Self-cleaning method and self-cleaning system of vehicle, vehicle and storage medium

Abstract

The invention discloses a self-cleaning method and system of a vehicle, the vehicle and a storage medium, the vehicle comprises a vehicle body and a plurality of wheels, and the self-cleaning method of the vehicle comprises the following steps that a self-cleaning instruction of the vehicle is received; controlling the vehicle to enter a self-cleaning mode, and controlling the vehicle body to move back and forth relative to at least a part of wheels in the self-cleaning mode. According to the self-cleaning method of the vehicle, the vehicle body is controlled to move back and forth relative to the wheels to achieve self-cleaning of the whole vehicle, foreign matter on the vehicle body is prevented from influencing the performance of the whole vehicle, the performance of the vehicle is guaranteed, the user experience is improved, the cleaning difficulty of the foreign matter on the vehicle body can be reduced, and the user experience is improved. And the cleaning efficiency and the cleaning quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle self-cleaning method, a vehicle self-cleaning system, a vehicle and a storage medium. Background Art

[0002] After a vehicle has been used for a long time, especially after passing through muddy areas, off-roading or experiencing snowy weather, foreign objects are likely to accumulate on the vehicle body. If the foreign objects are not removed in time, on the one hand, it will increase the difficulty of removing the foreign objects, and on the other hand, it will also affect the performance of the entire vehicle.

[0003] In the prior art, in order to solve the above problems, users usually manually remove the foreign objects, which is a time-consuming and labor-intensive process. Therefore, how to deal with the foreign objects on the vehicle body in a timely manner has become an urgent problem to be solved. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first purpose of the present invention is to provide a vehicle self-cleaning method, which can effectively clean foreign objects on the vehicle body, and the entire cleaning process is time-saving and labor-saving, solving the problem of difficulty in handling foreign objects on the vehicle body in the prior art.

[0005] A second object of the present invention is to provide a storage medium.

[0006] A third object of the present invention is to provide a vehicle.

[0007] A fourth object of the present invention is to provide a self-cleaning system for a vehicle.

[0008] A fifth object of the present invention is to provide another vehicle.

[0009] According to the self-cleaning method of a vehicle in an embodiment of the present invention, the vehicle includes a body and a plurality of wheels, and the self-cleaning method of the vehicle includes the following steps: receiving a self-cleaning instruction of the vehicle; controlling the vehicle to enter a self-cleaning mode, and in the self-cleaning mode, controlling the body to move back and forth relative to at least a portion of the wheels.

[0010] According to the self-cleaning method of the vehicle in the embodiment of the present invention, the vehicle body is controlled to move back and forth relative to at least a part of the wheels to achieve self-cleaning of the entire vehicle, thereby preventing foreign objects on the vehicle body from affecting the performance of the entire vehicle, ensuring the performance of the vehicle, and improving the user experience. At the same time, the above-mentioned cleaning method can also reduce the difficulty of cleaning foreign objects on the vehicle body and improve the cleaning efficiency, thereby ensuring the cleaning quality.

[0011] In some embodiments, in the self-cleaning mode, the vehicle body is controlled to move in a height direction relative to at least a portion of the wheels.

[0012] In some embodiments, the vehicle body is controlled to move at at least two movement frequencies.

[0013] In some embodiments, controlling the vehicle body to move at at least two movement frequencies includes: controlling the vehicle body to run at a first movement frequency for a first preset time period; and controlling the vehicle body to switch to a second movement frequency, wherein the second movement frequency is greater than the first movement frequency.

[0014] In some embodiments, controlling the vehicle body to switch to the second movement frequency also includes: controlling the vehicle body to run at the second movement frequency for a second preset time period; controlling the vehicle body to switch between the first movement frequency and the second movement frequency and continue to run for a third preset time period; and exiting the self-cleaning mode.

[0015] In some embodiments, at the second movement frequency, the movement distance of the vehicle body is smaller than the movement distance of the vehicle body at the first movement frequency.

[0016] In some embodiments, at the second movement frequency, the movement distance of the vehicle body does not exceed 20 mm.

[0017] In some embodiments, before controlling the vehicle to enter the self-cleaning mode, the following steps are also included: determining whether the vehicle is in a safety mode, the safety mode includes the vehicle body inclination angle being less than a first preset range and / or the vehicle's driving speed being less than a first predetermined speed; determining that the vehicle is in a safety mode, and controlling the vehicle to enter the self-cleaning mode.

[0018] In some embodiments, before determining that the vehicle is in the safety mode and controlling the vehicle to enter the self-cleaning mode, the following steps are also included: determining whether there is a person in the vehicle; if it is determined that there is a person in the vehicle, controlling the vehicle to enter the self-cleaning mode; if it is determined that there is no person in the vehicle, then controlling the vehicle to enter the self-cleaning mode when the vehicle is determined to be in the parking mode.

[0019] In some embodiments, a shock absorber is provided between the vehicle body and the wheels, and controlling the vehicle body to move back and forth relative to at least a portion of the wheels includes controlling the action of the shock absorber.

[0020] In some embodiments, there are multiple shock absorbers, and the multiple shock absorbers correspond one-to-one to the multiple wheels. Controlling the vehicle body to move back and forth relative to at least a portion of the wheels includes the following steps: controlling the multiple shock absorbers to operate sequentially; and / or controlling two shock absorbers located on the same side of the vehicle to operate synchronously, and the remaining shock absorbers to operate synchronously or sequentially.

[0021] In some embodiments, controlling the plurality of shock absorbers to operate sequentially includes: controlling the shock absorbers located at the left front wheel, the left rear wheel, the right rear wheel and the right front wheel to operate sequentially.

[0022] In some embodiments, the two shock absorbers located on the same side of the vehicle are controlled to move synchronously, and the remaining shock absorbers are controlled to move synchronously or sequentially, including: controlling the two shock absorbers located on the left wheel to move synchronously and controlling the two shock absorbers located on the right wheel to move synchronously, and the two shock absorbers located on the left wheel and the two shock absorbers located on the right wheel move sequentially; and / or controlling the two shock absorbers located on the front wheel to move synchronously and controlling the two shock absorbers located on the rear wheel to move synchronously, and the two shock absorbers located on the front wheel and the two shock absorbers located on the rear wheel move sequentially.

[0023] The storage medium according to the embodiment of the present invention stores a computer program thereon, and the computer program implements the aforementioned self-cleaning method when executed by an executor.

[0024] The storage medium according to the embodiment of the present invention realizes the aforementioned self-cleaning method to achieve the purpose of cleaning the vehicle, reduce the difficulty of cleaning foreign matter on the vehicle body, and ensure the cleaning quality.

[0025] A vehicle according to an embodiment of the present invention includes the aforementioned storage medium.

[0026] According to the vehicle of the embodiment of the present invention, the aforementioned storage medium is provided to implement the aforementioned self-cleaning method, thereby realizing the cleaning process of the vehicle using the aforementioned self-cleaning method, thereby preventing foreign matter on the vehicle body from affecting the performance of the entire vehicle, and at the same time reducing the difficulty of cleaning foreign matter on the vehicle body and ensuring the cleaning quality.

[0027] According to the self-cleaning system of a vehicle in an embodiment of the present invention, the vehicle includes a body and a plurality of wheels, and the self-cleaning system includes: a suspension device, the suspension device includes a plurality of shock absorbers, the plurality of shock absorbers correspond to the plurality of wheels one by one, and the shock absorbers are connected between the body and the wheels; a control module, the control module is connected to the plurality of shock absorbers to control the action of each shock absorber; a receiving module for receiving instruction information, the receiving module is electrically connected to the control module, and when the receiving module receives a self-cleaning instruction, the control module controls the action of at least a portion of the shock absorbers to control the body to move back and forth relative to at least a portion of the wheels.

[0028] According to the self-cleaning system of the vehicle in the embodiment of the present invention, the action of the shock absorber is used to control the back and forth movement of the vehicle body relative to at least a portion of the wheels to achieve self-cleaning of the entire vehicle, thereby preventing foreign matter on the vehicle body from affecting the performance of the entire vehicle and ensuring the performance of the vehicle. At the same time, it can also reduce the difficulty of cleaning foreign matter on the vehicle body, improve cleaning efficiency, and improve cleaning quality.

