Self-cleaning effector system

Abstract

A self-contained cleaning module 110 for cleaning devices with transparent covers or lenses, such as sensors, detectors, light sources, cameras, etc., collectively referred to as effectors. The module includes a thermoelectric cooler (TEC) 20, a reservoir 48 for collecting water condensed on the cold plate 22 of the TEC, a water jet 42 in fluid communication with the water stored in the reservoir by a water pump 40 and water tube 44. The water jet washes away debris, dust, and dirt from the lens / cover, and the plates of the TEC can melt ice or evaporate moisture.

Description

Technical Field

[0001] This invention relates to the field of cleaning systems for sensors, LEDs, lidar, and cameras. Background Technology

[0002] Driven by the ever-growing demand for advanced automation and independent driver assistance systems, the autonomous vehicle market is on an exponential growth trajectory. These systems heavily rely on onboard sensor arrays, including cameras, lidar, and radar, to ensure accurate data input, navigation, and time-sensitive communication. However, a pressing challenge for autonomous driving systems is maintaining sensor cleanliness, which is exacerbated by environmental factors such as dirt, debris, adverse weather conditions, and the tendency for ice and condensation to accumulate on sensor lenses.

[0003] The global automotive sensor market is valued at over $34.59 billion and is projected to reach approximately $76.43 billion by 2032, representing a CAGR of 8.30% during the forecast period. (Recent report: https: / / www.netscribes.com / sensor-cleaning-and- autonomous-vehicles / The report emphasizes the importance of automotive sensor cleaning technology in addressing the challenges posed by changing weather and road conditions, highlighting the impact of accumulated ice and condensation on sensor performance.

[0004] Not only do sensors in the automotive industry require routine cleaning. Sensors and other lens-bearing devices (collectively referred to as effectors in this article) also require occasional cleaning to maintain adequate performance—surveillance camera lenses and their light sensors, streetlights (such as LEDs), traffic lights, and fire detectors are just a few examples.

[0005] Recognizing the critical necessity of innovative solutions in addressing these challenges, cleaning systems for sensor systems used in motorized vehicles are available. For example, U.S. Patent Application Publication No. 2023 / 406268 teaches a system comprising a lens processing device for delivering compressed gas or compressed liquid or heat to remove water droplets, mud, road grime, or ice formed on the lens surface of a sensor. However, this system is not self-sustaining, as it relies on receiving water from an external source.

[0006] Other available solutions are complex, utilizing high-pressure water delivery systems through lengthy pipelines, which require regular maintenance and continuous water replenishment. These complex systems involve intricate mechanical components and are sensitive to leaks and potential blockages.

[0007] In particular, one noteworthy approach involves utilizing high-pressure water systems with extensive piping networks. These systems deliver pressurized water directly to the surfaces of sensors or cameras, effectively removing contaminants such as dirt, debris, and environmental residues. However, this approach requires meticulous maintenance, including regular inspections, repairs, and a continuous water supply to maintain optimal functionality.

[0008] The mechanical complexity of these systems presents both advantages and challenges. On the one hand, the presence of complex mechanical components allows for precise control of water pressure and distribution, ensuring thorough cleaning. On the other hand, the presence of complex mechanical components introduces a higher degree of maintenance complexity, which, if not managed effectively, could lead to downtime.

[0009] In addition to autonomous vehicles, effective cleaning solutions are also needed for surveillance cameras, as they are also susceptible to environmental factors that can impair their functionality.

[0010] Self-contained cleaning systems are also needed for all types of lights, especially vehicle lights and camera lights.

[0011] Therefore, a comprehensive and self-sustaining cleaning system beyond conventional methods is needed. The invention taught herein aims to address not only contamination from dirt and debris, but also the adverse effects of accumulated ice and condensation on sensor lenses. To this end, the invention provides a sensor cleaning system integrating a thermoelectric cooler (TEC). The TEC operates under the Peltier effect, utilizing a cold plate and a hot plate with P-type (positive) semiconductor material and N-type (negative) semiconductor material at the junction. When an electric current is applied, heat is absorbed at the cold plate and dissipated at the hot plate, thereby effectively controlling the temperature of the target surface. By reversing the direction of the current, the plates reverse their function, causing the previously cold plate to become a hot plate and vice versa. Invention Overview Technical issues The purpose of this invention is to provide a standalone solution for cleaning effectors such as sensors, cameras, lidar, lights, and detectors, and more specifically, for cleaning the lenses of these effectors.

[0013] Another object of the present invention is to provide an energy-efficient solution for cleaning various forms of dirt and obstructing factors on the effector, such as snow, ice, mud, dust, debris, moisture, steam and insects.

[0014] Another objective of this invention is to effectively cool the electronic components of the effector.

[0015] The present invention also aims to provide an independent solution to ensure optimal performance of the effector.

[0016] Another object of the present invention is to provide a device, such as a vehicle, particularly an autonomous vehicle, having a self-cleaning effector.

[0017] Another object of the present invention is to provide a self-sustaining solution for cleaning lights, sensors, detectors and cameras, particularly vehicle lights and camera lights, lamp lenses for streetlights and traffic lights, vehicle sensors and surveillance cameras.

[0018] Solution to the problem In a first aspect, the present invention provides an effector cleaning module with a thermoelectric cooler (TEC), which conventionally includes a cold plate and a hot plate. The effector may be selected from sensors, cameras, light sources (such as bulbs or LEDs), and detectors (such as smoke detectors in fire alarms). Each of the cold and hot plates has an inner side facing the hot and cold plates respectively and an outer side facing away from the other plate. The effector cleaning module includes a reservoir positioned below the cold plate of the TEC for collecting water condensed on the cold plate during TEC operation. The effector also includes a water pump, a water jet nozzle, and a water pipe having an inlet and an outlet. The pump is in fluid communication with the reservoir and the water jet nozzle via the water pipe for supplying water (generated by condensation on the cold plate) from the reservoir to the water jet nozzle to clean the lens of the sensor. For this purpose, the water jet nozzle is positioned and oriented relative to the lens of the effector, thereby allowing for efficient cleaning of the effector.

