A method of cleaning a lidar

Abstract

The application provides a laser radar cleaning method, which realizes intelligent identification of cleaning demand through the vehicle-mounted intelligent driving system in step 1 to query the vehicle condition; provides operation space for cleaning of the scanning and swinging execution mechanism and the cleaning execution mechanism through the cover plate mechanism on the cover shell in step 2 to be opened; the nozzle assembly and / or the wiper assembly can reach the designated cleaning area through the movement of the cleaning execution mechanism in step 3; at least one of the nozzle assembly and the wiper assembly performs at least one kind of cleaning on the cleaning area through the cleaning execution in step 4; after the cleaning is completed, the vehicle-mounted intelligent driving system in step 5 queries the vehicle condition and cancels the cleaning signal according to the vehicle condition; the cleaning execution mechanism and the cover plate mechanism are reset in sequence through step 6, so that the influence of stains or snow weather on the laser radar is reduced under the premise of consuming less or no cleaning liquid.

Description

Technical Field

[0001] This invention relates to the field of lidar cleaning technology, and more specifically to a lidar cleaning method. Background Technology

[0002] LiDAR is an important component of modern intelligent driving vehicles. It transmits detection signals to the target through a transceiver module and then receives the signals reflected back from the target. Through analysis, it obtains parameters such as the target's distance and orientation. Therefore, the cleanliness of the LiDAR transceiver module is related to the transmission and reception of detection signals, which in turn affects the accuracy of the LiDAR.

[0003] Existing lidar cleaning methods often require lidar cleaning devices with multiple nozzles and a large cleaning area to cover a large area of ​​transceiver modules. While this cleaning method can serve to some extent in cleaning the transceiver modules, it still has at least the following drawbacks: (1) When the spray pressure is fixed, spraying the washing liquid with multiple nozzles over a large area will result in insufficient spray pressure of the washing liquid. When there are stubborn stains such as dry and sticky dust, bird droppings or insect corpses on the transceiver module, the low spray pressure of the washing liquid will not be able to remove these stubborn stains even if more washing liquid is sprayed. Ultimately, the cleaning ability is insufficient, which affects the accuracy of the lidar. (2) With the development of vehicle intelligent driving system, the space inside the vehicle is occupied by intelligent control components and can no longer support large capacity of washing liquid storage. Therefore, the lidar cleaning system is required to have smaller washing liquid consumption and higher washing liquid cleaning efficiency. (3) In severe weather conditions such as rain, snow, and fog, the existing lidar cleaning methods cannot continuously clean the transceiver module. For example, they cannot continuously clean the water accumulated on the transceiver module during heavy rain, which affects the accuracy of the lidar. Summary of the Invention

[0004] The problem this invention aims to solve is to provide a laser radar cleaning method that has stronger cleaning capabilities, lower washing liquid consumption, higher washing liquid cleaning efficiency, and continuous cleaning function.

[0005] The technical solution adopted by the present invention to solve the above problems is as follows: a laser radar cleaning method, comprising a laser radar cleaning assembly, the laser radar cleaning assembly comprising a housing, a cover plate mechanism disposed on the housing and a sweeping execution mechanism, and a cleaning execution mechanism; the sweeping execution mechanism comprises a base platform, a moving platform disposed on the base platform and a sweeping control component; the cleaning execution mechanism comprises a nozzle assembly, a wiper assembly and a cleaning control component disposed on the moving platform; The cleaning method includes the following steps: Step 1: Output cleaning signal: The vehicle intelligent driving system queries the vehicle status and outputs a cleaning signal based on the vehicle status; Step 2, cover plate mechanism opens: According to the cleaning signal, the cover plate mechanism on the housing opens; Step 3, Cleaning actuator movement: According to the cleaning signal, the nozzle assembly and / or the wiper assembly are driven by the cleaning control assembly to move along the second direction to extend from the housing; the moving platform is driven by the sweeping control assembly to move along the first direction so that the nozzle assembly and / or the wiper assembly reaches the area to be cleaned; Step 4, Cleaning Execution: At least one of the nozzle assembly and the wiper assembly is used to clean the area to be cleaned in at least one way; Step 5: Cleaning signal deactivated: The onboard intelligent driving system checks the vehicle status and deactivated the cleaning signal accordingly. Step 6, Reset: The cleaning actuator and the cover plate mechanism are reset in sequence.

[0006] Compared with existing technologies, this invention utilizes the vehicle's intelligent driving system in step 1 to query vehicle conditions, intelligently identifying cleaning needs and supporting precise cleaning and wastewater conservation. Step 2 opens the cover mechanism on the housing, providing operating space for the sweeping and cleaning actuators. Step 3 moves the cleaning actuator, enabling the nozzle assembly and / or wiper assembly to reach the designated area to be cleaned. Step 4 executes the cleaning process, ensuring that at least one of the nozzle assembly and wiper assembly cleans at least one area. Compared to using multiple nozzles to spray wastewater indiscriminately over a large area, this invention targets the area identified in step 1, using fewer nozzles to individually spray wastewater, resulting in higher wastewater spray pressure and lower wastewater consumption. The smaller size and higher washing efficiency of the nozzle assembly, combined with the wiper assembly, result in better cleaning of stubborn stains. Furthermore, the involvement of the wiper assembly further reduces washer fluid consumption and improves cleaning efficiency, thus reducing washer fluid storage and freeing up more space for other components of the vehicle's intelligent driving system. In addition, during rain and snow, the wiper assembly can perform continuous cleaning, minimizing the impact of rain and snow on the LiDAR transceiver module. After cleaning, the vehicle status is checked via step 5 by the intelligent driving system, and the cleaning signal is deactivated accordingly. In step 6, the cleaning actuator and cover plate mechanism are reset sequentially, thereby reducing the impact of stains or rain and snow on the LiDAR with minimal or no washer fluid consumption.

[0007] In a laser radar cleaning method of the present invention, in steps 1 and 5: the vehicle-mounted intelligent driving system outputs a cleaning signal via a rain sensor, a vehicle speed sensor, and a transceiver module's surface dirt alarm; the cleaning signal includes one of environmental rain and snow signals and local dirt signals.

[0008] In a laser radar cleaning method of the present invention, if the vehicle intelligent driving system outputs an environmental rain and snow signal, in step 3, the wiper assembly is driven by the cleaning control assembly to move along a second direction, so that the wiper assembly extends out of the cover and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly drives the moving platform and drives the wiper assembly to continuously sweep and clean along a first direction.

