Method for cleaning sensor device
Through periodic pre-rinse and turbidity detection, selecting the appropriate flushing mode to clean the sensors on the unmanned construction machinery, solving the problem of complex algorithm dependence in the prior art, and achieving a low-cost and efficient cleaning method.
Patent Information
- Application Number
- CN202311831441.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-27
- Publication Date
- 2025-06-27
AI Technical Summary
In the prior art, cleaning sensor devices on driverless engineering machinery usually requires complex algorithms or applications to determine the degree of dirty sensors, and it is difficult to achieve low-cost and simple cleaning methods.
By setting the running time as a period, pre-flushing the sensor device and detecting the turbidity of the pre-flushing dirt liquid, selecting the normal flushing mode or strong flushing mode for cleaning according to the turbidity, avoiding dependence on the quality of the sensed signal.
A low-cost and simple sensor cleaning method is realized, and the appropriate cleaning method is selected according to the degree of dirty sensors, saving electricity and water consumption, and ensuring the cleaning quality of the sensor device.
Smart Images
Figure CN120205509A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the fields of vehicles and electronic technologies, and more particularly, to a method for cleaning a sensor device. Background Art
[0002] With the increasing application of driverless technology in mining areas, especially for driverless construction machinery operating in relatively harsh working conditions, the sensor devices (such as lidar and cameras) installed thereon are easily contaminated by dust, making it impossible for the sensor devices to accurately detect the surrounding environment, thus posing a threat to the operation safety of the driverless construction machinery. Therefore, it is necessary to clean the sensor devices.
[0003] Existing cleaning methods generally determine whether the sensor device needs to be cleaned and whether the cleaning is completed based on the quality of the sensing signals generated by the sensor device (such as the image quality captured by the camera). However, this determination method requires the use of complex algorithms or applications. Therefore, there is a need to provide a low-cost and simple method for cleaning a sensor device. Summary of the Invention
[0004] The starting point of the present disclosure is to provide a method for cleaning a sensor device to solve the above problems existing in the prior art.
[0005] An embodiment of the present disclosure provides a method for cleaning a sensor device, the method comprising:
[0006] Pre-rinsing the sensor device at a set operating time interval; and,
[0007] After each pre-rinsing, detecting the turbidity of the pre-rinsing waste liquid, and rinsing the sensor device in a set rinsing mode according to the turbidity of the pre-rinsing waste liquid.
[0008] Optionally, a first turbidity threshold and a second turbidity threshold are set, the second turbidity threshold being greater than the first turbidity threshold, and rinsing the sensor device in a normal rinsing mode or a strong rinsing mode according to the comparison result of the turbidity of the pre-rinsing waste liquid with the first turbidity threshold and the second turbidity threshold.
[0009] Optionally, in the normal rinsing mode, rinsing the sensor device with a first rinsing liquid volume and / or a first rinsing pressure; and, in the strong rinsing mode, rinsing the sensor device with a second rinsing liquid volume and / or a second rinsing pressure, where the second rinsing liquid volume is greater than the first rinsing liquid volume and the second rinsing pressure is greater than the first rinsing pressure.
[0010] Optionally, when the turbidity of the pre-rinse waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, the sensor device is rinsed in the normal rinse mode.
[0011] Optionally, after rinsing the sensor device in the normal rinse mode, the turbidity of the normal rinse waste liquid is detected. When the turbidity of the normal rinse waste liquid is greater than the first turbidity threshold, the sensor device is repeatedly rinsed in the normal rinse mode until the detected turbidity of the normal rinse waste liquid is less than the first turbidity threshold.
[0012] Optionally, after rinsing the sensor device in the normal rinse mode, the turbidity of the normal rinse waste liquid is detected. When the turbidity of the normal rinse waste liquid is greater than the first turbidity threshold, the sensor device is repeatedly rinsed in the strong rinse mode until the detected turbidity of the strong rinse waste liquid is less than the first turbidity threshold or until the number of times the sensor device is rinsed in the strong rinse mode is greater than the set number threshold.
[0013] Optionally, when the turbidity of the pre-rinse waste liquid is greater than the second turbidity threshold, the sensor device is rinsed in the strong rinse mode.