[0019] The module's TEC may also include a cavity through the hot plate to accommodate the effector, wherein the internal dimensions of the cavity are adapted to embed the effector within the cavity. The cavity may further extend through the cold plate of the TEC.

[0020] In a second aspect, the present invention provides a self-cleaning effector system comprising the aforementioned effector cleaning module and an effector (sensor, camera, lidar, or light source) connected to the effector cleaning module and residing in a cavity within the hot plate (and optionally also in the cold plate) of the TEC.

[0021] In a third aspect, the present invention provides an apparatus (e.g., a vehicle, a surveillance camera, a street light, a traffic light, and a fire alarm with a smoke detector) comprising the self-cleaning effector system of the present invention as described above.

[0022] Beneficial effects of the invention The self-cleaning effector system of this invention provides a system that combines water collection, pumping, and precise nozzle technology to ensure optimal performance of effectors such as cameras, lidar, lights, detectors, and sensors. The system effectively collects water into a local storage tank (reservoir), then pressurizes the tank (reservoir) using a water pump and sprays it onto the lens surfaces of cameras, lidar, lights, detectors, and / or sensors. This process effectively eliminates various forms of contamination, such as snow, ice, mud, debris, moisture, steam, dust, and insects.

[0023] Furthermore, the system's integrated functionality extends to snow and ice removal. By utilizing heated surfaces, the system can effectively melt and remove accumulated snow and ice layers, and by controlling the lens surface temperature, it avoids fogging on the sensor lens, thereby enhancing the sensor's visibility and functionality in cold climates.

[0024] This integrated approach not only simplifies the cleaning process but also helps extend sensor lifespan and improve the performance of sensors, detectors, lidar, lights, and cameras (collectively referred to as...). "sensor" The system ensures data accuracy and readability. Its adaptability to various environmental conditions and locations guarantees seamless operation of autonomous vehicles and other advanced sensor technologies.

[0025] The self-cleaning sensor system of this invention utilizes a reusable water source. The atmosphere contains a large amount of water in the form of moisture. By cooling the air at its dew point under different conditions, atmospheric moisture is directly converted into usable clean water. After condensation, the condensate is collected in a storage tank for cleaning applications. A Peltier device (TEC) is used to generate atmospheric water; this TEC is portable, environmentally friendly, reliable, has no moving parts, and is rigid. The on-site water generation provides a fully automated and independent system. The system also utilizes intelligent control and optimization based on real-time temperature and humidity, as well as alternating current supplied to the TEC, to maximize device efficiency in water collection and provide an independent system that operates under various weather conditions.

[0026] Using atmospheric water instead of the water added to the cleaning system in the existing system has the advantages of distilled water. After cleaning, it will not leave lime stains on the sensor lens, nor will it clog the system due to mineral deposits. Attached Figure Description

[0027] To better understand the invention and to illustrate how it can be practiced, several embodiments are described herein with reference to the accompanying drawings, which should be interpreted as non-limiting examples only. Note that the dimensions and scale of the embodiments presented in the drawings are exemplary and not limiting.

[0028] It should be understood that, for the sake of simplicity and clarity, reference numerals are repeated in different figures where appropriate to indicate corresponding or similar elements. Furthermore, numerous specific details are set forth to provide a thorough understanding of the embodiments described herein. However, those skilled in the art will understand that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the relevant and meaningful features described. Moreover, this specification should not be construed as limiting the scope of the embodiments described herein.

[0029] Figure 1 A schematic isometric representation of an effector cleaning module according to an embodiment of the present invention is depicted, wherein the effector is a sensor.

[0030] Figure 2 A schematic isometric representation of a self-cleaning effector system according to an embodiment of the present invention is depicted, wherein the effector is a sensor.

[0031] Figure 3 A cross-sectional schematic diagram of a self-cleaning effector system according to an embodiment of the present invention is depicted, wherein the effector is along... Figure 2 The sensor of line AA.

[0032] Figure 4 A cross-sectional schematic diagram of a self-cleaning effector system including an effector cleaning module and an effector according to an embodiment of the present invention is depicted, wherein the effector is along... Figure 1 BB's sensors and cameras.

[0033] Figure 5 Depicting along Figure 1 A rear cross-sectional view of line AA, according to an embodiment of the present invention, of a self-cleaning sensor system.

[0034] Figure 6 A cross-sectional schematic diagram of a self-cleaning sensor system including a sensor cleaning module and a camera in a vehicle, according to an embodiment of the present invention, is depicted.

[0035] Figure 7 A cross-sectional schematic diagram of a self-cleaning sensor system including a sensor cleaning module and a camera in a vehicle, according to an embodiment of the present invention, is depicted.

[0036] Figure 8a A schematic isometric representation of a self-cleaning sensor system having a heat sink extension on a TEC plate according to an embodiment of the present invention is depicted.

[0037] Figure 8bThis is a schematic isometric representation of a self-cleaning lamp having a heat sink extension on a TEC plate and an external nozzle, according to an embodiment of the present invention.

[0038] Figure 9 A schematic isometric representation of a self-cleaning sensor system having two TEC units connected in series, according to an embodiment of the present invention, is depicted.

[0039] Figure 10 A cross-sectional schematic diagram of a self-cleaning sensor system including a sensor cleaning module and a lidar according to an embodiment of the present invention is depicted.