[0009] The present invention provides a lidar cleaning method, wherein the local contaminant signal includes a small-area local contaminant signal and a large-area local contaminant signal; If the vehicle intelligent driving system outputs a signal of a small local dirt, in step 3, the nozzle assembly is driven by the cleaning control assembly to move along the second direction so that the nozzle assembly extends out of the cover. The sweeping control assembly drives the moving platform and moves the nozzle assembly along the first direction until it reaches the location of the small local dirt. In step 4, the nozzle assembly sprays washing liquid at a fixed point towards the location of the small local dirt. If the vehicle-mounted intelligent driving system outputs a signal indicating a large area of ​​localized dirt, in step 3, the nozzle assembly is driven by the cleaning control assembly to move along the second direction, so that the nozzle assembly extends out of the cover. The sweeping control assembly drives the moving platform and moves the nozzle assembly along the first direction until it reaches the location of the large area of ​​localized dirt. In step 4, the sweeping control assembly drives the moving platform and moves the nozzle assembly to continuously sweep and spray clean the location of the large area of ​​localized dirt.

[0010] In a laser radar cleaning method of the present invention, if the nozzle assembly fails to remove local dirt signals, in step 3, the wiper assembly is driven by the cleaning control assembly to move along a second direction, so that the wiper assembly extends out of the cover and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly drives the moving platform and drives the nozzle assembly and the wiper assembly to perform at least one of continuous sweeping and swiping cleaning and continuous sweeping and spraying cleaning at the location of local dirt.

[0011] A lidar cleaning method of the present invention, wherein the base platform includes a rack disposed on one of its edges; the base platform has at least one first groove; The mobile platform includes a platform body and at least one slider disposed below the platform body and cooperating with the first slide groove; The sweeping control component includes a first actuator disposed on the platform body and a first gear set disposed on the first actuator and cooperating with the rack; when the first gear set rotates, the slider slides in the first groove to drive the mobile platform to move along the first direction.

[0012] A laser radar cleaning method of the present invention, wherein the cleaning control component includes a second actuator disposed on the mobile platform, a second gear set leading out from the second actuator, a transmission shaft leading out from the second gear set, and a damper disposed on the transmission shaft; the nozzle assembly is driven by the transmission shaft to move along a second direction for a stroke L1; the wiper assembly is driven by the transmission shaft to move along the second direction for a stroke L2.

[0013] The present invention provides a laser radar cleaning method, wherein the wiper assembly includes a wiper drive structure and a wiper action control structure disposed on the mobile platform, and a wiper disposed on the wiper drive structure. The drive shaft is configured to be connected to the wiper drive structure so that the wiper drive structure drives the wiper to move in the second direction; During the movement of the windshield wiper in the second direction, the windshield wiper action control structure controls the windshield wiper to retract or extend.

[0014] The present invention provides a laser radar cleaning method, wherein the nozzle assembly includes a nozzle drive structure and a nozzle disposed on the moving platform; The nozzle drive structure includes a fifth support portion and a sixth support portion arranged sequentially along a second direction, and a half gear disposed on the fifth support portion; the nozzle is slidably disposed on the sixth support portion and is driven by the half gear to slide along the second direction. The damper is connected to the half gear; when the nozzle moves to the end of the L stroke, the front end of the nozzle is limited by the fifth support, and the damper begins to slip.

[0015] A laser radar cleaning method of the present invention, wherein the housing has a cleaning port; the cover mechanism includes a third actuator fixedly disposed on the housing, a third gear set extending from the third actuator, and a cover rotatably disposed on the cleaning port by being driven by the third gear set. The cover plate includes a first sealing strip disposed on the front edge and a second sealing strip disposed on the side edge and the rear edge; the cleaning port includes a sealing groove disposed on the front side and extrusion walls disposed on the sides and the rear side; the first sealing strip is configured to cooperate with the sealing groove; the second sealing strip is configured to cooperate with the extrusion walls; When the third actuator drives the cover plate to open via the third gear set, the first sealing strip disengages from the sealing groove, and the second sealing strip disengages from the extrusion wall. When the third actuator drives the cover plate to close via the third gear set, the first sealing strip abuts against the sealing groove, and the second sealing strip abuts against the extrusion wall. Attached Figure Description

[0016] Figure 1 This is a perspective view of a lidar cleaning assembly according to a preferred embodiment of the present invention. Figure 2 This is a perspective view of a lidar cleaning assembly according to a preferred embodiment of the present invention from another side. Figure 3 This is an exploded view of a lidar cleaning assembly according to a preferred embodiment of the present invention; Figure 4 This is a cross-sectional schematic diagram of a lidar cleaning assembly according to a preferred embodiment of the present invention; Figure 5 This is a top view schematic diagram of a sweeping actuator and a cleaning actuator according to a preferred embodiment of the present invention; Figure 6 This is an exploded view of a sweeping actuator and a cleaning actuator according to a preferred embodiment of the present invention; Figure 7 This is a cross-sectional schematic diagram of a cleaning control assembly according to a preferred embodiment of the present invention; Figure 8 This is a cross-sectional schematic diagram of a wiper assembly according to a preferred embodiment of the present invention; Figure 9 This is a perspective view of a wiper assembly according to a preferred embodiment of the present invention from one side. Figure 10 This is an exploded view of a wiper assembly according to a preferred embodiment of the present invention; Figure 11 This is a cross-sectional schematic diagram of a nozzle assembly according to a preferred embodiment of the present invention; Figure 12 This is a three-dimensional schematic diagram of the initial state of a cleaning actuator according to a preferred embodiment of the present invention; Figure 13 This is a perspective view of one of the unfolded states of a cleaning actuator according to a preferred embodiment of the present invention; Figure 14This is a perspective view of one of the unfolded states of a cleaning actuator according to a preferred embodiment of the present invention; Figure 15 This is a perspective view of one of the unfolded states of a cleaning actuator according to a preferred embodiment of the present invention; Figure 16 This is a perspective view of one of the unfolded states of a cleaning actuator according to a preferred embodiment of the present invention; Figure 17 This is a perspective view of one of the unfolded states of a cleaning actuator according to a preferred embodiment of the present invention; Figure 18 This is a perspective view of the fully deployed cleaning actuator according to a preferred embodiment of the present invention. Figure 19 This is a schematic diagram of the wiper state in the fully deployed state of the cleaning actuator according to a preferred embodiment of the present invention. Figure 20 This is a simplified flowchart illustrating a preferred embodiment of a lidar cleaning method according to the present invention. Figure 21 This is a schematic diagram of the specific process of a lidar cleaning method according to a preferred embodiment of the present invention; In the picture, Sweeping actuator 1; base platform 11, moving platform 12, sweeping control component 13; rack 111, first slide 112; platform body 121, slider 122; first actuator 131, first gear set 132; Cleaning actuator 2; nozzle assembly 21, wiper assembly 22, cleaning control assembly 23; nozzle drive structure 211, nozzle 212; wiper drive structure 221, wiper action control structure 222, wiper 223; second actuator 231, second gear set 232, drive shaft 233, damper 234; fifth support 2111, sixth support 2112, half gear 2113; first support 2211, second support 221 2. Third support section 2213, fourth support section 2214, first transmission wheel 2215, second transmission wheel 2216, transmission belt 2217, transmission bar 2218; side control plate 2221, control arm 2222; rotation control section 2231, stabilizing section 2232, scraper section 2233, elastic element 2234; track groove 22211; sliding shaft 22221, drive shaft 22222; translation section 222111, rotation section 222112; Cover plate mechanism 3; third actuator 31, third gear set 32, cover plate 33; first sealing strip 331; second sealing strip 332; Cover 4; cleaning port 41; sealing groove 411 and extrusion wall 412. Detailed Implementation