[0014] Optionally, after rinsing the sensor device in the strong rinse mode, the turbidity of the strong rinse waste liquid is detected. When the turbidity of the strong rinse waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, the sensor device is repeatedly rinsed in the normal rinse mode until the detected turbidity of the normal rinse waste liquid is less than the first turbidity threshold; when the turbidity of the strong rinse waste liquid is greater than the second turbidity threshold, the sensor device is repeatedly rinsed in the strong rinse mode until the detected turbidity of the strong rinse waste liquid is less than the first turbidity threshold, or until the detected turbidity of the strong rinse waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold and then switches to the normal rinse mode to rinse the sensor device, or until the number of times the sensor device is rinsed in the strong rinse mode is greater than the set number threshold.
[0015] Optionally, after rinsing the sensor device in the strong rinse mode, the turbidity of the strong rinse waste liquid is detected. When the turbidity of the strong rinse waste liquid is greater than the first turbidity threshold, the sensor device is repeatedly rinsed in the strong rinse mode until the detected turbidity of the strong rinse waste liquid is less than the first turbidity threshold or until the number of times the sensor device is rinsed in the strong rinse mode is greater than the set number threshold.
[0016] Optionally, an alarm prompt is generated when the number of times of flushing the sensor device in the strong flushing mode is greater than a set number threshold.
[0017] Optionally, in the pre-flushing and normal flushing modes, the sensor device is flushed with water; and in the strong flushing mode, the sensor device is flushed with water or a detergent.
[0018] The method for cleaning the sensor device of the present disclosure has at least the following advantages:
[0019] In the present disclosure, it is only necessary to determine the degree of fouling of the sensor according to the turbidity of the pre-flushing waste liquid after each pre-flushing and flush the sensor device in a set flushing mode based on the degree of fouling, without relying on a complex algorithm or application program to determine the degree of fouling of the sensor device based on the quality of the sensing signal generated by the sensor device, thereby realizing the cleaning of the sensor device in a low-cost and simple manner.
[0020] In the present disclosure, the sensor device is flushed in the normal flushing mode or the strong flushing mode according to the comparison result of the turbidity of the pre-flushing waste liquid with the first turbidity threshold and the second turbidity threshold, so as to select a suitable cleaning method according to the degree of fouling of the sensor device, saving power consumption and water consumption.
[0021] In the present disclosure, after flushing the sensor device in the normal flushing mode or the strong flushing mode, the sensor device can be further flushed according to the turbidity of the normal flushing waste liquid or the turbidity of the strong flushing waste liquid, thereby ensuring the cleaning quality of the sensor device.
[0022] In the present disclosure, when the number of times of flushing the sensor device in the strong flushing mode is greater than a set number threshold, an alarm prompt can be generated to inform the user of the sensor device that there is difficult-to-clean dirt on the sensor device or the turbidity detection device is faulty.
[0023] In the present disclosure, water or a detergent can be selected to flush the sensor device according to the actual situation, thus taking into account both the cleaning efficiency and the environmental protection requirements. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Other details and advantages of the present disclosure will become apparent from the detailed description provided below. It should be understood that the following drawings are merely schematic and not drawn to scale, and thus should not be considered as a limitation of the present disclosure. The following will be described in detail with reference to the drawings, wherein:
[0025] Figure 1 Shows a flowchart of a method for cleaning a sensor device according to a first specific embodiment of the present disclosure.
[0026] Figure 2 A flowchart of a method for cleaning a sensor device according to a second specific embodiment of the present disclosure is shown.
[0027] Figure 3 A flowchart of a method for cleaning a sensor device according to a third specific embodiment of the present disclosure is shown.
[0028] Figure 4 A flowchart of a method for cleaning a sensor device according to a fourth specific embodiment of the present disclosure is shown. Specific Embodiment
[0029] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. In the following description, many specific details are set forth in order to enable those skilled in the art to more fully understand and implement the present disclosure. However, it will be apparent to those skilled in the art that some of these specific details may not be required for the implementation of the present disclosure. In addition, it should be understood that the present disclosure is not limited to the specific embodiments described herein. On the contrary, the present disclosure may be implemented with any combination of the features and elements described below, regardless of whether they relate to different embodiments. Therefore, the aspects, features, embodiments, and advantages described below are for illustrative purposes only and should not be construed as elements or limitations of the claims unless expressly recited in the claims.