[0040] Figure 11 A cross-sectional schematic diagram of a self-cleaning effector system including a sensor cleaning module and a surveillance camera according to an embodiment of the present invention is depicted.

[0041] Figure 12 A cross-sectional schematic diagram of a self-cleaning effector system including an effector cleaning module, a monitoring camera, and a lamp, according to an embodiment of the present invention, is depicted.

[0042] Figure 13 A cross-sectional schematic diagram of a self-cleaning effector system, including a self-cleaning effector system embedded in a vehicle, is depicted according to an embodiment of the present invention.

[0043] Figure 14 A schematic isometric representation of a self-cleaning effector system 100 having an effector (LED) between two TECs according to an embodiment of the present invention is depicted.

[0044] Description of the Implementation Examples Although the invention has been shown and described herein, it is not limited to the details shown, as various modifications and structural changes can be made without departing from the equivalents of the invention and the claims. However, the construction and operation of the invention, as well as its additional objects and advantages, will be best understood from the following description of specific embodiments when read in conjunction with the accompanying drawings.

[0045] The invention provides, in a first aspect, an effector cleaning module comprising a thermoelectric cooler (TEC) having a hot plate and a cold plate, and a reservoir located below the cold plate for collecting water droplets condensed on the cold plate of the TEC by moisture in the air when the TEC is operating. These water droplets fall into the reservoir under gravity, which stores water for cleaning the effector. The effector may be selected from at least one of sensors, cameras, lidar, and light sources (e.g., LEDs). The effector cleaning module also includes a water pump in fluid communication on one side with the reservoir (via a water pipe) and on the other side with a water jet nozzle for supplying water from the reservoir to the water jet nozzle. The water jet nozzle can be used to clean dirt from at least one effector (e.g., a sensor, or a camera and light source) when needed. Water from the reservoir is pressurized by the pump and sprayed through the water jet nozzle. The water jet nozzle may involve precise nozzle technology.

[0046] the term Effector Cleaning Module This refers to a module that includes interconnecting components capable of removing obstructing elements from effectors such as sensors, including dirt, debris, stains, dust, water droplets, oil, insects, and ice from the sensors. The module may include cavities for housing effectors (e.g., sensors, lights, and / or cameras) or be positioned near the effector to be cleaned. When an effector cleaning module is specifically designed for a particular effector, it is called accordingly, i.e., "sensor Cleaning module , Camera Cleaning Module , "Lamp Cleaning Module" etc.

[0047] the term "Effector" This relates to a device with a lens capable of interactively influencing the environment or another device in response to receiving input from the environment. For example, an LED is a type of effector because it influences the environment by illuminating light through a lens (the transparent cover of the LED). The lens of an effector may require occasional cleaning to function properly. Therefore, the term effector includes devices such as cameras, sensors, detectors, lidar, and lights (e.g., LEDs). For simplicity, the description refers to effectors as sensors, but it should be inferred that any other type of effector is also included unless another type is specifically mentioned.

[0048] the term Thermoelectric cooler (TEC)A Peltier device (also known as a thermoelectric heat pump, Peltier cooler or heater, Peltier heat pump, or solid-state refrigerator) is a device that operates through the Peltier effect, utilizing a cold plate and a hot plate with P-type (positive) and N-type (negative) semiconductor materials at their junction. When an electric current is applied, heat is absorbed at the cold plate and dissipated at the hot plate, thus effectively controlling the temperature of the target surface. By reversing the direction of the current, the plates reverse their function, turning the previously cold plate into a hot plate and vice versa.

[0049] the term" sensor The term "sensor" refers to a device that detects and responds to signals or stimuli, and includes elements that allow the sensor to transmit information to other electronic devices, including computer processors. Sensors are equipped with components that are susceptible to the physical properties of the surrounding environment (e.g., temperature) or to the spectral range (e.g., visible light or ultrasound that can be converted into an image) (i.e., a camera). Specifically, in the context of this invention, the term "sensor" refers to any sensor equipped with a lens covering the sensor, where the lens requires occasional cleaning, melting accumulated ice, or evaporating accumulated moisture. The term "sensor" should be interpreted to include, but is not limited to, proximity sensors, optical sensors, IR sensors, color sensors, light sensors (optical sensors), smoke sensors (including IR beam fire detection sensors), event cameras, and monitoring sensors.

[0050] the term "lamp" With the term " Lighting source "Interchangeable, including lighting devices such as various types of lamps, such as LED-based lamps and lamps with bulbs based on various gases. Not limited to this, lamps include vehicle lights, streetlights, traffic lights, and camera lights. Vehicle lights include headlights, main road lights, and headlamps, headlights used as high beams, low beams, or various streetlights found in vehicles, and special vehicle lighting for dashcams. Camera lights include lights attached to standalone cameras such as street cameras, CCTV, security cameras, and lasers, whether as part of a camera / sensor or as part of a sensor layout."

[0051] the term" Storage tank A liquid reservoir typically has an open top capable of holding liquids such as water. There are no particular limitations on the volume of the reservoir, but sufficient water should be considered to clean a given sensor using a sensor cleaning module. Generally, a volume of 0.1 to 1.5 liters per sensor should be adequate, as the reservoir is refilled with water condensed by the TEC (Transmitter Cooling Device). The sensor cleaning module may be equipped with a funnel positioned between the cold plate and the reservoir to guide condensate droplets from the cold plate into the reservoir.

[0052] The sensor cleaning module can be installed near the sensor. The sensor cleaning module can be as close as 10cm, 9cm, 8cm, 7cm, 6cm, 5cm, 4cm, 3cm, 2cm, or 1cm (measured as the distance from the center of gravity of the TEC to the center of the sensor's cover lens). In some embodiments, the sensor cleaning module is connected to a water source, such as a water reservoir with a water pipe no longer than 10cm.