[0017] Before detailing any embodiment of the invention, it should be understood that the invention, in its application, is not limited to the details of the construction and arrangement of the components set forth in the following description or illustrated in the following figures. The invention can have other embodiments and can be practiced or carried out in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising” or “having” and variations thereof is intended to cover the items set forth below and their equivalents, as well as any additional items. Unless otherwise specified or limited, the terms “installation,” “connection,” “support,” and “linkage,” and variations thereof are used broadly and cover both direct and indirect installation, connection, support, and linking. Moreover, “connection” and “linkage” are not limited to physical or mechanical connections or links.

[0018] Furthermore, firstly, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the invention. Secondly, the term "a" should be understood as "at least one" or "one or more," that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple. The term "a" should not be construed as a limitation on the quantity.

[0019] Those skilled in the art should understand that the embodiments of the present invention described below and illustrated in the accompanying drawings are merely examples and do not limit the scope of the invention. The objectives of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention are shown and explained in the following embodiments. Without departing from these principles, the implementation of the present invention may be modified or altered in any way.

[0020] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0021] Please see Figure 1-21 A lidar cleaning method is shown, comprising a lidar cleaning assembly, the lidar cleaning assembly including a housing 4, a cover plate mechanism 3 disposed on the housing 4, a sweeping actuator 1, and a cleaning actuator 2; the sweeping actuator 1 includes a base platform 11, a moving platform 12 disposed on the base platform 11, and a sweeping control component 13; the cleaning actuator 2 includes a nozzle assembly 21, a wiper assembly 22, and a cleaning control component 23 disposed on the moving platform 12; The cleaning method includes the following steps: Step 1: Output cleaning signal: The vehicle intelligent driving system queries the vehicle status and outputs a cleaning signal based on the vehicle status; Step 2, cover mechanism opens: According to the cleaning signal, the cover mechanism 3 on the cover 4 opens; Step 3, Cleaning actuator movement: According to the cleaning signal, the nozzle assembly 21 and / or the wiper assembly 22 are driven by the cleaning control assembly 23 to move along the second direction to extend from the housing 4; the moving platform 12 is driven by the sweeping control assembly 13 to move along the first direction so that the nozzle assembly 21 and / or the wiper assembly 22 reach the area to be cleaned; Step 4, Cleaning execution: At least one of the nozzle assembly 21 and the wiper assembly 22 is used to clean the area to be cleaned in at least one way; Step 5: Cleaning signal deactivated: The onboard intelligent driving system checks the vehicle status and deactivated the cleaning signal accordingly. Step 6, Reset: The cleaning actuator 2 and the cover plate mechanism 3 are reset in sequence.

[0022] During actual cleaning, the present invention uses the vehicle intelligent driving system in step 1 to query the vehicle status and intelligently identify cleaning needs, providing support for precise cleaning and saving detergent. Step 2 opens the cover mechanism 3 on the housing 4, providing operating space for the sweeping actuator 1 and the cleaning actuator 2. Step 3 moves the cleaning actuator, allowing the nozzle assembly 21 and / or wiper assembly 22 to reach the designated area to be cleaned. Step 4 executes the cleaning, ensuring that at least one of the nozzle assembly 21 and wiper assembly 22 cleans at least one area to be cleaned. Compared to using multiple nozzles to spray detergent indiscriminately over a large area, this targeted cleaning of the area identified in step 1, using fewer nozzle assemblies 21 to spray detergent individually, results in higher detergent spray pressure and lower consumption. Smaller size and higher washing efficiency: When the nozzle assembly 21 works in conjunction with the wiper assembly 22 for cleaning, it has a better cleaning effect on stubborn stains. At the same time, the participation of the wiper assembly 22 can further reduce the consumption of washing fluid and improve the washing fluid cleaning efficiency, thereby reducing the amount of washing fluid stored and leaving more space for other components of the vehicle intelligent driving system. In addition, in rainy or snowy weather, the wiper assembly 22 can continuously clean by sweeping and wiping, so as to reduce the impact of rainy or snowy weather on the LiDAR transceiver module. After cleaning is completed, the vehicle status is checked by the vehicle intelligent driving system in step 5, and the cleaning signal is released according to the vehicle status. In step 6, the cleaning actuator 2 and the cover plate mechanism 3 are reset in sequence, thereby reducing the impact of stains or rainy or snowy weather on the LiDAR with less or no washing fluid consumption.

[0023] Please continue reading. Figure 20-21 In steps 1 and 5: the vehicle-mounted intelligent driving system outputs a cleaning signal via the rain sensor, vehicle speed sensor and transceiver module's surface dirt alarm; the cleaning signal includes one of the following: environmental rain and snow signal and local dirt signal.

[0024] Specifically, the cleaning signal is generated after comprehensive calculation by the rain sensor, vehicle speed sensor, and the dirt alarm on the transceiver module. This signal guides the cleaning actions of the sweeping actuator 1 and the cleaning actuator 2. Compared to the cleaning method that directly uses multiple nozzles to spray washing liquid over a large area without identification, the washing liquid consumption is reduced and the cleaning efficiency is improved. For example, when the rain sensor detects that the environment is light rain, it can control the nozzle assembly 21 to spray less washing liquid, and then use the wiper assembly 22 to sweep and wipe clean, thereby reducing the consumption of washing liquid. For example, when the rain sensor detects that the environment is heavy rain, it can control the wiper assembly 22 to sweep and wipe clean alone, thereby not consuming washing liquid.

[0025] Please continue reading. Figure 20-21 as well as Figure 1-6 If the vehicle intelligent driving system outputs an environmental rain or snow signal, in step 3, the wiper assembly 22 is driven by the cleaning control assembly 23 to move along the second direction, so that the wiper assembly 22 extends out of the cover 4 and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly 13 drives the moving platform 12 and drives the wiper assembly 22 to continuously sweep and clean along the first direction.