[0030] Now refer to Figure 1 , a flowchart of a method for cleaning a sensor device according to a specific embodiment of the present disclosure is shown. This method can be executed by any suitable processing device or system having data transceiver and data processing functions, and these variations do not exceed the protection scope of the present invention. As Figure 1 shown, the method includes the following steps:
[0031] Step 101, pre-rinse the sensor device at a set operating time interval.
[0032] Those skilled in the art can understand that the specific value of the set operating time can be set according to the actual situation (for example, the type and usage environment of the sensor device). For example, the set operating time can be 1 hour, that is, the sensor device is pre-rinsed once every 1 hour of operation. These variations do not exceed the protection scope of the present disclosure.
[0033] Those skilled in the art can understand that the amount of rinsing liquid and / or rinsing pressure used for pre-rinsing can be set according to the actual situation (for example, the type and usage environment of the sensor device). These variations do not exceed the protection scope of the present disclosure.
[0034] Those skilled in the art can understand that any suitable type of rinsing device (for example, a spray head connected to a water tank through a hose) can be used to rinse the sensor device. These variations do not exceed the protection scope of the present disclosure.
[0035] Step 102, after each pre-rinse, detect the turbidity of the pre-rinse waste liquid, and rinse the sensor device in a set rinsing mode according to the turbidity of the pre-rinse waste liquid.
[0036] Those skilled in the art can understand that any suitable method can be adopted to collect the pre-rinse waste liquid and any suitable type of turbidity sensor can be used to detect the turbidity of the pre-rinse waste liquid, and these variations do not exceed the protection scope of the present disclosure. For example, the turbidity sensor can include an infrared pair of tubes. When infrared rays pass through a certain amount of liquid, the amount of infrared rays transmitted depends on the turbidity of the liquid. The more turbid the liquid, the less infrared rays are transmitted. The infrared pair of tubes converts the intensity of the transmitted infrared rays into a corresponding current value. The more infrared rays are transmitted, the greater the current. By measuring the magnitude of the current, the turbidity of the liquid can be obtained.
[0037] Specifically, a first turbidity threshold and a second turbidity threshold can be set. The second turbidity threshold is greater than the first turbidity threshold, and the sensor device is rinsed in a normal rinsing mode or a strong rinsing mode according to the comparison result of the turbidity of the pre-rinse waste liquid with the first turbidity threshold and the second turbidity threshold. In the normal rinsing mode, the sensor device is rinsed with a first rinsing liquid volume and / or a first rinsing pressure. In the strong rinsing mode, the sensor device is rinsed with a second rinsing liquid volume and / or a second rinsing pressure, where the second rinsing liquid volume is greater than the first rinsing liquid volume and the second rinsing pressure is greater than the first rinsing pressure. Those skilled in the art can understand that the specific values of the first rinsing liquid volume, the first rinsing pressure, the second rinsing liquid volume, and the second rinsing pressure can be set according to the actual situation, and these variations do not exceed the protection scope of the present disclosure.
[0038] Specifically, the following method can be adopted to select to rinse the sensor device in a normal rinsing mode or a strong rinsing mode according to the comparison result of the turbidity of the pre-rinse waste liquid with the first turbidity threshold and the second turbidity threshold:
[0039] 1. When the turbidity of the pre-rinse waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, rinse the sensor device in the normal rinsing mode.
[0040] 2. When the turbidity of the pre-rinse waste liquid is greater than the second turbidity threshold, rinse the sensor device in the strong rinsing mode.
[0041] After rinsing the sensor device in the normal rinsing mode or the strong rinsing mode, a flexible strategy can be adopted to further rinse the sensor device according to the turbidity of the normal rinse waste liquid or the strong rinse waste liquid, thereby ensuring the cleaning quality of the sensor device. For example, the following method can be adopted to further rinse the sensor device:
[0042] 1. After flushing the sensor device in the normal flushing mode, the turbidity of the normal flushing waste liquid can be detected. When the turbidity of the normal flushing waste liquid is greater than the first turbidity threshold, the sensor device can be repeatedly flushed in the normal flushing mode until the detected turbidity of the normal flushing waste liquid is less than the first turbidity threshold; or, when the turbidity of the normal flushing waste liquid is greater than the first turbidity threshold, the sensor device can be repeatedly flushed in the strong flushing mode until the detected turbidity of the strong flushing waste liquid is less than the first turbidity threshold or until the number of times the sensor device is flushed in the strong flushing mode is greater than the set number threshold.
