Spherical surface cleaning device

Abstract

The invention relates to the technical field of radar sensor surface cleaning, in particular to a spherical surface cleaning device which comprises a nozzle device, the nozzle device comprises a flow channel unit, a first fluid leading-in channel, a second fluid leading-in channel and a jet orifice, and the flow channel unit comprises a first flow channel, a second flow channel and a third flow channel which are communicated in sequence. The cross-sectional area of the second flow channel is gradually increased from the first flow channel to the third flow channel, the cross-sectional area of the third flow channel is gradually increased from the second flow channel to the jet orifice, and the cross-sectional area of the second flow channel is smaller than that of the third flow channel. The spherical surface cleaning device has the water spraying function and the air spraying function at the same time, an additional nozzle device does not need to be arranged, the space occupation rate is effectively reduced, the nozzle device is attached to the spherical outer contour surface of a sensor sensing area, the space occupation rate can be further reduced, meanwhile, the appearance face of the nozzle device is not provided with obvious protrusions, and the service life of the nozzle device is prolonged. And collision and damage are not easy to occur.

Description

Technical Field

[0001] The invention relates to the technical field of radar sensor surface cleaning, and in particular to a spherical surface cleaning device. Background Art

[0002] Radar sensors are common sensors used in vehicles, which are used to detect the surrounding environment of vehicles to obtain environmental information around the vehicle. However, when radar sensors are blocked by water, fog, frost, mud, insects, etc. during use, the point cloud number will be distorted and they will not work properly. If this type of radar sensor is used in autonomous driving, it will cause safety accidents.

[0003] The sensing area of ​​many radar sensors has a spherical structure in appearance. Currently, most of such radar sensors on the market do not have a device for cleaning the sensor sensing surface. A small number of such radar sensors have a raised water spray nozzle device on the sensor sensing surface. The water spray nozzle device needs to spray a large amount of cleaning liquid onto the sensor sensing surface during the cleaning process, which will cause the problem of continuously blocking the sensor sensing surface during the cleaning process, resulting in the radar sensor being unable to work normally during the cleaning process. After cleaning, a large amount of cleaning liquid will remain on the sensor sensing surface, which will not only block the sensing area of ​​the radar sensor, but also absorb dust in the environment to cause secondary pollution. In order to solve the problem of residual cleaning liquid, the prior art improves the water spray nozzle device, and adopts a raised jet nozzle device with both water spray and air jet functions to replace the original water spray nozzle device. Its working principle is: after spraying the cleaning liquid, jet treatment is performed to remove the residual cleaning liquid. However, the structure of this raised jet nozzle device is relatively complicated, and in order to solve the problem of residual cleaning liquid, it is usually necessary to deploy more nozzles, which is more prone to bumps and damages. In addition, this type of jet nozzle device is large in size, not convenient for deployment and installation, and is not conducive to a layout with high space requirements.

[0004] To this end, the present invention provides a spherical surface cleaning device. Summary of the invention

[0005] Based on this, it is necessary to provide a spherical surface cleaning device to address the above technical problems.

[0006] In order to achieve the above object, the technical solution of the present invention is as follows:

[0007] A spherical cleaning device includes a nozzle device, which is fitted with the spherical outer contour surface of the sensor sensing area. The nozzle device is provided with a flow channel unit for circulating pressure liquid and / or pressure gas and accelerating the pressure liquid and / or pressure gas, a first fluid introduction channel connected to the flow channel unit, and a second fluid introduction channel connected to the first fluid introduction channel. The first fluid introduction channel is used to transport pressure liquid and / or pressure gas to the flow channel unit, and the second fluid introduction channel is used to transport pressure liquid to the first fluid introduction channel. The nozzle device is provided with an injection port connected to the flow channel unit. The flow channel unit includes a first flow channel, a second flow channel and a third flow channel connected in sequence. The cross-sectional area of ​​the second flow channel gradually increases from the first flow channel to the third flow channel, and the cross-sectional area of ​​the third flow channel gradually increases from the second flow channel to the injection port. The cross-sectional area of ​​the second flow channel is smaller than the cross-sectional area of ​​the third flow channel.