[0026] Specifically, in rainy or snowy environments, continuous rain or snowfall will cause water or snow to accumulate on the transceiver surface of the LiDAR transceiver module, thereby interfering with the normal operation of the transceiver module. When the wiper assembly 22 is driven by the cleaning control assembly 23 to move along the second direction, it extends out of the housing 4 and presses against the transceiver surface of the transceiver module. Then, it is driven by the sweeping control assembly 13 and the moving platform 12 to move along the first direction, continuously sweeping and cleaning the entire transceiver surface of the transceiver module, thereby reducing the impact of water or snow accumulation on the transceiver module without consuming washing liquid.

[0027] Please continue reading. Figure 20-21 as well as Figure 1-6 Localized contamination signals include small-scale localized contamination signals and large-scale localized contamination signals; If the vehicle intelligent driving system outputs a signal of a small local dirt area, in step 3, the nozzle assembly 21 is driven by the cleaning control assembly 23 to move along the second direction, so that the nozzle assembly 21 extends out of the cover 4. The sweeping control assembly 13 drives the moving platform 12 and moves the nozzle assembly 21 along the first direction until it reaches the location of the small local dirt area. In step 4, the nozzle assembly 21 sprays washing liquid at a fixed point towards the location of the small local dirt area. Specifically, if there is only a small area of ​​dirt on the transceiver module, the nozzle assembly 21 can be moved to the location of the small area of ​​dirt by the coordinated action of the cleaning control assembly 23 and the sweeping control assembly 13. At this time, the small area of ​​dirt can be cleaned in a targeted manner, and the impact of the small area of ​​dirt on the LiDAR transceiver module can be reduced with less washing liquid. If the vehicle intelligent driving system outputs a signal indicating a large area of ​​localized dirt, in step 3, the nozzle assembly 21 is driven by the cleaning control assembly 23 to move along the second direction, so that the nozzle assembly 21 extends out of the cover 4. The sweeping control assembly 13 drives the moving platform 12 and moves the nozzle assembly 21 along the first direction until it reaches the location of the large area of ​​localized dirt. In step 4, the sweeping control assembly 13 drives the moving platform 12 and moves the nozzle assembly 21 to continuously sweep and spray clean the location of the large area of ​​localized dirt.

[0028] Specifically, if there is a large area of ​​dirt on the transceiver module, such as dirt occupying 1 / 4 of the transceiver module area, the nozzle assembly 21 can be moved to the location of the large area of ​​dirt through the coordinated action of the cleaning control assembly 23 and the sweeping control assembly 13. Driven by the sweeping control assembly 13 and the moving platform 12, it can continuously sweep and spray along the large area of ​​dirt to clean it, thereby reducing the impact of the large area of ​​dirt on the lidar transceiver module with less washing liquid.

[0029] Please continue reading. Figure 20-21 as well as Figure 1-6 If the nozzle assembly 21 fails to remove local dirt signals, in step 3, the wiper assembly 22 is driven by the cleaning control assembly 23 to move along the second direction, so that the wiper assembly 22 extends out of the cover 4 and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly 13 drives the moving platform 12 and drives the nozzle assembly 21 and the wiper assembly 22 to perform at least one of continuous sweeping and swiping cleaning and continuous sweeping and spraying cleaning at the location of local dirt.

[0030] Specifically, when faced with stubborn stains that the nozzle assembly 21 cannot remove, even if the nozzle assembly 21 continues to spray more washing liquid, the wiper assembly 22 is driven by the cleaning control assembly 23 to move along the second direction, so that the wiper assembly 22 extends out of the cover 4 and presses against the transceiver surface of the transceiver module. Then, driven by the sweeping control assembly 13 and the moving platform 12, it continuously sweeps and wipes away the local dirt. During this process, the nozzle assembly 21 can simultaneously perform continuous sweeping and spraying cleaning, thereby reducing the impact of the stubborn stains on the lidar transceiver module with less washing liquid.

[0031] Please see Figure 1-19 A lidar cleaning method includes a lidar cleaning assembly comprising a sweeping actuator 1 and a cleaning actuator 2 disposed on the sweeping actuator 1, and further comprising a cover plate mechanism 3 and a housing 4; the sweeping actuator 1 includes a base platform 11, a moving platform 12 disposed on the base platform 11, and a sweeping control component 13; the moving platform 12 is driven by the sweeping control component 13 to move along a first direction; the cleaning actuator 2 includes a nozzle assembly 21, a wiper assembly 22, and a cleaning control component 23 disposed on the moving platform 12; the nozzle assembly 21 and the wiper assembly 22 are driven by the cleaning control component 23 to move along a second direction to extend or retract; at least one of the nozzle assembly 21 and the wiper assembly 22 is jointly driven by the cleaning control component 23 and the sweeping actuator 1 to reach the area to be cleaned, so as to achieve at least one cleaning of the area to be cleaned.

[0032] In practical use, the sweeping actuator 1 of the present invention enables the moving platform 12 to move along the first direction on the base platform 11 through the sweeping control component 13. By integrating the cleaning actuator 2 onto the movable platform 12, the cleaning actuator 2 can move synchronously with the moving platform 12 in the first direction, so that the cleaning actuator 2 can perform targeted cleaning and sweeping cleaning of designated areas in the first direction for stubborn stains. Compared with large-scale, aimless spraying, the cleaning ability is stronger, the washing liquid consumption is smaller, and the washing liquid cleaning efficiency is higher. This reduces the storage capacity of washing liquid in the car, freeing up space for other intelligent driving components. Structure 2 includes a nozzle assembly 21 and a wiper assembly 22. Driven by the sweeping actuator 1 and the cleaning control assembly 23, the nozzle assembly 21 and the wiper assembly 22 can reach the area to be cleaned as needed. When the designated area of ​​the transceiver module needs to be cleaned, the cleaning capacity is further increased, the washing liquid consumption is reduced, and the washing liquid cleaning efficiency is improved through the coordinated work of the nozzle assembly 21 and the wiper assembly 22. Furthermore, through the cooperation of the sweeping actuator 1 and the wiper assembly 22, the wiper assembly 22 can continuously reciprocate in the designated area of ​​the transceiver module, thereby realizing the continuous cleaning function to solve the impact of continuous water accumulation in the transceiver module during heavy rain.

[0033] It is understood that the nozzle assembly 21 and the wiper assembly 22 can perform at least one of the following cleaning methods: cleaning the area to be cleaned by spraying the nozzle assembly 21 alone, cleaning the nozzle assembly 21 and the wiper assembly 22 in combination, and cleaning the wiper assembly 22 alone in rainy or snowy weather.

[0034] It is worth mentioning that, depending on the requirements, the transceiver surface of the transceiver module may be designed with different curvatures. Therefore, the first direction is set to match the curvature of the transceiver surface so that the pressure of the washing liquid sprayed by the nozzle assembly 21 reaching the transceiver surface is uniform, and the wiper assembly 22 can adhere to the transceiver surface with uniform force.