[0029] In some embodiments, when the receiving module receives the self-cleaning instruction, the control module controls the vehicle body to move at least two movement frequencies.

[0030] A vehicle according to an embodiment of the present invention includes the aforementioned vehicle self-cleaning system.

[0031] According to the vehicle of the embodiment of the present invention, the aforementioned self-cleaning system is adopted to realize self-cleaning of the vehicle, thereby preventing foreign objects on the vehicle body from affecting the performance of the entire vehicle, while also reducing the difficulty of cleaning foreign objects on the vehicle body and ensuring the cleaning quality.

[0032] Additional aspects and advantages of the invention will become apparent from the following description, or may be learned by practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0034] Figure 1 The present invention is a flowchart of a vehicle self-cleaning method according to some embodiments of the present invention.

[0035] Figure 2 Flowcharts of vehicle self-cleaning methods according to other embodiments of the present invention.

[0036] Figure 3 Flowchart of a vehicle self-cleaning method according to some further embodiments of the present invention.

[0037] Figure 4 Schematic diagram of a vehicle according to some embodiments of the present invention.

[0038] Figure 5a It is a schematic diagram of the suspension device of some embodiments of the present invention when it is in a damping state.

[0039] Figure 5b It is a schematic diagram of the suspension device of some embodiments of the present invention when it is in a descending state.

[0040] Figure 5c It is a schematic diagram of the suspension device of some embodiments of the present invention when it is in a raised state.

[0041] Reference numerals:

[0042] 1000. Vehicles;

[0043] 100. Car body;

[0044] 200, wheel;

[0045] 300, suspension device;

[0046] 310, shock absorber; 320, control module; 330, receiving module;

[0047] 340. Power supply module; 350. Elastic member;

[0048] 400, height sensor;

[0049] 500, vehicle speed sensor;

[0050] 600. Seat belt detection device. DETAILED DESCRIPTION

[0051] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having 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 invention, and cannot be understood as limiting the present invention.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] The following describes a self-cleaning method of a vehicle 1000 according to an embodiment of the present invention with reference to the accompanying drawings. The vehicle 1000 includes a vehicle body 100 and a plurality of wheels 200 .

[0054] like Figure 1 As shown, the self-cleaning method of the vehicle 1000 according to the embodiment of the present invention comprises the following steps:

[0055] Receiving a self-cleaning instruction from the vehicle 1000;

[0056] The vehicle 1000 is controlled to enter a self-cleaning mode. In the self-cleaning mode, the vehicle body 100 is controlled to move back and forth relative to at least a portion of the wheels 200. Here, in the self-cleaning mode, the vehicle body 100 may move back and forth relative to a portion of the multiple wheels 200, or may move back and forth relative to all of the multiple wheels 200. During the back and forth movement, the vehicle body 100 is vibrated relative to the wheels 200, so as to facilitate the removal of foreign matter on the vehicle body 100, thereby achieving the purpose of self-cleaning the vehicle 1000.

[0057] That is to say, when the vehicle 1000 receives the self-cleaning instruction, the vehicle 1000 enters the self-cleaning mode. During the self-cleaning mode, the vehicle body 100 is controlled to move back and forth relative to at least part of the wheels 200 to remove foreign objects on the vehicle body 100 and realize the self-cleaning function of the vehicle 1000.

[0058] It can be seen from the above method that the self-cleaning method of the vehicle 1000 according to the embodiment of the present invention can effectively remove foreign matter attached to the vehicle body 100, thereby achieving the purpose of automatic cleaning of the vehicle 1000 and reducing the degree of manual intervention. While reducing the difficulty of cleaning foreign matter on the vehicle body 100, improving cleaning efficiency and improving cleaning quality, it can also prevent foreign matter on the vehicle body 100 from affecting the performance of the entire vehicle, thereby ensuring the performance of the vehicle 1000 and improving the user experience.

[0059] In a specific example, after the vehicle passes through a muddy area or goes off-road, the self-cleaning mode of the vehicle 1000 can be turned on so that the vehicle body 100 can vibrate quickly for self-cleaning, thereby avoiding the phenomenon that mud and sand naturally dry and become difficult to clean or mud and sand accumulate and affect the performance of the vehicle.

[0060] At the same time, through the above-mentioned arrangement, when there is snow on the vehicle body 100, the self-cleaning function of the vehicle 1000 can also be used to remove the snow, which can reduce the difficulty of snow treatment and improve the efficiency of snow treatment.

[0061] It can be understood that compared with the prior art, the vehicle 1000 of the present application has an automatic cleaning function to facilitate the cleaning of foreign objects on the vehicle body 100. While preventing foreign objects on the vehicle body 100 from affecting the performance of the entire vehicle, it can also reduce the degree of manual intervention, thereby reducing the difficulty of cleaning foreign objects on the vehicle body 100 and improving cleaning efficiency and cleaning quality.

[0062] In some embodiments, when it is necessary to turn on the self-cleaning mode of vehicle 1000, the user can remotely control it through the car key or click the function button in the car to input the signal to turn on the self-cleaning mode of vehicle 1000 and transmit it to vehicle 1000. When vehicle 1000 receives the self-cleaning instruction, it controls vehicle 1000 to enter the self-cleaning mode.

[0063] In some embodiments, in the self-cleaning mode, the vehicle body 100 is controlled to move in the height direction relative to at least a portion of the wheels 200. This means that in the self-cleaning mode, the vehicle body 100 is controlled to move back and forth in the height direction relative to at least a portion of the wheels 200, wherein the height direction here refers to the height direction of the vehicle 1000, that is, the up and down direction of the vehicle 1000, that is, in the self-cleaning mode, the vehicle body 100 is controlled to move back and forth in the up and down direction of the vehicle 1000 relative to at least a portion of the wheels 200, so as to control the vibration of the vehicle body 100 relative to the wheels 200, thereby facilitating the removal of foreign matter on the vehicle body 100 and achieving the purpose of self-cleaning the vehicle 1000.

[0064] In some embodiments, the vehicle body 100 is controlled to move at least two moving frequencies. That is, when the vehicle 1000 enters the self-cleaning mode, the vehicle body 100 is controlled to move back and forth relative to at least a portion of the wheels 200 at at least two moving frequencies, so that the vehicle body 100 can vibrate relative to the wheels 200 at different vibration frequencies, which can ensure that foreign matter attached to the vehicle body 100 can be effectively removed, thereby achieving the purpose of removing foreign matter, and at the same time ensuring the quality of foreign matter removal, thereby preventing foreign matter from affecting the performance of the entire vehicle.

[0065] Optionally, the vehicle body 100 has multiple movement frequencies relative to the wheel 200, that is, the vehicle body 100 is not limited to moving at at least two movement frequencies. In this way, when the vehicle 1000 enters the self-cleaning mode, the vehicle body 100 can be controlled to switch between multiple movement frequencies. While controlling the vehicle body 100 to move at at least two movement frequencies, the cleaning quality of foreign objects can also be guaranteed.

[0066] In some embodiments, Figure 2 As shown, controlling the vehicle body 100 to move at at least two movement frequencies includes:

[0067] Controlling the vehicle body 100 to run at a first moving frequency for a first preset time period;

[0068] The vehicle body 100 is controlled to switch to a second movement frequency, where the second movement frequency is greater than the first movement frequency.

[0069] What this means is that when the vehicle 1000 enters the self-cleaning mode, the vehicle body 100 is first controlled to run at a first moving frequency for a first preset time. After running for the first preset time, the vehicle body 100 is controlled to switch to a second moving frequency, thereby controlling the vehicle body 100 to move relative to at least a portion of the wheels 200 at at least two moving frequencies, ensuring that foreign matter attached to the vehicle body 100 can be effectively removed, thereby achieving the purpose of removing foreign matter, and at the same time ensuring the quality of foreign matter removal.