[0008] In some optional implementations of some embodiments, the nozzle device includes a nozzle body, which is a ring-shaped structure. The nozzle body has an inner spherical surface, which fits the spherical outer contour surface of the sensor sensing area, and the lower end of the nozzle body is provided with a boss for positioning and mounting with the sensor housing structure.

[0009] In some optional implementations of some embodiments, the first flow channel is disposed on the nozzle body, and the first flow channel is a strip-shaped structure for transporting pressurized liquid and / or pressurized gas along the length extension direction of the nozzle body.

[0010] In some optional implementations of some embodiments, the second flow channel and the third flow channel are both arranged on the nozzle body, the number of the second flow channel and the third flow channel is at least one, each second flow channel is respectively connected to the first flow channel and a third flow channel, a plurality of the second flow channels and the third flow channels are arranged along the length extension direction of the nozzle body, and the third flow channel is a fan-shaped expansion structure.

[0011] In some optional implementations of some embodiments, one end of the first fluid introduction channel is connected to the pressure gas source, and the other end is connected to the input end of the first flow channel; one end of the second fluid introduction channel is detachably connected to the valve body unit, and the other end is connected to the first fluid introduction channel.

[0012] In some optional implementations of some embodiments, the nozzle device further includes a cover plate, and the cover plate and the nozzle body are gap-fitted to form a flow channel unit.

[0013] In some optional implementations of some embodiments, the valve body unit includes a valve seat and a check structure arranged at an output end of the valve seat to prevent the pressure liquid or pressure gas from flowing back.

[0014] In some optional implementations of some embodiments, a cylindrical connecting section is provided at one end of the valve seat facing the second fluid introduction channel, a third fluid introduction channel is provided in the valve seat, a fourth fluid introduction channel connected to the third fluid introduction channel is provided on the cylindrical connecting section, and the check structure is made of elastic material and is sleeved on the cylindrical connecting section.

[0015] In some optional implementations of some embodiments, the non-return structure is a cylindrical ring structure, and the inner diameter of the non-return structure is smaller than the diameter of the cylindrical connecting section.

[0016] In some optional implementations of some embodiments, the injection port is disposed at the upper end of the third flow channel, the injection port is arranged toward the spherical outer contour surface of the sensor sensing area, and the injection port is in contact with the spherical outer contour surface of the sensor sensing area.

[0017] The advantages and beneficial effects of the present invention are as follows: a spherical cleaning device provided by the present invention can use different cleaning modes according to different cleaning needs by setting a first fluid introduction channel, a second fluid introduction channel, a flow channel unit and a spray port, so that cleaning is more efficient and convenient; compared with traditional water spray nozzle devices, the present device consumes less cleaning fluid; in addition, the present device has both water spray and air jet functions, and there is no need to deploy additional nozzle devices, which effectively reduces the space occupancy, and the nozzle device fits the spherical outer contour surface of the sensor sensing area, which can further reduce the space occupancy rate. At the same time, the appearance surface of the nozzle device has no obvious protrusions and is not prone to bump damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an assembly diagram of the sensor arc-shaped outer surface cleaning device and the radar sensor in an embodiment of the present invention.

[0019] Figure 2 Schematic diagram of the structure of the nozzle device in an embodiment of the present invention.

[0020] Figure 3 It is an angled cross-sectional view of the nozzle device in the embodiment of the present invention.

[0021] Figure 4 FIG. 4 is a cross-sectional view from another angle of the nozzle device in the embodiment of the present invention.

[0022] Figure 5 Schematic diagram of the structure of the nozzle body in an embodiment of the present invention.

[0023] Figure 6 1 is a top view of the nozzle body in an embodiment of the present invention.

[0024] Figure 7Schematic diagram of the structure of the valve seat in an embodiment of the present invention.