[0035] Please continue reading. Figure 2 , Figure 4 , Figure 6 The base platform 11 includes a rack 111 disposed on one of its edges; the base platform 11 has at least one first slide groove 112; the moving platform 12 includes a platform body 121 and at least one slider 122 disposed below the platform body 121 and cooperating with the first slide groove 112; the sweeping control assembly 13 includes a first actuator 131 disposed on the platform body 121 and a first gear set 132 disposed on the first actuator 131 and cooperating with the rack 111; when the first gear set 132 rotates, the slider 122 slides in the first slide groove 112 to drive the moving platform 12 to move along a first direction.

[0036] In some embodiments, the rack 111 may be a spur rack or a helical rack, and the tooth profile parameters are selected according to the transmission accuracy requirements, specifically the module. The cross-sectional shape of the first slide groove 112 may be rectangular, dovetail-shaped, or T-shaped, and its surface may be hardened to improve wear resistance. Ball bearings or rollers may be provided inside the slider 122 to reduce the coefficient of friction. The first gear set 132 includes at least one gear that meshes with the rack 111, and the gear module matches that of the rack 111.

[0037] In steps 3 and 4, the present invention converts rotational motion into linear motion through a gear and rack transmission 111, wherein the rack 111 and the gear set form a high-precision transmission pair. The sliding pair formed by the first slide groove 112 and the slider 122 restricts the other degrees of freedom of the moving platform 12. When the first actuator 131 drives the first gear set 132 to rotate, the transmission ratio is designed so that the moving platform 12 obtains a suitable speed while maintaining sufficient driving force. This structure solves the technical problem of the moving platform 12 requiring stable and precise linear motion, and has the advantages of simple structure and convenient maintenance.

[0038] Please continue reading. Figure 5 , Figure 7 The cleaning control assembly 23 includes a second actuator 231 disposed on the mobile platform 12, a second gear set 232 extending from the second actuator 231, a drive shaft 233 extending from the second gear set 232, and a damper 234 disposed on the drive shaft 233; the nozzle assembly 21 is driven by the drive shaft 233 to move along a second direction for a stroke L1; the wiper assembly 22 is driven by the drive shaft 233 to move along a second direction for a stroke L2.

[0039] In steps 3 and 4, the present invention drives the movement of the two components through a single power source. The rotational torque output by the second actuator 231 is transmitted synchronously to the nozzle assembly 21 and the wiper assembly 22 via the transmission shaft 233 after being changed by the second gear set 232. The nozzle assembly 21 stops moving after completing the L1 stroke, while the wiper assembly 22 continues to complete the L2 stroke. This forms a phased cleaning process in which the nozzle first extends to spray detergent to lubricate the designated area, softens the stains, and then the wiper unfolds to wipe them away. Under this setting, while maintaining structural compactness, timing control is achieved through differentiated settings of mechanical transmission parameters. This avoids interference between the two components and ensures that the detergent can lubricate and fully saturate the stains before wiping. It can achieve better cleaning results with less detergent, significantly improving the removal efficiency of stubborn stains. It also avoids wear on the wiper assembly 22 caused by dry stains and wear on the transceiver module's transceiver surface caused by dry wiping by the wiper assembly 22.

[0040] Please continue reading. Figure 5 , Figure 7 The starting point of the L1 stroke is set before the L2 stroke; when the nozzle assembly 21 moves from the starting point of the L1 stroke to the ending point of the L1 stroke, the nozzle assembly 21 extends to the working position before the wiper assembly 22.

[0041] Specifically, the starting position relationship between the L1 and L2 strokes can be set by the front-to-back arrangement of the nozzle assembly 21 and the wiper assembly 22 on the moving platform 12. In steps 3 and 4, the two components cooperate by controlling the stroke: when only the washer fluid needs to be sprayed, the second actuator 231 controls the nozzle assembly 21 and the wiper assembly 22 to advance the L1 stroke simultaneously. Since the starting point of the L1 stroke is set before the L2 stroke, the nozzle assembly 21 extends out from the cover plate mechanism 3 and can spray the washer fluid independently, while the wiper assembly 22 is still hidden in the cover plate mechanism 3. When it is necessary to spray the washer fluid and / or wipe away dirt, the second actuator 231 controls the nozzle assembly 21 and the wiper assembly 22 to continue advancing to the L2 stroke based on the L1 stroke. During this process, the nozzle assembly 21 remains stationary because it has reached its maximum stroke, while the wiper assembly 22 continues to advance to the working position, thereby realizing the coordinated work of the nozzle assembly 21 and the wiper assembly 22 or the independent work of the wiper assembly 22.

[0042] Please continue reading. Figure 8-10 as well as Figure 12-19 The wiper assembly 22 includes a wiper drive structure 221 and a wiper action control structure 222 disposed on the moving platform 12, and a wiper 223 disposed on the wiper drive structure 221; the drive shaft 233 is configured to be connected to the wiper drive structure 221 so that the wiper drive structure 221 drives the wiper 223 to move in a second direction; during the movement of the wiper 223 in the second direction, the wiper action control structure 222 controls the wiper 223 to retract or extend.

[0043] In steps 3 and 4, the present invention achieves automatic switching of the working state of the windshield wiper 223 through a mechanical linkage mechanism. When the windshield wiper 223 is inside the cover plate mechanism 3, the wiper action control structure 222 keeps it in the retracted state to avoid interference with internal components; when the windshield wiper 223 moves outside the cover plate mechanism 3, the wiper action control structure 222 automatically switches it to the extended state to perform the cleaning task. This design allows the state of the windshield wiper 223 to be adjusted, improving space utilization and cleaning efficiency. Furthermore, this solution has the advantages of simple structure and high reliability, achieving state switching through a purely mechanical structure without the need for additional control circuitry, thus reducing system complexity. Simultaneously, the retracted state effectively reduces the space occupied by the windshield wiper 223 in its non-working state, while the extended state ensures cleaning effectiveness, achieving a balance between space utilization and functional requirements.

[0044] Please continue reading. Figure 8-10 as well as Figure 12-19 The wiper drive structure 221 includes a first support portion 2211, a second support portion 2212, a third support portion 2213, and a fourth support portion 2214 arranged sequentially along a second direction; a first drive wheel 2215 rotatably disposed on the second support portion 2212; a second drive wheel 2216 rotatably disposed on the third support portion 2213; a drive belt 2217 disposed between the first drive wheel 2215 and the second drive wheel 2216; and a drive bar 2218 slidably disposed on the first support portion 2211 and the fourth support portion 2214. The wiper 223 is disposed on the drive bar 2218. The first drive wheel 2215 is connected to the drive shaft 233. The second drive wheel 2216 cooperates with the drive bar 2218 to enable the drive bar 2218 to drive the wiper 223 to move along the second direction.