[0070] It should be noted that the above-mentioned second movement frequency being greater than the first movement frequency can be understood as, within a specific time period, when the vehicle body 100 moves back and forth relative to the wheel 200 at the second movement frequency, the number of back and forth movements of the vehicle body 100 is greater than the number of back and forth movements of the vehicle body 100 when the vehicle body 100 moves back and forth relative to the wheel 200 at the first movement frequency.

[0071] In a specific example, when the vehicle body 100 moves back and forth relative to the wheel 200 at a first moving frequency, within a specific time period, the vehicle body 100 can move back and forth once relative to the wheel 200. At this time, the swinging speed of the vehicle body 100 is slow but the swinging amplitude is large, and the vibration of the vehicle body 100 is mainly used to remove large foreign objects on the vehicle body 100; when the vehicle body 100 moves back and forth relative to the wheel 200 at a second moving frequency, within a specific time period, the vehicle body 100 can move back and forth relative to the wheel 200 dozens or hundreds of times. At this time, the swinging speed of the vehicle body 100 is fast, and the rapid vibration of the vehicle body 100 can be used to remove foreign objects on the vehicle body 100, thereby achieving the purpose of self-cleaning of the vehicle body 100 while ensuring the cleaning quality.

[0072] Among them, the above-mentioned specific time period can be 1s, that is, within 1s, when the vehicle body 100 moves back and forth relative to the wheel 200 at the first moving frequency, the vehicle body 100 can move back and forth once relative to the wheel 200; within 1s, when the vehicle body 100 moves back and forth relative to the wheel 200 at the second moving frequency, the vehicle body 100 can move back and forth relative to the wheel 200 dozens or hundreds of times.

[0073] In some embodiments, Figure 2 As shown, controlling the vehicle body 100 to switch to the second movement frequency also includes:

[0074] Controlling the vehicle body 100 to operate at a second movement frequency for a second preset time period;

[0075] Controlling the vehicle body 100 to switch between the first movement frequency and the second movement frequency and continuously operate for a third preset time period;

[0076] Exit self-cleaning mode.

[0077] What this means is that when the vehicle body 100 is controlled to switch to the second moving frequency, the vehicle body 100 is first controlled to run at the second moving frequency for a second preset time. After running for the second preset time, the vehicle body 100 is controlled to switch between the first moving frequency and the second moving frequency and continue to run for a third preset time, so that the vehicle body 100 can cyclically move between at least two moving frequencies, ensuring that foreign objects attached to the vehicle body 100 can be effectively removed, thereby achieving the purpose of removing foreign objects, and at the same time ensuring the quality of foreign object removal.

[0078] In summary, it can also be understood that when the vehicle 1000 of the present application executes the self-cleaning mode, it sequentially performs low-frequency vibration, high-frequency vibration and high-and-low-frequency cyclic vibration to achieve the purpose of removing foreign matter on the vehicle body 100.

[0079] It should be noted that, in the description of the present invention, the features defined as "first", "second" and "third" may explicitly or implicitly include one or more of the features, which are used to distinguish the described features, without any distinction of order or importance.

[0080] In a specific example, the first preset time, the second preset time and the third preset time are the same, for example, the first preset time, the second preset time and the third preset time are all 3s to 5s. That is, when the vehicle 1000 enters the self-cleaning mode, the vehicle body 100 is first controlled to run at the first movement frequency for 3s to 5s, and after running at the first movement frequency for 3s to 5s, the vehicle body 100 is controlled to switch to the second movement frequency for 3s to 5s, and after running at the second movement frequency for 3s to 5s, the vehicle body 100 is controlled to switch between the first movement frequency and the second movement frequency and continue to run for 3s to 5s.

[0081] In some embodiments, the first preset duration, the second preset duration, and the third preset duration are repeated 10 to 20 times. That is, after the vehicle body 100 is controlled to switch between the first movement frequency and the second movement frequency and continuously run for the third preset duration, the vehicle body 100 can continue to be controlled to run for the first preset duration at the first movement frequency, and then the vehicle body 100 is controlled to run for the second preset duration at the second movement frequency, and finally the vehicle body 100 is controlled to switch between the first movement frequency and the second movement frequency and continuously run for the third preset duration. After 10 to 20 cycles, the control exits the self-cleaning mode, so that the cleaning quality can be guaranteed while the vehicle body 100 is self-cleaned.

[0082] In some embodiments, at the second moving frequency, the moving stroke of the vehicle body 100 is smaller than that at the first moving frequency, so as to ensure that at the second moving frequency, the vehicle body 100 can move back and forth multiple times relative to the wheel 200, thereby facilitating the removal of foreign matter on the vehicle body 100 by utilizing the rapid vibration of the vehicle body 100, thereby achieving the purpose of self-cleaning of the vehicle body 100.

[0083] That is to say, when the vehicle body 100 moves back and forth at a low frequency (first moving frequency), the moving stroke of the vehicle body 100 is a long stroke; when the vehicle body 100 moves back and forth at a high frequency (second moving frequency), the moving stroke of the vehicle body 100 is a short stroke, thereby making the vehicle body 100 of the present application have two moving modes, namely, low-frequency long stroke and high-frequency short stroke, so as to facilitate the removal of foreign objects on the vehicle body 100.

[0084] In some embodiments, at the second moving frequency, the moving stroke of the vehicle body 100 does not exceed 20 mm. That is, when the vehicle body 100 moves back and forth at the second moving frequency, the stroke length of the vehicle body 100 is limited to within 20 mm, so that while ensuring that the moving stroke of the vehicle body 100 when moving at the second moving frequency can be less than the moving stroke of the vehicle body 100 at the first moving frequency, it can also achieve the effect of rapid vibration to remove foreign matter attached to the vehicle body 100, thereby ensuring the quality of foreign matter treatment.

[0085] Of course, in some other embodiments, when the vehicle body 100 moves at the second moving frequency, the moving stroke of the vehicle body 100 is not limited to being set to no more than 20 mm. Technical personnel in this field can impose restrictions based on the specific height of the vehicle body 100, as long as it is ensured that at the second moving frequency, the moving stroke of the vehicle body 100 can be smaller than the moving stroke of the vehicle body 100 at the first moving frequency.

[0086] In some embodiments, Figure 3 As shown, before controlling the vehicle 1000 to enter the self-cleaning mode, the following steps are also included:

[0087] Determining whether the vehicle 1000 is in a safety mode, the safety mode comprising that the tilt angle of the vehicle body 100 is less than a first preset range and / or the driving speed of the vehicle 1000 is less than a first predetermined speed;

[0088] It is determined that the vehicle 1000 is in the safety mode, and the vehicle 1000 is controlled to enter the self-cleaning mode.

[0089] What this means is that after receiving the self-cleaning instruction of the vehicle 1000, it is first determined whether the inclination angle of the vehicle body 100 is less than the first preset range and / or whether the driving speed of the vehicle 1000 is less than the first preset speed. When it is determined that the inclination angle of the vehicle body 100 is less than the first preset range and / or the driving speed of the vehicle 1000 is less than the first preset speed, it is determined that the vehicle 1000 is in the safety mode. At this time, the vehicle 1000 is controlled to enter the self-cleaning mode to ensure the safety of the vehicle 1000.

[0090] Optionally, the first preset range is 3° to 8°. That is, when the self-cleaning instruction of the vehicle 1000 is received, it is first determined whether the inclination angle of the vehicle body 100 is less than 3° to 8°, and when it is determined that the inclination angle of the vehicle body 100 is less than 3° to 8°, the vehicle 1000 is controlled to enter the self-cleaning mode.

[0091] In some embodiments, in combination Figure 4As shown, each wheel 200 of the vehicle 1000 is provided with a height sensor 400, and the height sensor 400 is used to detect the height of the corresponding vehicle body 100. In this way, the inclination angle of the vehicle body 100 can be detected by cooperating with multiple height sensors 400, which is convenient for subsequent judgment whether the inclination angle of the vehicle body 100 is less than the first preset range and ensures the accuracy of the judgment.