[0025] Figure numerals: nozzle body 1, cover plate 2, valve body unit 3, boss 4, flow channel unit 5, first fluid inlet channel 6, second fluid inlet channel 7, first flow channel 8, second flow channel 9, third flow channel 10, valve seat 11, check structure 12, cylindrical connecting section 13, third fluid inlet channel 14, fourth fluid inlet channel 15, spherical outer contour surface 16 of sensor sensing area, inner spherical surface 17, injection port 18, positioning groove 19. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limitations on the present application. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0027] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] like Figure 1-Figure 7 As shown, a spherical cleaning device includes a nozzle device, which is fitted with a spherical outer contour surface 16 of a sensor sensing area. A flow channel unit 5 for circulating pressure liquid and / or pressure gas and accelerating the pressure liquid and / or pressure gas, a first fluid introduction channel 6 connected to the flow channel unit 5, and a second fluid introduction channel 7 connected to the first fluid introduction channel 6 are provided in the nozzle device. The first fluid introduction channel 6 is used to transport pressure liquid and / or pressure gas into the flow channel unit 5, and the second fluid introduction channel 7 is used to transport pressure liquid into the first fluid introduction channel 6. An injection port 18 connected to the flow channel unit 5 is provided on the nozzle device. The flow channel unit 5 includes a first flow channel 8, a second flow channel 9 and a third flow channel 10 that are connected in sequence. The cross-sectional area of ​​the second flow channel 9 gradually increases from the first flow channel 8 to the third flow channel 10, and the cross-sectional area of ​​the third flow channel 10 gradually increases from the second flow channel 9 to the injection port 18. The cross-sectional area of ​​the second flow channel 9 is smaller than the cross-sectional area of ​​the third flow channel 10.

[0029] In a possible implementation, the present application can use different cleaning modes according to different cleaning needs to clean different types of dirt, making cleaning more efficient and faster. For example, when cleaning water droplets in the sensor sensing area, pressurized gas can be applied. The pressurized gas enters the first fluid introduction channel 6 through the first fluid introduction channel 6. The pressurized gas can be transported along the length extension direction of the nozzle device in the first flow channel 8, and then introduced into the second flow channel 9 through the first flow channel 8, accelerated through the second flow channel 9, and then introduced into the third flow channel 10 through the second flow channel 9. It is accelerated again through the third flow channel 10 to obtain high-speed pressurized gas, and finally the high-speed pressurized gas is ejected through the injection port 18, so as to achieve the purpose of cleaning the sensor sensing area with high-speed pressurized gas. For example, when sludge is attached to the sensor sensing area, it can be first introduced through the second fluid introduction channel 7 introduces pressurized liquid, and then introduces pressurized gas through the first fluid introduction channel 6. In the first fluid introduction channel 6, the pressurized liquid and the pressurized gas are mixed to form water mist. The water mist is introduced into the second flow channel 9 through the first flow channel 8, accelerated through the second flow channel 9, and then introduced into the third flow channel 10 through the second flow channel 9. It is accelerated again through the third flow channel 10 to obtain high-speed water mist. Finally, the high-speed water mist is ejected through the injection port 18, and the sensor sensing area can be cleaned with high-speed water mist. Subsequently, pressurized gas is introduced for multiple times, and the residual liquid in the sensor sensing area is cleaned by a single jet, so as to complete the cleaning operation of the sensor sensing area. In addition, when cleaning the liquid substance in the sensor sensing area, the liquid substance in the sensor sensing area can be cleaned by introducing pressurized gas alone, without consuming cleaning liquid, which can effectively reduce the consumption of cleaning liquid.

[0030] In one possible embodiment, the cross-sectional area of ​​the second flow channel 9 involved in the present application is smaller than the cross-sectional area of ​​the third flow channel 10, that is, the front part of the flow channel unit 5 is a first flow channel 8 with a strip structure, which is used to transport the pressurized liquid and / or pressurized gas along the length extension direction of the nozzle device, and the middle part of the flow channel unit 5 is the second flow channel 9, and the cross-sectional area of ​​the second flow channel 9 changes from small to large. After passing through the second flow channel 9, it enters the third flow channel 10 with a fan-shaped expansion structure, and the cross-sectional area of ​​the third flow channel 10 also changes from small to large, and the cross-sectional area of ​​the second flow channel 9 is smaller than the cross-sectional area of ​​the third flow channel 10, and finally it is ejected at high speed from the injection port 18. The pressurized liquid and / or pressurized gas flows into the first flow channel 8 under high pressure, passes through the second flow channel 9 and the third flow channel 10 in turn, and escapes from the injection port 18. The working principle of this structural design is: the speed of the pressurized liquid and / or pressurized gas can be changed due to the change of the spray cross-sectional area, so that the pressurized liquid and / or pressurized gas is accelerated from a low speed to a medium speed, and then from a medium speed to a high speed, forming a high-speed pressurized liquid and / or pressurized gas, and finally ejected from the injection port 18, so as to realize the rapid cleaning of the sensor sensing area.