[0045] Specifically, the first support portion 2211 and the fourth support portion 2214 can adopt linear guide rails or groove structures to constrain the movement trajectory of the transmission bar 2218. The second support portion 2212 and the third support portion 2213 can adopt bearing seat structures to support the rotational movement of the first transmission wheel 2215 and the second transmission wheel 2216. The transmission belt 2217 can be a synchronous belt or a toothed belt to ensure the synchronous rotation accuracy between the transmission wheels. The transmission bar 2218 can be a metal rod with a rack 111, which meshes with the gear of the second transmission wheel 2216. As a preferred embodiment, guide protrusions can be provided on both sides of the transmission bar 2218 to cooperate with the guide grooves on each support portion, further restricting the degree of freedom of movement of the transmission bar 2218.

[0046] In steps 3 and 4, the present invention forms a stable motion guiding foundation through a four-support frame, and achieves synchronous and smooth power transmission through a combination of dual drive wheels and belts. Specifically, the first drive wheel 2215 receives external power input and drives the second drive wheel 2216 to rotate via the drive belt 2217. The second drive wheel 2216 converts the rotational motion into linear motion of the drive bar 2218. Under the constraint of the support, the drive bar 2218 achieves high-precision linear displacement along the second direction, thereby driving the wiper 223 to complete precise position control. The combination of multi-point support and belt drive effectively reduces vibration and positional deviation during the movement of the drive bar 2218. The sliding fit structure between the drive bar 2218 and the support compensates for assembly tolerances, ensuring motion stability during long-term use. The gear meshing design between the second drive wheel 2216 and the drive bar 2218 provides a precise power transmission ratio, making the displacement of the wiper 223 linearly correspond to the input speed. The synergistic effect of these technical features enables the windshield wiper 223 to have higher positioning accuracy and reliability in its telescopic movement inside and outside the cover plate mechanism 3.

[0047] Please continue reading. Figure 8-10 as well as Figure 12-19 The wiper action control structure 222 includes a side control plate 2221 and a control arm 2222; the side control plate 2221 has a track groove 22211, and the control arm 2222 includes a sliding shaft 22221 disposed at one end and a drive shaft 22222 disposed at the other end, the sliding shaft 22221 being disposed in the track groove 22211; the track groove 22211 includes a translation section 222111 and a rotation section 222112.

[0048] Specifically, the trajectory groove 22211 of the side control plate 2221 can adopt a groove structure combining straight lines and arcs, wherein the translation section 222111 is a straight groove and the rotation section 222112 is an arc groove. The sliding shaft 22221 of the control arm 2222 can adopt a roller structure to reduce friction. The elastic element 2234 is preferably a helical spring. The connection between the rotation control unit 2231 and the transmission bar 2218 can adopt a bearing or bushing structure to ensure smooth rotation.

[0049] In steps 3 and 4, the present invention achieves automatic state switching of the wiper 223 inside and outside the cover plate 33 through the cooperation of the track groove 22211 and the control arm 2222. In the retracted state, the tension provided by the elastic element 2234 keeps the wiper 223 compact to prevent the wiper 223 from making abnormal noise when the vehicle is in motion; in the extended state, the tension of the elastic element 2234 ensures that the wiper blade is in close contact with the cleaning surface.

[0050] Please continue reading. Figure 8-10 as well as Figure 12-19The windshield wiper 223 includes a rotation control unit 2231, a stabilizing unit 2232, a wiper blade 2233 arranged sequentially, and an elastic member 2234 disposed on the stabilizing unit 2232; the rotation control unit 2231 is rotatably disposed on the drive bar 2218, and the stabilizing unit 2232 is connected to the drive bar 2218 via the elastic member 2234; the rotating segment 222112 passes through the drive bar 2218 and is connected to the rotation control unit 2231. Connection; when the sliding shaft 22221 is within the translation section 222111, the wiper 223 retracts, and the elastic member 2234 applies a force pointing in the second direction to the stabilizing part 2232; when the sliding shaft 22221 is within the rotation section 222112, the wiper 223 extends, and the elastic member 2234 applies a pulling force to the stabilizing part 2232, so that the wiper blade 2233 points towards the area to be cleaned and generates pre-pressure on the area to be cleaned.

[0051] In some embodiments, the rotation control unit 2231 may employ a bearing or hinge structure to achieve a rotatable connection with the transmission bar 2218. The bearing is preferably a miniature deep groove ball bearing to reduce frictional resistance, thereby allowing the rotation control unit 2231 to stably pass through and connect with the transmission bar 2218. The elastic element 2234 between the stabilizing unit 2232 and the transmission bar 2218 is preferably a tension spring, the elastic coefficient of which is adjusted according to different operating conditions. A ramp structure may be provided in the transition area between the rotating section 222112 and the translational section 222111 to achieve a smooth transition of the sliding shaft 22221.

[0052] In steps 3 and 4, the present invention achieves reliable control of the state of the windshield wiper 223 through the combination of mechanical linkage and elastic force. In the retracted state, the tension of the elastic element 2234 keeps the wiper 223 in a compact shape, avoiding interference with the cover plate mechanism 3 and preventing abnormal noise. In the extended state, the cooperation between the rotating section 222112 and the sliding shaft 22221 drives the entire control arm 2222 to rotate. In turn, the cooperation between the drive shaft 22222 and the rotation control unit 2231 drives the entire wiper 223 to rotate towards the area to be cleaned. For the wiper 223, the drive shaft 22222 first provides force to the rotation control unit 2231, and the elastic element 2234 provides force to the stabilizing part 2232. Under the synergistic cooperation of the two forces acting at different positions, it is ensured that the wiper blade 2233 always contacts the surface to be cleaned at the best angle and with the most appropriate force, so as to ensure the cleaning ability of the wiper 223 under high-speed driving or inclement weather such as rain and snow. With the cleaning ability of the wiper 223 guaranteed, the present invention can achieve better washing effect with less detergent and can realize continuous cleaning function.

[0053] Please continue reading. Figure 11-19The nozzle assembly 21 includes a nozzle drive structure 211 and a nozzle 212 disposed on the moving platform 12; the nozzle drive structure 211 includes a fifth support portion 2111 and a sixth support portion 2112 arranged sequentially along a second direction, and a half gear 2113 disposed on the fifth support portion 2111; the nozzle 212 is slidably disposed on the sixth support portion 2112 and is driven to slide along the second direction by the half gear 2113; the damper 234 is connected to the half gear 2113; when the nozzle 212 moves to the end of the L1 stroke, the front end of the nozzle 212 is limited by the fifth support portion 2111, and the damper 234 begins to slip.