[0092] Optionally, the first predetermined speed is 5km / h to 12km / h. That is, after receiving the self-cleaning instruction of the vehicle 1000, it is also determined whether the driving speed of the vehicle body 100 is less than 5km / h to 12km / h. When it is determined that the driving speed of the vehicle body 100 is less than 5km / h to 12km / h, the vehicle 1000 is controlled to enter the self-cleaning mode.

[0093] In some embodiments, in combination Figure 4 As shown, the vehicle 1000 is provided with a vehicle speed sensor 500, which is used to detect the driving speed of the vehicle 1000, so as to facilitate the subsequent judgment whether the driving speed of the vehicle body 100 is less than the first predetermined speed and ensure the accuracy of the judgment.

[0094] It is worth emphasizing that the first preset range and the first predetermined speed can be adaptively adjusted according to the vehicle model. For example, when the vehicle model is a small car with poor stability, the first preset range is 3°, and the first predetermined speed is 5km / h; when the vehicle model is an ordinary car with a certain stability, the first preset range can be 5°, and the first predetermined speed can be 8km / h; when the vehicle model is an off-road vehicle with good stability, the first preset range can be 8°, and the first predetermined speed is 12km / h.

[0095] In a specific example, Figure 3 As shown, before controlling the vehicle 1000 to enter the self-cleaning mode, it is first determined whether the inclination angle of the vehicle body 100 is less than a first preset range. When it is determined that the inclination angle of the vehicle body 100 is greater than or equal to the first preset range, the vehicle 1000 is controlled to exit the self-cleaning mode; when it is determined that the inclination angle of the vehicle body 100 is less than the first preset range, it is then determined whether the driving speed of the vehicle 1000 is less than a first predetermined speed. When it is determined that the driving speed of the vehicle body 100 is greater than or equal to the first predetermined speed, the vehicle 1000 is controlled to exit the self-cleaning mode. When it is determined that the driving speed of the vehicle body 100 is less than the first predetermined speed, the vehicle 1000 is controlled to enter the self-cleaning mode, so as to achieve the purpose of cleaning the vehicle 1000 and ensure the safety of the vehicle 1000.

[0096] In some embodiments, Figure 3 As shown, before determining that the vehicle 1000 is in the safety mode and controlling the vehicle 1000 to enter the self-cleaning mode, the following steps are also included:

[0097] Determine whether there is anyone in the car;

[0098] If it is determined that there is a person in the vehicle, the vehicle 1000 is controlled to enter a self-cleaning mode;

[0099] If it is determined that there is no person in the vehicle, then when it is determined that the vehicle 1000 is in the parking mode, the vehicle 1000 is controlled to enter the self-cleaning mode.

[0100] What this means is that when it is determined that the inclination angle of the vehicle body 100 is less than the first preset range and the driving speed of the vehicle 1000 is less than the first predetermined speed, it is also necessary to determine whether there is a person in the vehicle. When it is determined that there is a person in the vehicle, the vehicle 1000 is directly controlled to enter the self-cleaning mode; when it is determined that there is no person in the vehicle, it is also necessary to determine that the vehicle 1000 is in the parking mode. When it is determined that the vehicle 1000 is in the parking mode, the vehicle 1000 is controlled to enter the self-cleaning mode to achieve the purpose of cleaning the vehicle 1000 and ensure the safety of the vehicle 1000.

[0101] Optionally, the vehicle 1000 further includes a weight sensor, which is disposed on a vehicle seat. The weight sensor is used to detect whether there is a user on the vehicle seat, thereby determining whether there is a person in the vehicle to ensure accuracy of the determination.

[0102] Of course, in some other examples, the vehicle 1000 may also include a photographing device, which is used to take pictures of the interior environment of the vehicle to determine whether there are people in the vehicle, thereby further ensuring the accuracy of the judgment.

[0103] In some embodiments, Figure 3 As shown, after determining that there is no person in the car, the following steps are also included:

[0104] It is determined that the vehicle 1000 is in a non-parking mode, and the vehicle 1000 is controlled to exit the self-cleaning mode.

[0105] That is to say, after determining that there is no one in the vehicle, it is also necessary to determine whether the vehicle 1000 is in the parking mode. When it is determined that the vehicle 1000 is in the parking mode, the vehicle 1000 is controlled to enter the self-cleaning mode. When it is determined that the vehicle 1000 is in the non-parking mode, the vehicle 1000 is controlled to exit the self-cleaning mode to further ensure the safety of the vehicle 1000.

[0106] Optionally, the vehicle 1000 further includes a parking mode detection system, which is used to detect whether the vehicle 1000 is in a parking mode, thereby ensuring the safety of the vehicle 1000 during the self-cleaning process.

[0107] In some embodiments, Figure 3 As shown, when determining that there is a person in the car, the following steps are also included:

[0108] Determine whether the occupants are wearing seat belts;

[0109] After determining that the occupants have fastened their seat belts, the vehicle 1000 is controlled to enter a self-cleaning mode.

[0110] Through the above arrangement, the vehicle 1000 can be cleaned and the safety of the people in the vehicle can be guaranteed.

[0111] That is to say, the vehicle 1000 of the present application performs self-cleaning after detecting the surrounding environment of the vehicle body 100 and the status of the people in the vehicle. This ensures the cleaning quality while also ensuring the safety of the user and the vehicle 1000, thereby improving the user experience.

[0112] In some embodiments, in combination Figure 4 As shown, the vehicle 1000 is provided with a seat belt detection device 600, which is used to detect the wearing status of the seat belts of the occupants in the vehicle, so as to facilitate the subsequent judgment on whether the occupants in the vehicle have fastened their seat belts, ensure the safety of the occupants in the vehicle when the vehicle 1000 is in the self-cleaning mode, and ensure the accuracy of the judgment.

[0113] In some embodiments, in combination Figure 4 and Figure 5a As shown, a shock absorber 310 is provided between the vehicle body 100 and the wheel 200, and controlling the vehicle body 100 to move back and forth relative to at least a portion of the wheel 200 includes controlling the action of the shock absorber 310. That is, when it is necessary to control the vehicle body 100 to move back and forth relative to at least a portion of the wheel 200, the action of the shock absorber 310 is mainly controlled, so that while ensuring that the vehicle body 100 can effectively move back and forth relative to the wheel 200, the control difficulty of the vehicle body 100 can be reduced, and the control efficiency can be improved.

[0114] At the same time, by using the shock absorber 310 to control the back and forth movement of the vehicle body 100, the provision of other driving components for driving the vehicle body 100 to move is omitted, so as to simplify the structure of the vehicle 1000 and reduce the production cost of the vehicle 1000.

[0115] In summary, the shock absorber 310 of the present application can not only absorb the impact when the wheel 200 touches the ground again after leaving the ground, maintain the stability of the vehicle body 100, and ensure smooth driving, but also drive the vehicle body 100 to move back and forth relative to the wheel 200 to achieve self-cleaning of the vehicle 1000, avoid foreign objects on the vehicle body 100 from affecting the overall performance, and at the same time ensure the cleaning quality and cleaning efficiency of the foreign objects.

[0116] In some embodiments, Figure 4 As shown, there are multiple shock absorbers 310, and the multiple shock absorbers 310 correspond to the multiple wheels 200 one by one. Controlling the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200 includes the following steps:

[0117] The plurality of shock absorbers 310 are controlled to operate sequentially.

[0118] What is meant here is that when it is necessary to control the vehicle body 100 to move back and forth relative to the wheel 200, the shock absorber 310 is directly controlled to operate. Since the shock absorber 310 is connected between the vehicle body 100 and the wheel 200, when the shock absorber 310 operates, it can drive the vehicle body 100 to move back and forth relative to the wheel 200, so as to achieve the purpose of driving the vehicle body 100 to vibrate relative to the wheel 200, thereby facilitating the removal of foreign matter on the vehicle body 100 and achieving the purpose of self-cleaning the vehicle 1000.

[0119] It is worth noting that the present application controls multiple shock absorbers 310 to operate in sequence, so that when the vehicle body 100 moves back and forth relative to the wheel 200, the vehicle body 100 can swing relative to the wheel 200, so as to more effectively remove foreign matter on the vehicle body 100 and ensure the quality of foreign matter cleaning.