[0031] In a possible implementation, Figure 3-6 As shown, the nozzle device includes a nozzle body 1, which is a ring-shaped structure. The nozzle body 1 has an inner spherical surface 17, which fits the spherical outer contour surface 16 of the sensor sensing area. The lower end of the nozzle body 1 is provided with a boss 4 for positioning and installing with the sensor housing structure.

[0032] In a possible implementation, the inner spherical surface 17 of the nozzle body 1 fits with the spherical outer contour surface 16 of the sensor sensing area, so that only a small amount of space is required for installation, the installation process is easy, and the impact on the appearance of the laser radar is small; in addition, a boss 4 is provided at the lower end of the nozzle body 1 to realize the positioning of the nozzle body 1 and the sensor housing structure; at the same time, the connection between the nozzle device and the sensor can be connected by screws. Before assembling the two, it is necessary to first put the nozzle body 1 of the nozzle device on the sensor, and then clamp the boss 4 at the lower end of the nozzle body 1 on the upper end surface of the sensor housing structure, and then fix the two with screws to realize the assembly and installation between the nozzle device and the sensor.

[0033] In a possible implementation, Figure 5-6 As shown, the first flow channel 8 is arranged on the nozzle body 1 , and the first flow channel 8 is a strip-shaped structure, which is used to transport the pressure liquid and / or pressure gas along the length extension direction of the nozzle body 1 .

[0034] In a possible implementation, in order to improve the spraying effect, a plurality of flow channel units 5 may be provided on the nozzle body 1, and the flow channel units 5 are arranged along the length extension direction of the nozzle body 1 so as to be distributed along the circumferential direction of the radar sensor, so as to achieve 360° comprehensive cleaning coverage of the sensor sensing area in the circumferential direction of the radar sensor, thereby ensuring the cleaning effect. At the same time, the number of flow channel units 5 may be arranged according to actual needs, such as Figure 5-6 As shown, the number of flow channel units 5 of the present application is 2, the number of first flow channels 8 of each flow channel unit 5 is 2, the number of second flow channels 9 of each flow channel unit 5 is 6, and the number of third flow channels 10 of each flow channel unit 5 is 6.

[0035] In a possible implementation, Figure 5-6 As shown, the second flow channel 9 and the third flow channel 10 are both arranged on the nozzle body 1, and the number of the second flow channel 9 and the third flow channel 10 is at least one, each second flow channel 9 is respectively connected to the first flow channel 8 and one third flow channel 10, and the plurality of second flow channels 9 and the third flow channels 10 are arranged along the length extension direction of the nozzle body 1, and the third flow channel 10 is a fan-shaped expansion structure.

[0036] In a possible implementation, one end of the first fluid introduction channel 6 is connected to the pressure gas source, and the other end is connected to the input end of the first flow channel 8. One end of the second fluid introduction channel 7 is detachably connected to the valve body unit 3, and the other end is connected to the first fluid introduction channel 6. Both the first fluid introduction channel 6 and the second fluid introduction channel 7 can be arranged on the nozzle body 1 or on the cover plate 2. The selection can be made according to actual conditions as long as the pressure liquid and / or pressure gas can be delivered to the first flow channel.

[0037] In a possible implementation manner, the nozzle device further includes a cover plate 2 , and the cover plate 2 and the nozzle body 1 are clearance-matched to form a flow channel unit 5 .

[0038] In a possible implementation, the cover plate 2 is an arc-shaped ring structure, such as Figure 2-3 As shown, the connection between the nozzle body 1 and the cover plate 2 can be achieved by screw connection, or other forms of connection can be adopted, such as welding the nozzle body 1 and the cover plate 2 into a whole by ultrasonic welding technology, which can not only effectively reduce the number of parts, but also improve the sealing between the nozzle body 1 and the cover plate 2. The connection method between the nozzle body 1 and the cover plate 2 can be selected according to actual needs and is no longer limited here; in addition, in order to ensure the accuracy of positioning and installation between the nozzle body 1 and the cover plate 2, a positioning groove 19 can be provided on the nozzle body 1, and a positioning block matching the positioning groove 19 can be provided on the cover plate 2.