[0054] In steps 3 and 4, when the drive shaft 233 drives the half gear 2113 to rotate, the teeth of the half gear 2113 mesh with the teeth below the nozzle 212, pushing the nozzle 212 to slide along the sixth support 2112; when the nozzle 212 reaches the end of the L1 stroke, the nozzle 212 abuts against the limit block on the fifth support 2111, so that the nozzle 212 stops moving forward, thereby realizing that the nozzle 212 stops when it reaches the end of the L1 stroke. Due to the slippage of the damper 234, the drive shaft 233 can continue to rotate as needed, thereby allowing the wiper assembly 22 to continue to move forward and reach the end of the L2 stroke.

[0055] Understandably, in step 5, when the nozzle assembly 21 and the wiper assembly 22 are to retract, the drive shaft 233 drives the wiper assembly 22 and the nozzle assembly 21 to retract synchronously. When the nozzle 212 reaches the starting point of the L1 stroke, the nozzle 212 abuts against the limiting block on the sixth support part 2112, so that the nozzle 212 no longer retracts, thereby realizing that the nozzle 212 stops when it reaches the starting point of the L1 stroke. Due to the slippage of the damper 234, the drive shaft 233 can continue to rotate as needed, thereby causing the wiper assembly 22 to continue to retract and reach the starting point of the L2 stroke.

[0056] Furthermore, in this embodiment, the sixth support part 2112 has only one nozzle 212. Compared with setting multiple nozzles to form a large area spraying area, using a single nozzle 212 can make the washing liquid spray pressure greater, making it easier to remove stubborn stains, thereby improving the cleaning ability and reducing the consumption of washing liquid.

[0057] It is understandable that the spray area can be slightly expanded by setting two nozzles 212 at different angles on the sixth support 2112, or by setting two nozzles at different angles at the end of one nozzle 212. This allows for a more balanced spray pressure and spray effect while slightly sacrificing the spray pressure, ultimately resulting in better efficiency of the washing liquid.

[0058] It is worth mentioning that in some other embodiments, the nozzle 212 can also extend hydraulically, that is, when the nozzle 212 starts to supply liquid, the pressure of the washing liquid pushes the nozzle head at the end of the nozzle 212 out, thereby making the nozzle head reach the designated spray position.

[0059] Please continue reading. Figure 1-4 The sweeping actuator 1 and the cover plate mechanism 3 are disposed on the housing 4; the housing 4 has a cleaning port 41; the cover plate mechanism 3 includes a third actuator 31 fixedly disposed on the housing 4, a third gear set 32 ​​extending from the third actuator 31, and a cover plate 33 rotatably disposed on the cleaning port 41 driven by the third gear set 32; the cover plate 33 includes a first sealing strip 331 disposed on the front edge and a second sealing strip 332 disposed on the side edge and the rear edge; the cleaning port 41 includes a sealing groove 411 disposed on the front side and extrusion walls 412 disposed on the sides and the rear side; the first sealing strip 331 is configured to cooperate with the sealing groove 411; the second sealing strip 332 is configured to cooperate with the extrusion wall 412; when the third actuator 31 drives the cover plate 33 to open via the third gear set 32, the rotation direction of the cover plate 33 is such that the first sealing strip 331 disengages from the sealing groove 411, and the second sealing strip 332 disengages from the extrusion wall 412; when the third actuator 31 drives the cover plate 33 to close via the third gear set 32, the first sealing strip 331 abuts against the sealing groove 411, and the second sealing strip 332 abuts against the extrusion wall 412.

[0060] In some embodiments, the housing 4 may be made of die-cast aluminum alloy or injection-molded engineering plastic, and its interior has an mounting structure for fixing the sweeping actuator 1. The edge of the cleaning port 41 may be provided with an annular flange to enhance structural strength. The first sealing strip 331 and the second sealing strip 332 are preferably made of silicone rubber and are fixed to the edge of the cover plate 33 by snap-fit ​​or adhesive. The third actuator 31 may be a stepper motor or a servo motor, and the third gear set 32 ​​includes multiple meshing gears to achieve a suitable output speed. The rotating shaft of the cover plate 33 may be equipped with a waterproof bearing.

[0061] In step 2, the present invention achieves dynamic sealing protection of the cleaning port 41 through the rotary cover mechanism 3. Specifically, when the cleaning assembly is in a non-working state, the third actuator 31 drives the third gear set 32 ​​to rotate and close the cover 33. The first sealing strip 331 and the second sealing strip 332 form an interference fit with the sealing groove 411 and the extrusion wall 412, respectively, effectively preventing rainwater, dust and other pollutants from entering the interior of the housing 4. In the working state, the cover 33 rotates open to form a sufficiently large channel space to ensure that the nozzle assembly 21 and the wiper assembly 22 can be fully extended.

[0062] It is worth mentioning that the third actuator 31 drives the cover plate 33 to move downward from the front edge, thereby opening the cleaning port 41. The front edge of the cover plate 33 is located at the lower position of the entire housing 4, meaning that rainwater will eventually flow to and collect at the front edge due to gravity. Therefore, a first sealing strip 331 is provided on the front edge of the cover plate 33, and a second sealing strip 332 is provided on the side edge and the rear edge. Through the first sealing strip 331 and the second sealing strip 332 on the side edge and the rear edge, combined with the pre-tightening force after the third actuator 31 is closed, the two sealing strips can be deformed and pressed against the entire cleaning port 41, thereby achieving a high waterproof level. When opening, the rotation opening direction of the cover plate 33 is the same as the disengagement direction of the first sealing strip 331 and the second sealing strip 332. Therefore, the first sealing strip 331 disengages from the sealing groove 411, and the second sealing strip 332 disengages from the compression wall 412.

[0063] The above description only illustrates the preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. The present invention is not limited to the above embodiments, and variations in its specific structure are permitted. All modifications made within the scope of the independent claims of this invention are also within the scope of protection of this invention.