[0053] The sensor cleaning module may include a TEC with a cavity, wherein the cavity has dimensions suitable for accommodating at least a portion of an effector (e.g., a sensor) or an effector including a lens or cover of the sensor. The cavity may extend through the hot plate of the TEC from the outer surface of the hot plate toward the hot plate-facing surface facing the p / n junction. The cavity may further extend through the p / n junction. The cavity may be a fully through-hole cavity and may extend from the hot plate through the p / n junction, further through the cold plate, and all the way to the outer surface of the cold plate.

[0054] Voided TECs are commercially available, for example from TEC Microsystems GmbH (Berlin, Germany) and Minkin Arctic Tec Technologies GmbH (Dortmund, Germany), or voided TECs can be custom-made and / or fabricated using known technologies.

[0055] The cavities in one or more plates of the TEC may also include thermally conductive sleeves for surrounding the sensor. The internal cavities of the thermally conductive sleeves have dimensions suitable for accommodating the effector to be housed therein. Therefore, the cavities in the plates can have internal dimensions for accommodating the thermally conductive sleeve and the sensor. The term "..." Thermal sleeve "" refers to a sheet made of thermally conductive material, that is, a sheet with the ability to conduct heat through the thermally conductive material and characterized by a high thermal conductivity (e.g., above 10 W / m²) at room temperature. -1 K -1 20Wm -1 K -1 Or 50Wm -1 K -1 Materials such as metals and alloys. Due to the high thermal conductivity of the heat-conducting sleeve, the heat-conducting sleeve can effectively transfer heat from one surface of the sheet in contact with the TEC plate to the other surface of the heat-conducting sleeve in contact with the effector wall or lens.

[0056] The water jet nozzle can be selected from a variety of commercially available water jet nozzles. In some embodiments, the effector cleaning module includes more than one water jet nozzle, which is positioned at different angles and locations relative to the sensor and designed for effective cleaning and rinsing. In some embodiments, one water jet nozzle is connected to a water pump to clean the sensor, while another air jet nozzle is connected to the air compressor of the effector cleaning module and is designed to dry the effector lens after cleaning or to remove dust and dirt without pre-cleaning.

[0057] In some embodiments, the same water jet nozzle is connected to a water pump at one port via a three-way valve and to an air compressor at the second port of the three-way valve. The module can switch between a first state and a second state. In the first state, the three-way valve connects the water jet nozzle to supply water to the water jet nozzle to clean the sensor. In the second state, the three-way valve connects the water jet nozzle (which then functions as an air jet nozzle) to compressed air to dry the effector lens or remove dust or other contaminants from the effector lens.

[0058] In some embodiments, as known in TECs, the cold and hot plates of a TEC can switch their functions by changing the direction of the current. This allows for temporary cooling of the effector's lens when heat needs to be removed from the effector's lens.

[0059] The effector cleaning module may be equipped with an air cover attached to the outer side of the cold plate. The air cover, together with the cold plate, forms a semi-open compartment housing defining a space adjacent to the cold plate. The air cover may have an opening allowing airflow through the semi-open compartment defined by the air cover. The opening may be located on a side of the compartment transverse to the cold plate. The compartment defined by the air cover and the cold plate may include an air maze as known in the art, and may also include a filter and / or particulate trap as known in the art at the air inlet to prevent dust and debris from reaching the TEC plate. This allows air to flow more slowly on the cold plate, thereby improving the water generation efficiency on the cold plate (providing more contact time between the air and the cold plate, which allows the air to reach the dew point). A similar air compartment with an opening at the inlet and an optional air filter may be placed near the hot plate, allowing airflow through the hot plate to remove heat from it and acting as a radiator.

[0060] The TEC can take any desired structure. The TEC can be square, rectangular, or annular. In embodiments with a cavity to accommodate the sensor, the cavity can be centered relative to the main plane of the TEC plate, but it can also be off-center. The TEC can have an elongated portion below the cavity, such that most of the water generated above the cold plate forms below the sensor's location. In some embodiments, a second TEC can be present in series with the TEC accompanying the sensor. This arrangement of two TECs in series allows the two TECs to operate at different voltages, such that the TEC accompanying the sensor turns on and off as needed or provides power to clean and / or cool the sensor, while the second TEC provides power as needed to generate water. To improve system performance, multi-stage TEC systems as known in the art can be implemented. However, the normal operating voltage range is typically 5.5V to 25V.

[0061] In some embodiments, the sensor cleaning module may include a photovoltaic cell to provide power for operating the TEC, water pump, and / or any other electrical components.

[0062] In some embodiments, the sensor cleaning module may include an electric fan to optimize heat dissipation from the heat sink connected to the hot side of the TEC.

[0063] The effector cleaning module may include a controller. The controller includes all necessary components to operably control the TEC and the pump of the effector cleaning module according to preset programmable instructions. In embodiments of the invention including a controller, the effector cleaning module may further include at least one operating sensor selected from temperature sensors, humidity sensors, and water level sensors. The term "..." Operating Sensors "" refers to a sensor used for the operation of a self-cleaning effector system, distinguished from a sensor that acts as the effector in an embodiment where the effector is a sensor. The controller can communicate with at least one of the operating sensors, and with the TEC, air compressor, and water pump. The controller can turn the TEC on or off, or adjust the power supplied to the TEC, based on parameters received from at least one operating sensor. The controller can also turn the water pump on or off, or adjust the power supplied to the water pump.