[0039] In a possible implementation, if the connection between the nozzle body 1 and the cover plate 2 is screw connection, a sealing body for sealing the flow channel unit 5, such as a rubber gasket, can be provided between the nozzle body 1 and the cover plate 2, and a circle of sealing body can be provided at the outer contour of the flow channel unit 5. A sealing strip or a filling sealant can also be provided between the nozzle body 1 and the cover plate 2 for sealing. The selection can be made according to the specific situation and will not be limited here.

[0040] In a possible implementation, Figure 3-4 As shown, the valve body unit 3 includes a valve seat 11 and a check structure 12 arranged at the output end of the valve seat 11, which is used to prevent the pressure liquid or pressure gas from flowing back.

[0041] In a possible implementation, the valve body unit 3 is composed of a valve seat 11 and a non-return structure 12 , wherein the non-return structure 12 can prevent the pressure liquid or the pressure gas from flowing back into the valve seat 11 .

[0042] In a possible implementation, Figure 7As shown, a cylindrical connecting section 13 is provided at one end of the valve seat 11 facing the second fluid inlet channel 7, a third fluid inlet channel 14 is provided in the valve seat 11, a fourth fluid inlet channel 15 connected to the third fluid inlet channel 14 is provided on the cylindrical connecting section 13, and the check structure 12 is made of elastic material and is sleeved on the cylindrical connecting section 13.

[0043] In a possible embodiment, the pressurized liquid can enter the fourth fluid introduction channel 15 through the third fluid introduction channel 14, and then enter the second fluid introduction channel 7 through the fourth fluid introduction channel 15. Under the action of pressure, the liquid can push open the check structure 12 mounted on the fourth fluid introduction channel 15 and enter the second fluid introduction channel 7.

[0044] In a possible implementation, the non-return structure 12 is a cylindrical ring structure, and the inner diameter of the non-return structure 12 is smaller than the diameter of the cylindrical connecting section 13 .

[0045] In a possible implementation, the check structure 12 may be a rubber sleeve, which is clamped tightly on the cylindrical connecting section 13 of the valve seat 11 and completely closes the outlet of the fourth fluid introduction channel 15 to play a check function.

[0046] In a possible implementation, the injection port 18 is disposed at the upper end of the third flow channel 10 , the injection port 18 is arranged toward the spherical outer contour surface 16 of the sensor sensing area, and the injection port 18 fits the spherical outer contour surface 16 of the sensor sensing area.

[0047] The working principle of the present invention is as follows: first, according to actual production needs, select the connection method between the nozzle body 1 and the cover plate 2, and according to the connection method between the two, determine whether it is necessary to assemble a sealing unit between the two, then sleeve the nozzle body 1 of the nozzle device on the sensor, and then clamp the boss 4 at the lower end of the nozzle body 1 on the upper end surface of the sensor housing structure, and finally fix the two with screws to achieve the assembly and installation between the nozzle device and the sensor, then connect the first fluid introduction channel 6 to the corresponding pressure gas source, and the second fluid introduction channel 7 to the valve body unit 3 (an external thread section is provided on the valve seat 11, and an internal thread section matching the external thread section is provided on the second fluid introduction channel 7), and the valve body unit 3 is connected to the corresponding The corresponding pressure liquid source is connected; different cleaning modes can be used according to the cleaning needs of the sensor sensing area. For example, when cleaning water droplets in the sensor sensing area, pressurized gas can be applied and the airflow of the pressurized gas can be used to clean the sensor sensing area; if sludge is attached to the sensor sensing area, pressurized liquid can be applied first, and then pressurized gas can be introduced to form a water mist spray, and the mud in the sensor sensing area can be flushed with the water mist, and then pressurized gas (such as dry gas) can be introduced multiple times, and the residual liquid in the sensor sensing area can be cleaned by a single jet, so as to complete the cleaning operation of the sensor sensing area. A variety of cleaning modes can be realized, which are suitable for a variety of cleaning needs of the sensor sensing area, making the cleaning of the sensor sensing area more efficient and convenient.