[0043] 2. After flushing the sensor device in the strong flushing mode, the turbidity of the strong flushing waste liquid can be detected, and the sensor device can be further flushed in one of the following ways:
[0044] 2(1). When the turbidity of the strong flushing waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, the sensor device can be repeatedly flushed in the normal flushing mode until the detected turbidity of the normal flushing waste liquid is less than the first turbidity threshold; when the turbidity of the strong flushing waste liquid is greater than the second turbidity threshold, the sensor device can be repeatedly flushed in the strong flushing mode until the detected turbidity of the strong flushing waste liquid is less than the first turbidity threshold, or until the detected turbidity of the strong flushing waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold and then switches to flushing the sensor device in the normal flushing mode, or until the number of times the sensor device is flushed in the strong flushing mode is greater than the set number threshold.
[0045] 2(2). When the turbidity of the strong flushing waste liquid is greater than the first turbidity threshold, the sensor device can be repeatedly flushed in the strong flushing mode until the detected turbidity of the strong flushing waste liquid is less than the first turbidity threshold or until the number of times the sensor device is flushed in the strong flushing mode is greater than the set number threshold.
[0046] Those skilled in the art can understand that the specific value of the number threshold can be set according to the actual situation. For example, the number threshold can be 2 or 3, and these variations do not exceed the protection scope of the present disclosure.
[0047] When the number of times the sensor device is flushed in the strong flushing mode is greater than the set number threshold, an alarm prompt can be generated to inform the user that there is dirt on the sensor device that is difficult to clean or the turbidity detection device is faulty, so that the user can take corresponding disposal measures.
[0048] Those skilled in the art can understand that the sensor device in the present disclosure can be any suitable type of sensor device (e.g., lidar and camera), and these variations do not exceed the protection scope of the present disclosure.
[0049] Those skilled in the art can understand that the sensor device in the present disclosure can be applied to any suitable occasion. For example, the sensor device can be used in driverless vehicles or driverless construction machinery, and these variations do not exceed the protection scope of the present disclosure.
[0050] Those skilled in the art can understand that any suitable liquid with cleaning ability can be used to rinse the sensor device, such as water or detergent, and these variations do not exceed the protection scope of the present disclosure.
[0051] Based on the principle of the method for cleaning the sensor device according to the first specific embodiment of the present disclosure, Figure 2 The method for cleaning the sensor device according to the second specific embodiment of the present disclosure is schematically shown.
[0052] As Figure 2 shown, after the sensor device operates, the sensor device is pre-rinsed at a set operation time interval. After the pre-rinse, the turbidity of the pre-rinse waste liquid is detected. If the turbidity of the pre-rinse waste liquid is low (e.g., less than the first turbidity threshold), the current cleaning process ends. If the turbidity of the pre-rinse waste liquid is medium (e.g., greater than the first turbidity threshold and less than the second turbidity threshold), the sensor device is rinsed in the normal rinse mode. If the turbidity of the pre-rinse waste liquid is high (e.g., greater than the second turbidity threshold), the sensor device is rinsed in the strong rinse mode.
[0053] After rinsing the sensor device in the normal rinse mode, the turbidity of the normal rinse waste liquid is detected. If the turbidity of the normal rinse waste liquid is low, the current cleaning process ends. If the turbidity of the normal rinse waste liquid is medium, the sensor device is repeatedly rinsed in the normal rinse mode until the detected turbidity of the normal rinse waste liquid is low and then the current cleaning process ends.
[0054] After flushing the sensor device in the strong flushing mode, the turbidity of the strong flushing waste liquid is detected. If the turbidity of the strong flushing waste liquid is low, the current cleaning process is ended. If the turbidity of the strong flushing waste liquid is medium, the sensor device is repeatedly flushed in the normal flushing mode until the turbidity of the detected normal flushing waste liquid is low, and then the current cleaning process is ended. If the turbidity of the strong flushing waste liquid is high, the sensor device is repeatedly flushed in the strong flushing mode until the turbidity of the detected strong flushing waste liquid is low and then the current cleaning process is ended, or until the turbidity of the detected strong flushing waste liquid is medium and then the sensor device is switched to be flushed in the normal flushing mode, or until the number of times of flushing the sensor device in the strong flushing mode is greater than the set number threshold and then the current cleaning process is ended.