[0064] The effector cleaning module can be operated by the controller such that after each operation of the effector cleaning module and cleaning of the effector lens using water from the reservoir, or when the detector detects that the water level in the reservoir is below a predetermined level, the effector cleaning module will switch to an operating mode, in which the TEC is activated, and water begins to be generated on the cold plate of the TEC and drips into the reservoir. The reservoir can be replenished with water until the water level reaches the on / off switch detector. The module can also operate conditionally when the temperature and humidity levels allow water to form in the cold plate, and when the climatic conditions of temperature and humidity are below the conditions for water generation; in this case, the sensor cleaning module is set to keep the TEC idle.

[0065] the term" controller The device, as inferred herein, includes processing and / or computing capabilities, such as a computer, network device, or similar computer, and may be used to interact with other components of the sensor cleaning module (e.g., TEC, air compressor, pump, sensors of the module (e.g., but not limited to water level sensors, TEC board surface temperature sensors, ambient temperature sensors)) and may include at least one processor known in the art.

[0066] The controller may include an input / output interface configured to mediate data input and output between various components of the sensor cleaning module, and may include within the controller: a memory configured to store executable instructions (software) and data (particularly executable instructions for performing different operating modes of the system, as will be described in detail); a graphics processor for performing image processing (e.g., for a user interface); a main processor configured to perform computational operations based on programs and data stored in the memory; and a system bus serving as a path for sending and receiving data between the input / output interface, the memory, the graphics processor, and the main processor.

[0067] The memory can retrieve control programs and control data used to control the operation of the sensor cleaning module from the storage device and store the retrieved results.

[0068] The memory may include volatile memory, such as static random access memory (SRAM) and dynamic random access memory (DRAM). However, embodiments are not limited thereto. If desired, the memory may also include non-volatile memory, such as flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM).

[0069] In a second aspect, the present invention provides a self-cleaning effector having an effector cleaning module according to the above embodiments, and an effector coupled to the effector cleaning module. The connection between the effector cleaning module and the effector can be achieved by housing the effector within a cavity in the hot plate of the TEC. The effector can be housed in the cavity of the hot plate such that the lens of the effector faces the opening of the cavity on the surface of the hot plate of the TEC. The lens (or cover) of the effector can be aligned with the surface of the hot plate, penetrating the exterior of the hot plate or located within the cavity but facing the environment, to allow the effector to receive physical characteristics (e.g., images, visible light images, infrared images, ultrasonic images, etc.) measured from the environment.

[0070] In a TEC (Transformer Electrode), a cavity extends from a hot plate to a cold plate, and the effector, housed within the cavity, is positioned within it. The effector's lens faces or protrudes from the hot plate, and the rear portion of the effector (including its electronics) is embedded in the cold plate portion of the cavity. This allows the cold plate to remove heat from the effector's electronics while condensing air moisture into water, while the hot plate is used for de-icing and / or dehydration of any moisture that may form on the lens, and to block the effector's image by heating the lens surface.

[0071] The effector's lens can be located beneath a transparent cover that is part of the hot plate. For this purpose, the hot plate can be made of a transparent conductive material, such as indium tin oxide and PEDOT:PSS.

[0072] The self-cleaning effector system of the present invention can be operated by a controller according to several possible modes. In a first mode, namely the water generation mode, the TEC is activated by the controller to generate water by condensing moisture in the air on the cold plate into water droplets and dropping the droplets into a reservoir by gravity. The controller can invoke the water generation mode to activate the TEC in response to a signal received from a water level sensor indicating that the water level in the reservoir is below a predetermined value, indicating that the water level in the reservoir is low. The water generation mode can also be invoked or depends on inputs from a humidity sensor and a temperature sensor (or from a vehicle computer sensor) to ambient humidity and temperature parameters, which record ambient humidity and temperature, respectively, indicating that water generation is feasible under these conditions. The parameters received from the temperature sensor and the humidity sensor can also indicate the power level required to implement water generation on the TEC, i.e., the power required may be lower when the relative humidity is high (e.g., low temperature and high humidity) than under conditions of low relative humidity.

[0073] In the second mode (effector lens cleaning mode), the water pump is started by the controller or manually to draw water from the reservoir to the water jet nozzle. The third mode can be the effector drying mode, where the water jet nozzle is switched by the controller via a three-way valve to connect to the air pipe, and the air compressor is activated to drive airflow through the air pipe to the water jet nozzle. When the controller operates the effector lens cleaning mode or the effector lens drying mode in response to visual blur and / or based on the type of blur detected by a detector communicating with the host computer of the device carrying the effector (e.g., the vehicle's computer), the controller can start the pump and switch the water jet nozzle to connect to the water pump or the air compressor. Alternatively or additionally, these modes can be manually activated by the operator of the device, such as a driver of a vehicle equipped with a self-cleaning effector system. Alternatively or additionally, these modes can be activated periodically in an automatic manner.

[0074] In another optional mode (anti-freeze mode), the cold plate is in contact with the reservoir or the water in the reservoir (e.g., immersed in the water in the reservoir or in contact with the heat-conducting wall of the reservoir). In response to receiving a water temperature reading indicating that the water is nearing its freezing point via a thermometer in the water, the controller can switch the cold plate to a hot plate to heat the water in the reservoir. In some embodiments, the anti-freeze mode can be activated in response to environmental parameters that are expected to freeze the water in the reservoir.

[0075] In some embodiments, the self-cleaning sensor system may have an effector lens defrosting mode. In effector lens defrosting mode, the controller activates the TEC for a duration sufficient to allow the hot plate to remove ice accumulated on the sensor lens.

[0076] In some embodiments, the self-cleaning sensor system may have a cold plate defrosting mode. In cold plate defrosting mode, the direction of the current is switched by the controller, causing the cold plate to become a hot plate and the hot plate to become a cold plate, and this continues for a time sufficient to remove the ice accumulated on the previous cold plate.