[0048] Obviously, it should be understood by those skilled in the art that the above-mentioned various steps of the present invention can be performed in a manner different from the present invention, and the simulation method and experimental equipment include but are not limited to the above description. The above-mentioned various steps of the present invention can be performed in an order different from that here in some cases, and the steps shown or described above can be performed separately. Therefore, the present invention is not limited to any specific combination of hardware and software.

[0049] The above contents are further detailed descriptions of the present invention in combination with specific implementation methods, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A spherical surface cleaning device, comprising a nozzle device, characterized in that: The nozzle device is fitted with the spherical outer contour surface of the sensor sensing area. The nozzle device is provided with a flow channel unit for circulating pressure liquid and / or pressure gas and accelerating the pressure liquid and / or pressure gas, a first fluid introduction channel connected to the flow channel unit, and a second fluid introduction channel connected to the first fluid introduction channel. The first fluid introduction channel is used to transport pressure liquid and / or pressure gas to the flow channel unit, and the second fluid introduction channel is used to transport pressure liquid to the first fluid introduction channel. The nozzle device is provided with an injection port connected to the flow channel unit. The flow channel unit includes a first flow channel, a second flow channel and a third flow channel connected in sequence. The cross-sectional area of ​​the second flow channel gradually increases from the first flow channel to the third flow channel, and the cross-sectional area of ​​the third flow channel gradually increases from the second flow channel to the injection port. The cross-sectional area of ​​the second flow channel is smaller than the cross-sectional area of ​​the third flow channel.

2. A spherical surface cleaning device according to claim 1, characterized in that: The nozzle device comprises a nozzle body, which is a ring-shaped structure and has an inner spherical surface, which fits the spherical outer contour surface of the sensor sensing area, and a boss is provided at the lower end of the nozzle body for positioning and installing with the sensor housing structure.

3. A spherical surface cleaning device according to claim 2, characterized in that: The first flow channel is arranged on the nozzle body, and the first flow channel is a strip-shaped structure, and is used to transport the pressure liquid and / or pressure gas along the length extension direction of the nozzle body.

4. A spherical surface cleaning device according to claim 3, characterized in that: The second flow channel and the third flow channel are both arranged on the nozzle body, and the number of the second flow channel and the third flow channel is at least one. Each second flow channel is respectively connected to the first flow channel and a third flow channel. Multiple second flow channels and third flow channels are arranged along the length extension direction of the nozzle body, and the third flow channel is a fan-shaped expansion structure.

5. A spherical surface cleaning device according to claim 4, characterized in that: One end of the first fluid introduction channel is connected to the pressure gas source, and the other end is connected to the input end of the first flow channel. One end of the second fluid introduction channel is detachably connected to the valve body unit, and the other end is connected to the first fluid introduction channel.

6. A spherical surface cleaning device according to claim 2, characterized in that: The nozzle device further comprises a cover plate, and the cover plate is clearance-matched with the nozzle body to form a flow channel unit.

7. A spherical surface cleaning device according to claim 5, characterized in that: The valve body unit comprises a valve seat and a check structure arranged at an output end of the valve seat, and is used to prevent the pressure liquid or pressure gas from flowing back.

8. A spherical surface cleaning device according to claim 7, characterized in that: A cylindrical connecting section is provided at one end of the valve seat facing the second fluid introduction channel, a third fluid introduction channel is provided in the valve seat, a fourth fluid introduction channel connected to the third fluid introduction channel is provided on the cylindrical connecting section, and the non-return structure is made of elastic material and is sleeved on the cylindrical connecting section.

9. A spherical surface cleaning device according to claim 8, characterized in that: The non-return structure is a cylindrical ring structure, and the inner diameter of the non-return structure is smaller than the diameter of the cylindrical connecting section.

10. A spherical surface cleaning device according to claim 1, characterized in that: The injection port is arranged at the upper end of the third flow channel, and the injection port is arranged toward the spherical outer contour surface of the sensor sensing area, and the injection port is in contact with the spherical outer contour surface of the sensor sensing area.

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