[0055] Based on the principle of the method for cleaning a sensor device according to the first specific embodiment of the present disclosure, Figure 3 Schematically shows a method for cleaning a sensor device according to the third specific embodiment of the present disclosure.
[0056] As Figure 3 shown, after the sensor device operates, the sensor device is pre-flushed at a set operation time interval. After the pre-flushing, the turbidity of the pre-flushing waste liquid is detected. If the turbidity of the pre-flushing waste liquid is low (for example, less than the first turbidity threshold), the current cleaning process is ended. If the turbidity of the pre-flushing waste liquid is medium (for example, greater than the first turbidity threshold and less than the second turbidity threshold), the sensor device is flushed in the normal flushing mode. If the turbidity of the pre-flushing waste liquid is high (for example, greater than the second turbidity threshold), the sensor device is flushed in the strong flushing mode.
[0057] After flushing the sensor device in the normal flushing mode, the turbidity of the normal flushing waste liquid is detected. If the turbidity of the normal flushing waste liquid is low, the current cleaning process is ended. If the turbidity of the normal flushing waste liquid is medium, the sensor device is repeatedly flushed in the strong flushing mode until the turbidity of the detected strong flushing waste liquid is low and then the current cleaning process is ended, or until the number of times of flushing the sensor device in the strong flushing mode is greater than the set number threshold and then the current cleaning process is ended.
[0058] After flushing the sensor device in the strong flushing mode, the turbidity of the strong flushing waste liquid is detected. If the turbidity of the strong flushing waste liquid is low, the current cleaning process is ended. If the turbidity of the strong flushing waste liquid is medium or high, the sensor device is repeatedly flushed in the strong flushing mode until the turbidity of the detected strong flushing waste liquid is low and then the current cleaning process is ended, or until the number of times of flushing the sensor device in the strong flushing mode is greater than the set number threshold and then the current cleaning process is ended.
[0059] Based on the principle of the method for cleaning a sensor device according to the first specific embodiment of the present disclosure,Figure 4 Schematically shows a method for cleaning a sensor device according to a fourth specific embodiment of the present disclosure.
[0060] As Figure 4 shown, the process of the method for cleaning the sensor device according to the fourth specific embodiment of the present disclosure is substantially the same as that of the method for cleaning the sensor device according to the third specific embodiment of the present disclosure. The difference from the third specific embodiment is that in the fourth specific embodiment, if the turbidity of the strong flush waste liquid is still high after flushing the sensor device with water in the strong flush mode, then in the next strong flush mode, the sensor device is flushed with a detergent until the detected turbidity of the strong flush waste liquid is low to end the current cleaning process, or until the detected turbidity of the strong flush waste liquid is medium to switch to flushing with water, or until the number of times of flushing the sensor device in the strong flush mode is greater than the set number threshold to end the current cleaning process.
[0061] Industrial applicability
[0062] In the present disclosure, it is only necessary to determine the degree of fouling of the sensor according to the turbidity of the pre-flush waste liquid after each pre-flush and flush the sensor device in a set flushing mode based on the degree of fouling, without the need to determine the degree of fouling of the sensor based on the quality of the sensing signal generated by the sensor device by means of a complex algorithm or application program, thereby realizing the cleaning of the sensor device in a low-cost and simple manner.
[0063] In the present disclosure, according to the comparison result of the turbidity of the pre-flush waste liquid with the first turbidity threshold and the second turbidity threshold, the sensor device is flushed in the normal flush mode or the strong flush mode, so as to select a suitable cleaning method according to the degree of fouling of the sensor device, saving power consumption and water consumption.
[0064] In the present disclosure, after flushing the sensor device in the normal flush mode or the strong flush mode, the sensor device can be further flushed according to the turbidity of the normal flush waste liquid or the turbidity of the strong flush waste liquid, thereby ensuring the cleaning quality of the sensor device.
[0065] In the present disclosure, when the number of times of flushing the sensor device in the strong flush mode is greater than the set number threshold, an alarm prompt can be generated to inform the user of the sensor device that there is difficult-to-clean dirt on the sensor device or the turbidity detection device is faulty.