[0077] In some embodiments, the self-cleaning effector system may have an electronics-only cooling mode. In the electronics-only cooling mode, the cold plate is cooled to a temperature above the dew point, allowing it to supply cool air to the effector's electronics without generating water condensation through the effector's heat sink.

[0078] In some embodiments, the self-cleaning effector system may have a preventative cleaning mode. In preventative cleaning mode, the effector is a camera, and the camera is designed to provide input to a controller regarding an object approaching the lens of the camera, and the controller is designed to activate a water jet nozzle in response to the input to deflect the approaching object away from the lens.

[0079] In some embodiments, the self-cleaning effector system is embedded in a vehicle. In some embodiments, the effector is a camera or lidar of the vehicle, and the self-cleaning effector system embedded in the vehicle is a camera or lidar coupled to the effector cleaning module of the present invention for use in the automotive industry. In some embodiments, the vehicle's camera includes lights (e.g., LEDs), and the self-cleaning effector system is designed to clean the camera's lights in addition to cleaning the camera itself. In some embodiments, the self-cleaning effector system of the present invention embedded in a vehicle does not include a surveillance camera.

[0080] In some embodiments, the self-cleaning effector system includes multiple TECs, and the effector is disposed between two or more TECs, or embedded in one of the TECs.

[0081] In some embodiments, the effector is a surveillance camera. In such embodiments, the self-cleaning effector system is a surveillance camera connected to the effector cleaning module of the present invention. In some embodiments, the surveillance camera equipped with the sensor cleaning mode of the present invention does not include a camera to be implemented in a vehicle.

[0082] Now for reference Figure 1 The image depicts an effector cleaning module 110 according to an embodiment of the present invention, and refers to... Figures 2 to 4 , Figures 2 to 4 A self-cleaning effector 100 according to the present invention is depicted. For simplicity, the effector cleaning module and the self-cleaning effector may be interchangeably referred to herein as a sensor cleaning module and a self-cleaning sensor, respectively.

[0083] When the sensor cleaning module 110 houses the sensor 14, the sensor 14 is referred to herein as a self-cleaning sensor 100. The sensor cleaning module includes a TEC 20, which includes a cold plate 22, a hot plate 24, and a P / N junction 25 between the cold plate 22 and the hot plate 24. A water pipe 44 connects a water pump 40 to a storage tank 48 at one end and to a water jet nozzle 42 at the other end, allowing the water pump 40 to supply water from the storage tank 48 to the jet nozzle 42. An inlet 44a of the water pipe is disposed in the storage tank such that when the storage tank holds stored water 49, the inlet 44a is immersed in water. The water pipe 44 is connected to the water jet nozzle 42. As an example, Figure 1 The water jet nozzle 42 is disposed in the hot plate 24, but it can still be disposed in the main body of the device including the sensor cleaning module (i.e., Figure 4In 70), such as the body of a vehicle, the body of a camera, the body of a lamp, or the cover of a lamp (e.g., the cover of a lamp in a traffic light). When TEC 20 is running, the cold plate acts as a water generator, causing moisture in the air to condense into water droplets on the cold plate 22. The water droplets on the cold plate fall under gravity into a reservoir 48 located below the cold plate 22. In some embodiments, the reservoir 48 may include a quantity of antifreeze and / or detergent to mix with the collected water. In some embodiments, a dispenser is provided with antifreeze and / or detergent to be added to the collected water. In some embodiments, a controller is programmed to add antifreeze and / or detergent as needed. In some embodiments, the air leaving the cold plate after moisture removal becomes dry air, which can be guided by ducts and / or actuation devices to provide a dry environment to sensors or other utilities that can benefit from the dry and cold air. For example, the dry, cold air leaving the cold plate may be guided to supply a compressor that provides compressed air to a jet nozzle. In other embodiments, the dry air is actuated (e.g., by a fan) to the lens of an effector.

[0084] The water jet nozzle 42 is positioned such that it can clean the lens 14 of the effector 10 connected to the effector cleaning module 110. The water jet nozzle 42 can be positioned such that it does not obstruct the lens 14 of the sensor 10.

[0085] In some embodiments, such as Figure 4 As shown, the water jet nozzle 42 can be connected to the air compressor 95 via pipes 44B and 44, which connect the jet nozzle 42 to the air compressor (optionally switchable between connection to air inlet pipe 44B and water inlet pipe 44A via a three-way valve).

[0086] The sensor cleaning module 110 may be equipped with a funnel 46, which is used to guide water droplets condensed from the cold plate 22 into the liquid storage tank 48.

[0087] Figure 1 The TEC 20 in the example given includes a cavity 26 having internal dimensions that allow the cavity 26 to accommodate a sensor. In this example, the cavity is a through-hole that passes through the hot plate 24. The cavity may also continue through the cold plate. The cavity may be perpendicular to the surface of the hot plate 22 or inclined to the surface. In other embodiments, the through-hole only passes through the hot plate 24, such that when the sensor is accommodated in the cavity, the sensor can be positioned such that the sensor's lens faces the cavity opening in the outer surface of the hot plate 24a, while the back of the sensor faces the cold plate 22.

[0088] In some embodiments, instead of a through-hole, a cavity exists inside the hot plate, the cavity being sized to accommodate and cover the sensor. The sensor is intended to be placed within the cavity, and the hot plate, made of a material transparent in the spectrum associated with the sensor, covers the sensor and serves as a lens for it.