[0120] In one embodiment, controlling the multiple shock absorbers 310 to operate sequentially includes: controlling the shock absorbers 310 located at the left front wheel, the left rear wheel, the right rear wheel, and the right front wheel to operate sequentially. That is, when it is necessary to control the vehicle body 100 to move back relative to at least a portion of the wheels 200, the shock absorber 310 connected to the left front wheel 200 is first controlled to operate, then the shock absorber 310 connected to the left rear wheel 200 is controlled to operate, then the shock absorber 310 connected to the right rear wheel 200 is controlled to operate, and finally the shock absorber 310 connected to the right front wheel 200 is controlled to operate, so as to control the multiple shock absorbers 310 to operate sequentially, so as to drive the vehicle body 100 to move relative to the wheels 200, and achieve the purpose of self-cleaning the vehicle 1000.

[0121] Of course, in some other embodiments, controlling multiple shock absorbers 310 to operate sequentially may also include: controlling the shock absorbers 310 located at the right front wheel, the right rear wheel, the left rear wheel and the left front wheel to operate sequentially, so that multiple shock absorbers 310 can also operate sequentially and achieve the purpose of driving the vehicle body 100 to move relative to the wheel 200.

[0122] Optionally, when the plurality of shock absorbers 310 are controlled to act sequentially, the shock absorber 310 that acts later is in the process of acting, while the shock absorber 310 that acts earlier continues to act. In other words, the actuation time of the plurality of shock absorbers 310 is different, but when the plurality of shock absorbers 310 are all started, the plurality of shock absorbers 310 act together to ensure the foreign matter cleaning quality of the vehicle body 100.

[0123] In some other embodiments, controlling the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200 may further include the following steps:

[0124] The two shock absorbers 310 located on the same side of the vehicle 1000 are controlled to operate synchronously, and the remaining shock absorbers 310 operate synchronously or sequentially.

[0125] What is meant here is that when it is necessary to control the vehicle body 100 to move back and forth relative to the wheel 200, it is not limited to controlling multiple shock absorbers 310 to operate in sequence, but it is also possible to control two shock absorbers 310 located on the same side of the vehicle 1000 to operate synchronously, and then control the remaining shock absorbers 310 to operate synchronously or in sequence. In this way, when the vehicle body 100 moves back and forth relative to the wheel 200, the vehicle body 100 can also swing relative to the wheel 200, so as to more effectively remove foreign matter on the vehicle body 100 and ensure the quality of foreign matter cleaning.

[0126] It should be noted that the same side mentioned here can be the front and back sides, or the left and right sides.

[0127] In some embodiments, controlling two shock absorbers 310 on the same side of the vehicle 1000 to move synchronously, and the remaining shock absorbers 310 to move synchronously or sequentially includes: controlling the two shock absorbers 310 on the left wheel to move synchronously and controlling the two shock absorbers 310 on the right wheel to move synchronously, and the two shock absorbers 310 on the left wheel and the two shock absorbers 310 on the right wheel to move sequentially. Here, it means that when it is necessary to control the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200, first control the two shock absorbers 310 on the left wheel 200 of the vehicle 1000 to move synchronously, and then control the two shock absorbers 310 on the right wheel 200 of the vehicle 1000 to move synchronously; or, first control the two shock absorbers 310 on the right wheel 200 of the vehicle 1000 to move synchronously, and then control the two shock absorbers 310 on the left wheel 200 of the vehicle 1000 to move synchronously, so as to drive the vehicle body 100 to move relative to the wheels 200, so as to achieve the purpose of self-cleaning of the vehicle 1000.

[0128] It should be noted that the left wheel mentioned above can be understood as the wheel 200 located on the left front side of the vehicle 1000 and the wheel 200 located on the left rear side of the vehicle 1000; the right wheel can be understood as the wheel 200 located on the right front side of the vehicle 1000 and the wheel 200 located on the right rear side of the vehicle 1000.

[0129] In other embodiments, controlling two shock absorbers 310 on the same side of the vehicle 1000 to move synchronously and the remaining shock absorbers 310 to move synchronously or sequentially includes: controlling two shock absorbers 310 on the front wheels to move synchronously and controlling two shock absorbers 310 on the rear wheels to move synchronously, and the two shock absorbers 310 on the front wheels and the two shock absorbers 310 on the rear wheels to move sequentially. That is, when it is necessary to control the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200, it is not limited to controlling the two shock absorbers 310 on the left side of the vehicle 1000 to move synchronously and controlling the two shock absorbers 310 on the right side of the vehicle 1000 to move synchronously, and it is also possible to control the two shock absorbers 310 on the front side of the vehicle 1000 to move synchronously and control the two shock absorbers 310 on the rear side of the vehicle 1000 to move synchronously.

[0130] In a specific example, when it is necessary to control the vehicle body 100 to move back and forth relative to at least a portion of the wheel 200, the two shock absorbers 310 located on the front side of the vehicle 1000 are first controlled to move synchronously, and then the two shock absorbers 310 located on the rear side of the vehicle 1000 are controlled to move synchronously; or, the two shock absorbers 310 located on the rear side of the vehicle 1000 are first controlled to move synchronously, and then the two shock absorbers 310 on the front side are controlled to move synchronously, so as to drive the vehicle body 100 to move relative to the wheel 200, thereby achieving the purpose of self-cleaning of the vehicle 1000.

[0131] It should be noted that the front wheels mentioned above can be understood as the wheel 200 located on the left front side of the vehicle 1000 and the wheel 200 located on the right front side of the vehicle 1000; the rear wheels can be understood as the wheel 200 located on the left rear side of the vehicle 1000 and the wheel 200 located on the right rear side of the vehicle 1000.

[0132] In some other embodiments, controlling two shock absorbers 310 located on the same side of the vehicle 1000 to move synchronously and controlling the remaining shock absorbers 310 to move synchronously or sequentially includes: controlling the two shock absorbers 310 located on the left wheel to move synchronously and controlling the two shock absorbers 310 located on the right wheel to move synchronously, and the two shock absorbers 310 located on the left wheel and the two shock absorbers 310 located on the right wheel move sequentially; controlling the two shock absorbers 310 located on the front wheel to move synchronously and controlling the two shock absorbers 310 located on the rear wheel to move synchronously, and the two shock absorbers 310 located on the front wheel and the two shock absorbers 310 located on the rear wheel move sequentially. That is to say, when it is necessary to control the vehicle body 100 to move back and forth relative to at least a part of the wheels 200, firstly, the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 of the wheel 200 on the right side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 on the front side of the vehicle 1000 are controlled to move synchronously, and finally the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to move synchronously; or, firstly, the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 on the right side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to move synchronously, and finally the two shock absorbers 310 on the front ... The two shock absorbers 310 of the wheel 200 on the right side of the vehicle 1000 are controlled to move synchronously, and then the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 are controlled to move synchronously, and then the two shock absorbers 310 on the front side of the vehicle 1000 are controlled to move synchronously, and finally the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to move synchronously; or, the two shock absorbers 310 of the wheel 200 on the right side of the vehicle 1000 are controlled to move synchronously first, and then the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 are controlled to move synchronously, and then the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to move synchronously, and finally the two shock absorbers 310 on the front side of the vehicle 1000 are controlled to move synchronously, so as to drive the vehicle body 100 to move relative to the wheel 200, so as to achieve the purpose of self-cleaning the vehicle 1000.

[0133] In a specific example, when it is necessary to control the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200, first, the two shock absorbers 310 of the wheel 200 located on the left side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 of the wheel 200 located on the right side of the vehicle 1000 are controlled to move synchronously, then the two shock absorbers 310 located on the front side of the vehicle 1000 are controlled to move synchronously, and finally the two shock absorbers 310 located on the rear side of the vehicle 1000 are controlled to move synchronously.

[0134] In other embodiments, controlling the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200 may further include the following steps:

[0135] Controlling the plurality of shock absorbers 310 to operate sequentially;

[0136] The two shock absorbers 310 located on the same side of the vehicle 1000 are controlled to operate synchronously, and the remaining shock absorbers 310 operate synchronously or sequentially.