[0066] In the present disclosure, water or a detergent can be selected to flush the sensor device according to the actual situation, thereby taking into account both the cleaning efficiency and the environmental protection requirements.
[0067] Although the present disclosure has been disclosed above in preferred embodiments, the present disclosure is not limited thereto. Any person skilled in the art, without departing from the spirit and scope of the present disclosure, makes various changes and modifications, which should be included within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the scope defined by the claims.
Claims
1. A method for cleaning a sensor device, characterized in that, The method includes: Performing pre-rinsing on the sensor device at a set operating time interval; and, After each pre-rinsing, detecting the turbidity of the pre-rinsing waste liquid, and rinsing the sensor device in a set rinsing mode according to the turbidity of the pre-rinsing waste liquid.
2. The method according to claim 1, wherein A first turbidity threshold and a second turbidity threshold are set, the second turbidity threshold is greater than the first turbidity threshold, and the sensor device is rinsed in a normal rinsing mode or a strong rinsing mode according to the comparison result of the turbidity of the pre-rinsing waste liquid with the first turbidity threshold and the second turbidity threshold.
3. The method according to claim 2, wherein, In the normal rinsing mode, rinsing the sensor device with a first rinsing liquid volume and / or a first rinsing pressure; and, In the strong rinsing mode, rinsing the sensor device with a second rinsing liquid volume and / or a second rinsing pressure, wherein the second rinsing liquid volume is greater than the first rinsing liquid volume, and the second rinsing pressure is greater than the first rinsing pressure.
4. The method according to claim 2, wherein When the turbidity of the pre-rinsing waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, rinsing the sensor device in the normal rinsing mode.
5. The method according to claim 4, wherein, After rinsing the sensor device in the normal rinsing mode, detecting the turbidity of the normal rinsing waste liquid. When the turbidity of the normal rinsing waste liquid is greater than the first turbidity threshold, repeating to rinse the sensor device in the normal rinsing mode until the detected turbidity of the normal rinsing waste liquid is less than the first turbidity threshold.
6. The method according to claim 4, wherein, After rinsing the sensor device in the normal rinsing mode, detecting the turbidity of the normal rinsing waste liquid. When the turbidity of the normal rinsing waste liquid is greater than the first turbidity threshold, repeating to rinse the sensor device in the strong rinsing mode until the detected turbidity of the strong rinsing waste liquid is less than the first turbidity threshold or until the number of times of rinsing the sensor device in the strong rinsing mode is greater than a set number threshold.
7. The method according to claim 2, wherein When the turbidity of the pre-rinsing waste liquid is greater than the second turbidity threshold, rinsing the sensor device in the strong rinsing mode.
8. The method according to claim 7, wherein After rinsing the sensor device in the strong rinsing mode, detecting the turbidity of the strong rinsing waste liquid. When the turbidity of the strong rinsing waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold, repeating to rinse the sensor device in the normal rinsing mode until the detected turbidity of the normal rinsing waste liquid is less than the first turbidity threshold; when the turbidity of the strong rinsing waste liquid is greater than the second turbidity threshold, repeating to rinse the sensor device in the strong rinsing mode until the detected turbidity of the strong rinsing waste liquid is less than the first turbidity threshold, or until the detected turbidity of the strong rinsing waste liquid is greater than the first turbidity threshold and less than the second turbidity threshold and then switching to rinsing the sensor device in the normal rinsing mode, or until the number of times of rinsing the sensor device in the strong rinsing mode is greater than a set number threshold.
9. The method according to claim 7, wherein After flushing the sensor device in the high-pressure flushing mode, the turbidity of the high-pressure flushing waste liquid is detected. When the turbidity of the high-pressure flushing waste liquid is greater than the first turbidity threshold, the sensor device is repeatedly flushed in the high-pressure flushing mode until the detected turbidity of the high-pressure flushing waste liquid is less than the first turbidity threshold or until the number of times the sensor device is flushed in the high-pressure flushing mode is greater than the set number threshold.
10. The method according to claim 6, 8 or 9, wherein When the number of times the sensor device is flushed in the high-pressure flushing mode is greater than the set number threshold, an alarm prompt is generated.
11. The method according to claim 2, wherein, In the pre-flushing and normal flushing modes, the sensor device is flushed with water; and, In the high-pressure flushing mode, the sensor device is flushed with water or a detergent.