[0089] In another aspect, the present invention provides a vehicle comprising the self-cleaning sensor system of the present invention as described above. The main body portion (such as a bumper) of the vehicle, which embeds the self-cleaning sensor system and is in contact with the environment, can serve as a heat sink for the self-cleaning sensor system.

[0090] Figures 2-4 The self-cleaning effector system 100 depicted herein includes a controller 30 that communicates with operating sensors. In the given example, the operating sensors are a temperature sensor 32, a humidity sensor 34, and a water level sensor 45. The controller 30 can communicate with at least one of the temperature sensor 32, the water level sensor 45, and the humidity sensor 34, and can also communicate operationally with a TEC 20 and a water pump 40, wherein the controller 30 turns the TEC 20 on or off, turns the water pump 40 on or off, and / or adjusts the power of the TEC 20 based on parameters received from at least one of the temperature sensor 32, the water level sensor 45, and the humidity sensor 34. The controller 30 can also receive these parameters from a computer in a device (e.g., a vehicle) equipped with the self-cleaning sensor system.

[0091] For example, TEC 20 can be activated by controller 30 such that after each operation of effector cleaning module 110 and the use of water from reservoir 48 to clean lens 14 of effector 10, effector cleaning module 110 switches to operating mode, in which TEC plates 22, 24 are activated, water begins to be generated on cold plate 22 and drips into reservoir 48, reservoir 48 is replenished with water until the water level reaches on / off switch water level detector 45. Module 110 can also operate conditionally when temperature and humidity levels allow water to form in cold plate 22, and when climatic conditions of temperature and humidity are below those for water generation, effector cleaning module 110 is set to keep TEC 20 idle.

[0092] Now for reference Figure 2A cavity 26 in the hot plate 22 accommodates a heat-conducting sleeve 28, which covers a portion of the surface of the cavity 26, leaving the remaining cavity (the cavity surrounded by the heat-conducting sleeve 28 is compatible with the lens 14 of the effector 10). Therefore, the internal dimensions of the cavity 26 are suitable for accommodating both the heat-conducting sleeve 28 and the lens 14 of the effector 10. The heat-conducting sleeve 28 can be in full contact with the lens 14 of the effector 10 to effectively transfer heat from the hot plate 24 to the lens 14 of the effector 10, thereby effectively removing condensate and / or accumulated ice from the lens 14 of the effector 10. The heat-conducting sleeve can be made, for example, of brass, copper, or other metals. The electronics chamber 12 of the effector 10 can be in direct contact with the cold plate 22 or with the air cover 50 of the effector cleaning module 110. Air cover 50 can be attached to the outer side 22B of cold plate 22, defining a side-open space, wherein the two lateral sides of cover 52 and cover 54 serve as an inlet and an outlet, allowing air to flow through the space to remove heat from hot plate 24, which serves as a radiator.

[0093] Now for reference Figure 6 and Figure 7 , Figure 6 and Figure 7 Another embodiment of the invention is depicted, wherein the self-cleaning effector 100 is embedded in the bumper or glass 70 of a vehicle 1000. Figure 6 In the TEC 20, the hot plate 24 is separated from the outer side of the bumper / glass 70, thus defining a space 58 through which air 80 enters from inlet 52 and flows over the hot plate 24, and then through inlet 53 to a bypass 59 defined by an air cover 50 and the cold plate's face facing the air cover 50, thereby allowing airflow over the cold plate 22. The airflow 80 flowing over the hot plate 24 removes heat from the hot plate 24 and becomes warmer. This warmer airflow can then flow over the bypass 59 above the cold plate 22 and act as a radiator. Whenever heating the cold plate is not required, such as when the cold plate is used for water production, an optional baffle (not shown) between space 58 and bypass 59 can prevent the warmer airflow over the cold plate 22. Figure 7 In this diagram, there is no duct connecting the airflow over the hot plate and the airflow over the cold plate; therefore, the two airflows flow independently over the two plates 22 and 24. It should be noted that the air inlets and airflow directions in all figures are arbitrary and non-constrained, as they are shown here for illustrative purposes only; however, the actual flow directions could be reversed in the real world. The actual entry and exit points may also differ in reality. This does not alter the primary mode of operation that the figures are intended to illustrate.

[0094] Now for reference Figure 8a and Figure 8b , Figure 8a and Figure 8bA self-cleaning sensor 100 and a self-cleaning LED according to an embodiment of the present invention are depicted, wherein each plate of the TEC has heat sink extensions 92 and 94 respectively. An airflow 80 flowing on the extensions 92 and 94 removes heat from the heat sink extensions 92 and 94. Figure 8b In this embodiment, the effector (LED 600) is positioned near the TEC. A fan 97 is attached to the surface of the hot plate 24 to actively remove heat from the hot plate 24. A nozzle 620 is selectively connected to a reservoir 48 via a pump 40 or to an air compressor 95. The nozzle 620 is positioned at an angle to and a distance from the lens of the LED 601 to effectively clean the lens by spraying water from the reservoir 48 or to dry the lens with an airflow from the air compressor 95.

[0095] Now for reference Figure 9 , Figure 9 Another embodiment of the invention is depicted, wherein an additional TEC 60 having a cold plate 62, a hot plate 64 and an air cover 66 is positioned such that the cold plate 62 of the additional TEC 60 is above the reservoir 48.

[0096] Now for reference Figure 10 , Figure 10 A self-cleaning effector 110 is depicted, wherein the effector is a lidar 200 having an electronics compartment 17 and a lens 18. The lidar is positioned near the TEC 20 and is equipped with multiple water jet nozzles 42 for cleaning the lens 18, which are in fluid communication with a reservoir 42 as in the previous embodiment. An airflow 80 flowing over an inlet 52 on a hot plate 22 serves as a heat sink.