[0137] What this means is that when it is necessary to control the vehicle body 100 to move back and forth relative to the wheel 200, first, multiple shock absorbers 310 are controlled to operate in sequence. After the multiple shock absorbers 310 operate in sequence, the two shock absorbers 310 located on the same side of the vehicle 1000 are controlled to operate synchronously. Finally, the remaining shock absorbers 310 are controlled to operate synchronously or in sequence to achieve the swing of the vehicle body 100 relative to the wheel 200, thereby ensuring the quality of cleaning foreign objects on the vehicle body 100.

[0138] That is to say, when it is necessary to control the vehicle body 100 to move back and forth relative to the wheels 200, first, the shock absorbers 310 located at the left front wheel, the left rear wheel, the right rear wheel and the right front wheel are controlled to operate in sequence, and then the two shock absorbers 310 of the wheel 200 located on the left side of the vehicle 1000 are controlled to operate synchronously, and then the two shock absorbers 310 of the wheel 200 located on the right side of the vehicle 1000 are controlled to operate synchronously, and finally, the two shock absorbers 310 located on the front side of the vehicle 1000 are controlled to operate synchronously, and then the two shock absorbers 310 located on the rear side of the vehicle 1000 are controlled to operate synchronously.

[0139] In a specific example, when the vehicle body 100 needs to be controlled to move back and forth relative to the wheel 200, the plurality of shock absorbers 310 may be controlled to act sequentially first, and then the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 may be controlled to act synchronously, and then the two shock absorbers 310 of the wheel 200 on the right side of the vehicle 1000 may be controlled to act synchronously, and finally the two shock absorbers 310 on the front side of the vehicle 1000 may be controlled to act synchronously, and then the two shock absorbers 310 on the rear side of the vehicle 1000 may be controlled to act synchronously, and the control may be executed for 3s to 4s. 5s, and finally control multiple shock absorbers 310 to operate in sequence, and then control the two shock absorbers 310 of the wheel 200 located on the left side of the vehicle 1000 to operate synchronously, and then control the two shock absorbers 310 of the wheel 200 located on the right side of the vehicle 1000 to operate synchronously, and finally control the two shock absorbers 310 located on the front side of the vehicle 1000 to operate synchronously, and then control the two shock absorbers 310 located on the rear side of the vehicle 1000 to operate synchronously, and execute 3s to 5s, and cycle 10 to 20 times in sequence to complete the self-cleaning mode of the vehicle 1000.

[0140] At the same time, during the last operation of multiple shock absorbers 310, the shock absorber 310 moved at at least two movement frequencies, namely: first, the shock absorber 310 was controlled to operate at a first movement frequency for 3s to 5s, and after operating at the first movement frequency for 3s to 5s, the shock absorber 310 was controlled to switch to a second movement frequency for 3s to 5s, and after operating at the second movement frequency for 3s to 5s, the shock absorber 310 was controlled to switch between the first movement frequency and the second movement frequency and continuously operate for 3s to 5s, and then the shock absorber 310 was controlled to operate at the first movement frequency for 3s to 5s, and this cycle was repeated until the self-cleaning mode of the vehicle 1000 was completed.

[0141] That is to say, when first controlling the plurality of shock absorbers 310 to act in sequence, then controlling the two shock absorbers 310 of the wheel 200 on the left side of the vehicle 1000 to act synchronously, then controlling the two shock absorbers 310 of the wheel 200 on the right side of the vehicle 1000 to act synchronously, and finally controlling the two shock absorbers 310 on the front side of the vehicle 1000 to act synchronously, and then controlling the two shock absorbers 310 on the rear side of the vehicle 1000 to act synchronously, and controlling the execution for 3s to 5s, it runs at the first moving frequency; when finally controlling the plurality of shock absorbers 310 to act in sequence, then controlling the two shock absorbers 310 on the wheel 200 on the left side of the vehicle 1000 to act synchronously, then controlling the two shock absorbers 310 on .... 000, the two shock absorbers 310 on the front side of the vehicle 1000 are controlled to act synchronously, and then the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to act synchronously, and when it is executed for 3s to 5s, it runs at the second movement frequency, and now one cycle is completed; when the multiple shock absorbers 310 are controlled to act in sequence again, the two shock absorbers 310 on the wheel 200 on the left side of the vehicle 1000 are controlled to act synchronously, and then the two shock absorbers 310 on the wheel 200 on the right side of the vehicle 1000 are controlled to act synchronously, and finally the two shock absorbers 310 on the front side of the vehicle 1000 are controlled to act synchronously, and then the two shock absorbers 310 on the rear side of the vehicle 1000 are controlled to act synchronously, and when it is controlled to execute for 3s to 5s, it also runs at the first movement frequency, and so on, until the self-cleaning mode of the vehicle 1000 is completed.

[0142] In some embodiments, the shock absorber 310 is a linear motor. A linear motor is a transmission device that directly converts electrical energy into linear motion mechanical energy without any intermediate conversion mechanism. That is to say, the present application uses a linear motor as an actuator to control the lifting and lowering of the vehicle body 100. Because the linear motor has the advantages of simple structure, high positioning accuracy and high response speed, the shock absorber 310 is set as a linear motor. While ensuring that the shock absorber 310 can effectively drive the vehicle body 100 to move relative to the wheel 200, it can also reduce the control difficulty of the vehicle body 100, improve the response speed of the vehicle body 100, and ensure the position accuracy of the vehicle body 100 after moving, thereby ensuring that foreign matter on the vehicle body 100 can be effectively removed and the cleaning quality of the foreign matter is guaranteed.

[0143] In summary, the present application provides a self-cleaning mode for vehicle 1000. When the vehicle passes through a muddy area, goes off-road, or experiences snow, the characteristics of the shock absorber 310 are used to make the vehicle vibrate quickly for self-cleaning, thereby avoiding natural drying that is difficult to clean or mud and sand accumulation that affect the performance of the vehicle.

[0144] The self-cleaning method of the vehicle 1000 of the present application is described in detail below with reference to the accompanying drawings.

[0145] like Figure 1 , Figure 2 and Figure 3 As shown, the self-cleaning method of vehicle 1000 includes the following steps:

[0146] S1. receiving a self-cleaning instruction from the vehicle 1000;

[0147] S2, determining whether the inclination angle of the vehicle body 100 is less than a first preset range;

[0148] If yes, execute S3;

[0149] If not, execute S7;

[0150] S3, determining whether the driving speed of the vehicle 1000 is less than a first predetermined speed;

[0151] If yes, execute S4;

[0152] If not, execute S7;

[0153] S4, determining whether there is a person in the car;

[0154] If yes, execute S5;

[0155] If not, determine whether the vehicle 1000 is in parking mode; if so, execute S6; if not, execute S7;

[0156] S5, judging whether the occupants of the vehicle have fastened their seat belts;

[0157] If yes, execute S6;

[0158] If not, execute S7;

[0159] S6, controlling the vehicle 1000 to enter a self-cleaning mode;

[0160] S7. Exit the self-cleaning mode.

[0161] In some embodiments, the vehicle 1000 includes a reminder module. When the vehicle 1000 exits the self-cleaning mode, the vehicle 1000 uses the reminder module to remind the user of the reason for the shutdown to enhance the user experience.

[0162] The storage medium according to the embodiment of the present invention is described below.

[0163] A storage medium according to an embodiment of the present invention stores a computer program, which implements the aforementioned self-cleaning method when executed by an executor.

[0164] That is to say, in order to implement the above-mentioned embodiments, the present invention also proposes a storage medium on which a computer program is stored. When the computer program is executed by an executor, the aforementioned self-cleaning method is implemented, thereby realizing the cleaning process of the vehicle 1000 using the aforementioned self-cleaning method, reducing the difficulty of cleaning foreign objects on the vehicle body 100 and ensuring the cleaning quality.

[0165] The following describes a vehicle 1000 according to an embodiment of the present invention.

[0166] A vehicle 1000 according to an embodiment of the present invention includes: the aforementioned storage medium.