Claims

1. A laser radar cleaning method, characterized in that: The system includes a lidar cleaning assembly, which includes a housing (4), a cover plate mechanism (3) disposed on the housing (4), a sweeping actuator (1), and a cleaning actuator (2); the sweeping actuator (1) includes a base platform (11), a moving platform (12) disposed on the base platform (11), and a sweeping control component (13); the cleaning actuator (2) includes a nozzle assembly (21), a wiper assembly (22), and a cleaning control component (23) disposed on the moving platform (12). The cleaning control assembly (23) includes a second actuator (231) disposed on the mobile platform (12), a second gear set (232) extending from the second actuator (231), a drive shaft (233) extending from the second gear set (232), and a damper (234) disposed on the drive shaft (233); the nozzle assembly (21) is driven by the drive shaft (233) to move along a second direction for a stroke L1; the wiper assembly (22) is driven by the drive shaft (233) to move along a second direction for a stroke L2. The cleaning method includes the following steps: Step 1: Output cleaning signal: The vehicle intelligent driving system queries the vehicle status and outputs a cleaning signal based on the vehicle status; Step 2, opening of the cover mechanism: According to the cleaning signal, the cover mechanism (3) on the cover (4) is opened; Step 3, Cleaning actuator movement: According to the cleaning signal, the nozzle assembly (21) and / or the wiper assembly (22) are driven by the cleaning control assembly (23) to move along the second direction to extend from the housing (4); the moving platform (12) is driven by the sweeping control assembly (13) to move along the first direction so that the nozzle assembly (21) and / or the wiper assembly (22) reach the area to be cleaned; during the rotation of the drive shaft (233), the nozzle assembly (21) stops when it reaches the end of the L1 stroke, and the drive shaft (233) continues to rotate under the slipping action of the damper (234) and drives the wiper assembly (22) to continue forward to the end of the L2 stroke and then stops; Step 4, Cleaning execution: At least one of the nozzle assembly (21) and the wiper assembly (22) is used to clean the area to be cleaned; Step 5: Cleaning signal deactivated: The onboard intelligent driving system checks the vehicle status and deactivated the cleaning signal accordingly. Step 6, Reset: The cleaning actuator (2) and the cover plate mechanism (3) are reset in sequence.

2. The lidar cleaning method according to claim 1, characterized in that, In steps 1 and 5: the vehicle intelligent driving system outputs a cleaning signal via the rain sensor, vehicle speed sensor and transceiver module's surface dirt alarm; the cleaning signal includes one of the following: environmental rain and snow signal and local dirt signal.

3. The lidar cleaning method according to claim 2, characterized in that: If the vehicle intelligent driving system outputs an environmental rain or snow signal, in step 3, the wiper assembly (22) is driven by the cleaning control assembly (23) to move along the second direction, so that the wiper assembly (22) extends out of the cover (4) and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly (13) drives the moving platform (12) and drives the wiper assembly (22) to continuously sweep and clean along the first direction.

4. The lidar cleaning method according to claim 2, characterized in that: Localized contamination signals include small-scale localized contamination signals and large-scale localized contamination signals; If the vehicle intelligent driving system outputs a signal of a small local dirt, in step 3, the nozzle assembly (21) is driven by the cleaning control assembly (23) to move along the second direction so that the nozzle assembly (21) extends out of the cover (4). The sweeping control assembly (13) drives the moving platform (12) and drives the nozzle assembly (21) to move along the first direction until the location of the small local dirt. In step 4, the nozzle assembly (21) sprays washing liquid at a fixed point towards the location of the small local dirt. If the vehicle intelligent driving system outputs a signal of large-scale local dirt, in step 3, the nozzle assembly (21) is driven by the cleaning control assembly (23) to move along the second direction so that the nozzle assembly (21) extends out of the cover (4). The sweeping control assembly (13) drives the moving platform (12) and drives the nozzle assembly (21) to move along the first direction until the location of the large-scale local dirt. In step 4, the sweeping control assembly (13) drives the moving platform (12) and drives the nozzle assembly (21) to continuously sweep and spray clean the location of the large-scale local dirt.

5. The lidar cleaning method according to claim 4, characterized in that: If the nozzle assembly (21) fails to remove the local dirt signal, in step 3, the wiper assembly (22) is driven by the cleaning control assembly (23) to move along the second direction, so that the wiper assembly (22) extends out of the cover (4) and presses against the transceiver surface of the transceiver module; in step 4, the sweeping control assembly (13) drives the moving platform (12) and drives the nozzle assembly (21) and the wiper assembly (22) to perform at least one of continuous sweeping and swiping cleaning and continuous sweeping and spraying cleaning at the location of the local dirt.

6. The lidar cleaning method according to any one of claims 1-5, characterized in that: The base platform (11) includes a rack (111) disposed on one of its edges; the base platform (11) has at least one first groove (112). The mobile platform (12) includes a platform body (121) and at least one slider (122) disposed below the platform body (121) and cooperating with the first slide (112). The sweeping control component (13) includes a first actuator (131) disposed on the platform body (121) and a first gear set (132) disposed on the first actuator (131) and cooperating with the rack (111); when the first gear set (132) rotates, the slider (122) slides in the first groove (112) to drive the mobile platform (12) to move along the first direction.

7. The lidar cleaning method according to claim 1, characterized in that: The wiper assembly (22) includes a wiper drive structure (221) and a wiper action control structure (222) disposed on the mobile platform (12), and a wiper (223) disposed on the wiper drive structure (221). The drive shaft (233) is configured to be connected to the wiper drive structure (221) so that the wiper drive structure (221) drives the wiper (223) to move in the second direction; During the movement of the wiper (223) in the second direction, the wiper action control structure (222) controls the wiper (223) to retract or extend.

8. The lidar cleaning method according to claim 1, characterized in that: The nozzle assembly (21) includes a nozzle drive structure (211) and a nozzle (212) disposed on the moving platform (12). The nozzle drive structure (211) includes a fifth support portion (2111) and a sixth support portion (2112) arranged sequentially along the second direction, and a half gear (2113) disposed on the fifth support portion (2111); the nozzle (212) is slidably disposed on the sixth support portion (2112) and is driven by the half gear (2113) to slide along the second direction; The damper (234) is connected to the half gear (2113); when the nozzle (212) moves to the end of the L1 stroke, the front end of the nozzle (212) is limited by the fifth support (2111), and the damper (234) begins to slip.

9. The lidar cleaning method according to claim 1, characterized in that: The housing (4) has a cleaning port (41); the cover mechanism (3) includes a third actuator (31) fixedly disposed on the housing (4), a third gear set (32) extending from the third actuator (31), and a cover (33) rotatably disposed on the cleaning port (41) driven by the third gear set (32). The cover plate (33) includes a first sealing strip (331) disposed on the front edge and a second sealing strip (332) disposed on the side edge and the rear edge; the cleaning port (41) includes a sealing groove (411) disposed on the front side and extrusion walls (412) disposed on the sides and the rear side; the first sealing strip (331) is configured to cooperate with the sealing groove (411); the second sealing strip (332) is configured to cooperate with the extrusion wall (412); When the third actuator (31) drives the cover plate (33) to open via the third gear set (32), the first sealing strip (331) disengages from the sealing groove (411) and the second sealing strip (332) disengages from the extrusion wall (412); when the third actuator (31) drives the cover plate (33) to close via the third gear set (32), the first sealing strip (331) abuts against the sealing groove (411) and the second sealing strip (332) abuts against the extrusion wall (412).

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