim 8, characterized in that, the control unit is configured for implementing a cleaning method (400, 400') by controlling the switching means (160) and the fluid regulating means (270) in time.

16. A cleaning and sensor system (120) for a vehicle (1000), characterized in that The cleaning and sensor system has a sensor (300) and a cleaning device (100) according to any one of the preceding claims, and a supply arrangement (500) and a control unit (700) which is configured for controlling the cleaning device (100).

17. The cleaning and sensor system (120) according to claim 16, characterized by The supply arrangement (500) has a compressed air source (600) and / or has a liquid source (660).

18. The cleaning and sensor system (120) according to claim 17, characterized by The compressed air source (600) is a compressor (602).

19. The cleaning and sensor system (120) according to claim 17, characterized by The liquid source (660) is a liquid tank (664).

20. A vehicle (1000) characterized by, The vehicle has a cleaning device (100) according to any one of claims 1 to 15.

21. The vehicle (1000) according to claim 20, characterized by The vehicle is a commercial vehicle (1002) or a passenger vehicle (1004).

22. Method (400, 400') for cleaning a surface (AR) to be cleaned of a sensor (300) by constructing a cleaning device according to any one of claims 1 to 15, characterized in that having the following steps: generating a cleaning movement (BR) of the cleaning nozzle (320) and loading the surface (AR) to be cleaned with cleaning fluid (RF) during the cleaning movement (BR), generating a retraction movement (BE) opposite to the cleaning movement (BR) and loading the surface (AR) to be cleaned with cleaning fluid (RF) during the retraction movement (BE).

23. The method according to claim 22, characterized in that 24. The method of claim 22, wherein ending the cleaning movement (BR) prematurely in dependence on the abort nozzle position (SDA) and / or the abort time (TDA). having the following steps: loading the surface to be cleaned (AR) with cleaning fluid (RF) continuously throughout the cleaning movement (BR) or at the at least one target nozzle location (SDZ) and / or the at least one target nozzle zone (SZZ).

25. The method of claim 22, wherein having the following steps: loading the surface to be cleaned (AR) with cleaning fluid (F) and / or compressed air (DL) during the cleaning movement (BR).

26. The method of claim 22, wherein having the following steps: loading the surface to be cleaned (AR) with cleaning fluid (RF) continuously throughout the retraction movement (BE) or at the at least one target nozzle location (SDZ) and / or the at least one target nozzle zone (SZZ).

27. The method of claim 22, wherein having the following steps: loading the surface to be cleaned (AR) with compressed air (DL) during the retraction movement (BE).

Images