[0167] It can be seen from the above structure that the vehicle 1000 of the embodiment of the present invention, by setting the aforementioned storage medium, can implement the aforementioned self-cleaning method, thereby realizing the cleaning process of the vehicle 1000 using the aforementioned self-cleaning method, thereby preventing foreign matter on the vehicle body 100 from affecting the performance of the entire vehicle, and at the same time, it can also reduce the difficulty of cleaning foreign matter on the vehicle body 100 and ensure the cleaning quality.

[0168] The following describes a self-cleaning system for a vehicle 1000 according to an embodiment of the present invention with reference to the accompanying drawings.

[0169] Combination Figure 5a , Figure 5b and Figure 5c As shown, the vehicle 1000 includes a body 100 and a plurality of wheels 200 .

[0170] like Figure 4 As shown, a self-cleaning system for a vehicle 1000 according to an embodiment of the present invention includes: a suspension device 300 , a control module 320 and a receiving module 330 .

[0171] Among them, Figure 4 As shown, the suspension device 300 includes a plurality of shock absorbers 310, and the plurality of shock absorbers 310 correspond to the plurality of wheels 200 one by one, and the shock absorbers 310 are connected between the vehicle body 100 and the wheels 200. On the one hand, the shock absorbers 310 can absorb the impact when the wheels 200 touch the ground again after leaving the ground, maintain the stability of the vehicle body 100, and ensure smooth driving. On the other hand, the shock absorbers 310 can also drive the vehicle body 100 to move back and forth relative to the wheels 200 to achieve self-cleaning of the vehicle 1000, prevent foreign objects on the vehicle body 100 from affecting the overall performance, and at the same time ensure the cleaning quality and cleaning efficiency of foreign objects.

[0172] like Figure 4 As shown, the control module 320 is connected to the plurality of shock absorbers 310, and the control module 320 controls the action of each shock absorber 310. Thus, when it is necessary to control the vehicle body 100 to move back and forth relative to the wheel 200, the shock absorber 310 can be directly controlled by the control module 320 to achieve the purpose of controlling the vibration of the vehicle body 100 relative to the wheel 200, so as to facilitate the removal of foreign matter on the vehicle body 100.

[0173] like Figure 4 As shown, the receiving module 330 is used to receive instruction information. The receiving module 330 is electrically connected to the control module 320. When the receiving module 330 receives the self-cleaning instruction, the control module 320 controls at least a part of the shock absorber 310 to control the vehicle body 100 to move back and forth relative to at least a part of the wheel 200.

[0174] That is to say, when it is necessary to control the vehicle body 100 to move back and forth relative to the wheel 200, the receiving module 330 first receives the self-cleaning instruction. When the receiving module 330 receives the self-cleaning instruction, the control module 320 then controls at least a part of the shock absorber 310 to operate to control the vehicle body 100 to move back and forth relative to at least a part of the wheel 200, thereby achieving the purpose of self-cleaning of the vehicle body 100.

[0175] It can be seen from the above structure that the self-cleaning system of the vehicle 1000 in the embodiment of the present invention controls the vehicle body 100 to move back and forth relative to at least a portion of the wheels 200 by utilizing the action of the shock absorber 310 to achieve self-cleaning of the entire vehicle, thereby preventing foreign matter on the vehicle body 100 from affecting the performance of the entire vehicle, ensuring the performance of the vehicle 100, and at the same time reducing the difficulty of cleaning foreign matter on the vehicle body 100 and improving the cleaning efficiency and cleaning quality.

[0176] In some embodiments, Figure 4 As shown, the control module 320 includes a plurality of control modules 320, and the plurality of control modules 320 correspond to the plurality of shock absorbers 310 one by one, so that the control modules 320 can be used to control the actions of the plurality of shock absorbers 310 respectively.

[0177] Optionally, the receiving module 330 is an ECU (Electronic Control Unit), which is electrically connected to multiple control modules 320 respectively. When the receiving module 330 receives a self-cleaning instruction, the receiving module 330 is used to transmit a signal to the control module 320. After receiving the signal, the control module 320 controls at least a part of the shock absorber 310 to operate, so as to control the vehicle body 100 to move back and forth relative to at least a part of the wheel 200.

[0178] Alternatively, if Figure 4 As shown, the self-cleaning system of the vehicle 1000 further includes a power supply module 340 , which is used to supply power to the shock absorber 310 to ensure that the shock absorber 310 can effectively operate under the action of the control module 320 .

[0179] It should be noted that if Figure 5a , Figure 5b and Figure 5c As shown, the action of the shock absorber 310 includes maintaining damping (such as Figure 5a As shown), control the vehicle body 100 to descend (as shown Figure 5b As shown) and controlling the vehicle body 100 to rise (as shown Figure 5c shown).

[0180] In a specific example, when a signal to start the self-cleaning mode of the vehicle 1000 is input through remote control of the car key or by clicking a function button in the car, the receiving module 330 receives the self-cleaning instruction and sends an instruction to the control module 320. The control module 320 controls the shock absorber 310 according to the instruction of the receiving module 330 to perform functions such as raising the vehicle body 100, lowering the vehicle body 100 and maintaining damping according to the specified instructions to achieve self-cleaning of the vehicle body 100.

[0181] In some embodiments, the shock absorber 310 is a linear motor. Based on the advantages of the linear motor, the control difficulty of the vehicle body 100 is reduced, the response speed of the vehicle body 100 is improved, and the position accuracy of the vehicle body 100 after movement is ensured, thereby ensuring that foreign matter on the vehicle body 100 can be effectively removed and the cleaning quality of the foreign matter is guaranteed.

[0182] Alternatively, if Figure 5a , Figure 5b and Figure 5c As shown, the suspension device 300 also includes a plurality of elastic members 350, and the plurality of elastic members 350 correspond one-to-one to the plurality of shock absorbers 310. The elastic members 350 are connected between the vehicle body 100 and the wheels 200. The elastic members 350 are used to buffer the impact from the ground, thereby ensuring the stability of the vehicle body 100 during vibration.

[0183] Optionally, the elastic member 350 is a spring, which can ensure that the elastic member 350 can effectively buffer the impact from the ground while making the structure of the elastic member 350 simple.

[0184] It should be noted that Figure 5a It mainly shows the state when the vehicle 1000 is stationary and has no energy input. Figure 5b It mainly shows the state after the suspension device 300 is lowered due to the relative movement between the primary and secondary of the linear motor. Figure 5c It mainly shows the state after the primary and secondary of the linear motor relative to each other causes the suspension device 300 to rise.

[0185] The rising distance and the falling distance of the suspension device 300 can be dynamically adjusted according to the actual driving conditions of the vehicle 1000 and the user input instructions.

[0186] Optionally, when the shock absorber 310 is controlled to move to and fro relative to at least a portion of the wheel 200, the suspension device 300 may be controlled to switch from the initial state to the descending state, that is, the shock absorber 310 may be controlled to switch from the initial state to the descending state. Figure 5a The status switches to Figure 5b Then the suspension device 300 is controlled to switch from the descending state to the initial state, that is, the shock absorber 310 is controlled to Figure 5b The status switches to Figure 5a Then control the suspension device 300 to switch from the initial state to the rising state, that is, control the shock absorber 310 by Figure 5a The status switches to Figure 5c Finally, the suspension device 300 is controlled to switch from the rising state to the initial state, that is, the shock absorber 310 is controlled to Figure 5c The status switches to Figure 5a , the entire process of completing the above steps is a movement cycle.

[0187] In a specific example, when the vehicle body 100 is controlled to move back and forth relative to at least a portion of the wheel 200, the shock absorber 310 can be controlled to run the above-mentioned cycle multiple times, that is: when the vehicle body 100 moves at a first movement frequency, the vehicle body 100 can execute the above-mentioned movement cycle and execute it continuously once or multiple times; correspondingly, when the vehicle body 100 moves at a second movement frequency, the vehicle body 100 also executes the above-mentioned movement cycle and executes it continuously dozens or hundreds of times.

[0188] In some embodiments, the control module 320 controls the vehicle body 100 to move at least two moving frequencies when the receiving module 330 receives the self-cleaning instruction. That is, when the vehicle 1000 enters the self-cleaning mode, the vehicle body 100 is controlled to move back and forth relative to at least a portion of the wheels 200 at at least two moving frequencies, so that the vehicle body 100 can vibrate relative to the wheels 200 at different vibration frequencies, which can ensure that foreign matter attached to the vehicle body 100 can be effectively removed, achieving the purpose of removing foreign matter, and at the same time ensuring the quality of foreign matter removal, thereby preventing foreign matter from affecting the performance of the entire vehicle.

[0189] Optionally, when the receiving module 330 receives the self-cleaning instruction, the control module 320 controls the vehicle body 100 to move at a first moving frequency and a second moving frequency respectively, the second moving frequency is greater than the first moving frequency, and at the second moving frequency, the moving stroke of the vehicle body 100 is less than the moving stroke of the vehicle body 100 at the first moving frequency, so that the vehicle body 100 can move in two moving modes, namely, low frequency and long stroke and high frequency and short stroke. When the vehicle body 100 moves at a low frequency and long stroke, the swinging speed of the vehicle body 100 is slow but the swinging amplitude is large, which is conducive to removing large foreign objects on the vehicle body 100; when the vehicle body 100 moves at a high frequency and short stroke, the swinging speed of the vehicle body 100 is fast, which is conducive to effectively removing foreign objects on the vehicle body 100, thereby achieving the purpose of self-cleaning of the vehicle body 100 while ensuring the cleaning quality.

[0190] The following describes a vehicle 1000 according to other embodiments of the present invention with reference to the accompanying drawings.

[0191] Combination Figure 4 and Figure 5a As shown, a vehicle 1000 according to some other embodiments of the present invention includes: a self-cleaning system of the vehicle 1000 .

[0192] Among them, the self-cleaning system of the vehicle 1000 is the self-cleaning system of the vehicle 1000 mentioned above, and the specific structure of the self-cleaning system of the vehicle 1000 is not repeated here.

[0193] It can be seen from the above structure that the vehicle 1000 of the embodiment of the present invention adopts the aforementioned self-cleaning system to achieve self-cleaning of the vehicle 1000, thereby preventing foreign matter on the vehicle body 100 from affecting the performance of the entire vehicle. At the same time, it can also reduce the difficulty of cleaning foreign matter on the vehicle body 100 and ensure the cleaning quality.

[0194] In the description of the present invention, 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 the present invention can be understood according to specific circumstances.

[0195] The self-cleaning method and system of the vehicle 1000 according to the embodiment of the present invention, the vehicle 1000 and other components of the storage medium, such as the specific structure and working principle of the linear motor, are well known to ordinary technicians in the field and will not be described in detail here.

[0196] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0197] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A self-cleaning method for a vehicle, characterized in that: The vehicle comprises a body and a plurality of wheels, and the self-cleaning method of the vehicle comprises the following steps: Receive self-cleaning instructions from the vehicle; The vehicle is controlled to enter a self-cleaning mode, in which the vehicle body is controlled to move back and forth relative to at least a portion of the wheels.

2. The vehicle self-cleaning method according to claim 1, characterized in that: In the self-cleaning mode, the vehicle body is controlled to move in a height direction relative to at least a portion of the wheels.

3. The vehicle self-cleaning method according to claim 1, characterized in that: The vehicle body is controlled to move at at least two movement frequencies.

4. The vehicle self-cleaning method according to claim 3, characterized in that: The controlling the vehicle body to move at at least two movement frequencies comprises: Controlling the vehicle body to run at a first movement frequency for a first preset time period; The vehicle body is controlled to switch to a second movement frequency, wherein the second movement frequency is greater than the first movement frequency.

5. The vehicle self-cleaning method according to claim 4, characterized in that: The controlling the vehicle body to switch to the second movement frequency further includes: Controlling the vehicle body to run at the second movement frequency for a second preset time period; Controlling the vehicle body to switch between the first movement frequency and the second movement frequency and continue to run for a third preset time period; Exit the self-cleaning mode.

6. The vehicle self-cleaning method according to claim 4, characterized in that: At the second movement frequency, the movement distance of the vehicle body is smaller than the movement distance of the vehicle body at the first movement frequency.

7. The vehicle self-cleaning method according to claim 6, characterized in that: At the second movement frequency, the movement stroke of the vehicle body does not exceed 20 mm.

8. The vehicle self-cleaning method according to claim 1, characterized in that: Before controlling the vehicle to enter the self-cleaning mode, the following steps are also included: Determining whether the vehicle is in a safety mode, wherein the safety mode includes that the inclination angle of the vehicle body is less than a first preset range and / or the driving speed of the vehicle is less than a first predetermined speed; It is determined that the vehicle is in the safety mode, and the vehicle is controlled to enter the self-cleaning mode.

9. The vehicle self-cleaning method according to claim 8, characterized in that: Before determining that the vehicle is in the safety mode and controlling the vehicle to enter the self-cleaning mode, the following steps are also included: Determine whether there is anyone in the car; If it is determined that there is a person in the vehicle, the vehicle is controlled to enter the self-cleaning mode; When it is determined that there is no person in the vehicle, and the vehicle is determined to be in the parking mode, the vehicle is controlled to enter the self-cleaning mode.

10. The vehicle self-cleaning method according to any one of claims 1 to 9, characterized in that: A shock absorber is provided between the vehicle body and the wheels, and controlling the vehicle body to move back and forth relative to at least a portion of the wheels includes controlling the action of the shock absorber.

11. The vehicle self-cleaning method according to claim 10, characterized in that: There are a plurality of shock absorbers, and the plurality of shock absorbers correspond to the plurality of wheels one by one. Controlling the vehicle body to move back and forth relative to at least a portion of the wheels comprises the following steps: Controlling the plurality of shock absorbers to operate sequentially; And / or, two of the shock absorbers located on the same side of the vehicle are controlled to operate synchronously, and the remaining shock absorbers are controlled to operate synchronously or sequentially.

12. The vehicle self-cleaning method according to claim 11, characterized in that: Controlling the plurality of shock absorbers to operate in sequence includes: controlling the shock absorbers located at the left front wheel, the left rear wheel, the right rear wheel and the right front wheel to operate in sequence.

13. The vehicle self-cleaning method according to claim 11, characterized in that: Controlling the two shock absorbers located on the same side of the vehicle to operate synchronously, and the remaining shock absorbers to operate synchronously or sequentially includes: controlling the two shock absorbers located on the left wheel to operate synchronously and controlling the two shock absorbers located on the right wheel to operate synchronously, and the two shock absorbers located on the left wheel and the two shock absorbers located on the right wheel to operate sequentially; And / or, the two shock absorbers located at the front wheels are controlled to move synchronously and the two shock absorbers located at the rear wheels are controlled to move synchronously, and the two shock absorbers located at the front wheels and the two shock absorbers located at the rear wheels move in sequence.

14. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by an executor, the self-cleaning method according to any one of claims 1 to 13 is implemented.

15. A vehicle, characterized in that: Comprising the storage medium according to claim 14.

16. A self-cleaning system for a vehicle, characterized in that: The vehicle comprises a body and a plurality of wheels, and the self-cleaning system comprises: A suspension device, the suspension device comprising a plurality of shock absorbers, the plurality of shock absorbers corresponding to the plurality of wheels one by one, the shock absorbers being connected between the vehicle body and the wheels; A control module, the control module is connected to the plurality of shock absorbers to control the action of each shock absorber; A receiving module for receiving instruction information, the receiving module is electrically connected to the control module, and when the receiving module receives the self-cleaning instruction, the control module controls at least a part of the shock absorber to control the vehicle body to move back and forth relative to at least a part of the wheels.

17. The self-cleaning system for a vehicle according to claim 16, characterized in that: The control module controls the vehicle body to move at least two moving frequencies when the receiving module receives the self-cleaning instruction.

18. A vehicle, characterized in that: A self-cleaning system for a vehicle comprising the invention as claimed in claim 16 or 17.

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