[0097] Now for reference Figure 11 , Figure 11 A self-cleaning effector 500 according to an embodiment of the present invention is depicted, wherein the effector 10 is a security camera and is equipped with a photovoltaic cell 300. The photovoltaic cell 300 provides power to the self-cleaning effector (camera) 500 during operation and can charge the battery of the self-cleaning effector (camera) 500 between operating periods. An electric fan 97 may also be located near the TEC or connected to the heat sink extension 92. A three-way valve 41 provided on the pipe leading to the nozzle 42 allows selection between connection to a water pump 40 or an air compressor 95.

[0098] The heat plate 24 of the TEC 20 can make thermal contact with the camera housing 56 to transfer heat to and from the housing to the camera lens.

[0099] Figure 11The effector cleaning module 500 further includes an air compressor 95 fluidly connected to the water jet nozzle 42 via an air pipe 96, and a three-way valve (not shown) disposed between the air compressor, the water pump, and the nozzle. The three-way valve includes an inlet connected to a water pipe, another inlet connected to the compressor via an air pipe, and an outlet connected to the water jet nozzle, enabling the water jet nozzle 42 to dry or remove dust from the lens of the effector 10 using a compressed air flow. This choice of compressed air characteristics can be added to any other embodiment of the invention.

[0100] Now for reference Figure 12 , Figure 12 Depicting Figure 11 The self-cleaning security camera also includes a camera light (e.g., an LED) 600 with a lens 601 and an external water jet 620 attached to the camera body 630 and positioned by gravity above the light and the camera lens, allowing water to be sprayed onto the lens whenever it needs cleaning. Cleaning can be prompted manually or whenever the management system in the camera receives an input indicating that the lens needs cleaning. The input can be obtained via a sensor or by analyzing images acquired by the camera. In this embodiment, the fan 97 is positioned parallel to the outer surface of the TEC's heat plate 24 and attached to the heat sink protrusion 94 of the heat plate 24.

[0101] Now for reference Figure 13 The self-cleaning effector (e.g., sensor) system 100 is embedded in the body portion 70 (e.g., bumper) of the vehicle 1000, which serves as a radiator for the TEC's heat plate 24. The airflow 80 impacting the body portion 70 also acts as a radiator for the body portion 70, removing heat from the body portion 70 and the electronics 12 of the sensor 10 through radiator channels 90 within the air cover 50.

[0102] Now for reference Figure 14 As an example, a self-cleaning effector system 1000 with an LED 600 as an effector includes two TECs 20, each TEC being similar to the TEC shown in Figure 8, and wherein the LED 600 is disposed between the two TECs 20.

[0103] Example The water production of a commercially available TEC (TEC1-12710) and the effect of a fan on production under various conditions, with the fan directed at the cold and / or hot plates, were tested. It was found that the TEC produced condensate at a rate of 3.5 ml / hr–6.8 ml / hr at relative humidity of 44%–64% and temperatures of 26°C–34°C. In contrast, when no fan was directly applied to either plate, the TEC produced condensate at a rate of 1.1 ml / hr.

[0104] The results show that water can be generated by the TEC and collected under the test conditions. Adding a fan that blows air directly onto the hot or cold plate significantly increases the water production output. The water generated by the TEC can be pumped and used to clean effectors, such as sensors.

Claims

1. An effector cleaning module 110, comprising: Thermoelectric cooler TEC 20, TEC 20 including cold plate 22 and hot plate 24, Water pump 40, Water jet nozzle 42, Water pipe 44, Storage tank 48, The liquid storage tank 48 is located below the cold plate 22 of the TEC 20 and is used to collect water that condenses on the cold plate 22 during the operation of the TEC 20. The cold plate 22 has an inner side 22a facing the hot plate 24 and an outer side 22b facing away from the hot plate 24. The pump 40 is in fluid communication with the liquid storage tank 48 and the water jet nozzle 42 through the water pipe 44 for supplying water from the liquid storage tank 42 to the water jet nozzle 42.

2. The effector cleaning module 110 according to claim 1, wherein, The TEC 20 also includes a cavity 26 through the hot plate 24 of the TEC 20, wherein the internal dimensions of the cavity are adapted to accommodate the effector 10.

3. The effector cleaning module 110 according to claim 2, wherein, The cavity 26 includes a heat-conducting sleeve 28 that covers a portion of the surface of the cavity 26. The internal dimensions of the cavity 26 are adapted to accommodate the heat-conducting sleeve 28 and the effector 10, and the remaining cavity surrounded by the heat-conducting sleeve has dimensions adapted to accommodate the effector 10.

4. The effector cleaning module 110 according to claim 1, wherein, The water jet nozzle 42 is positioned such that it can clean the lens 14 of the effector 10 connected to the effector cleaning module 110.

5. The effector cleaning module 110 according to claim 1 further includes an air compressor 95 in fluid communication with the water jet nozzle 42, and a three-way valve 41 connected to the water pipe 44A, the air pipe 44B, and the water jet nozzle 42, such that the water jet nozzle 42 can be connected to air in one state to dry or remove dust on the lens 14 of the effector 10 with compressed air, and can be connected to the water pump in a second state to clean the lens 14 of the effector 10.

6. The effector cleaning module 110 of claim 1 further includes a controller 30 and at least one of a temperature sensor 32, a water level sensor 45, and a humidity sensor 34, wherein the controller 30 communicates with at least one of the temperature sensor 32, the water level sensor 45, and the humidity sensor 34 and operably communicates with the TEC and the water pump 40, wherein the controller 30 turns the TEC on or off, turns the water pump 40 on or off, or adjusts the power of the TEC according to parameters received from at least one of the temperature sensor 32, the water level sensor 45, and the humidity sensor 34.

7. The effector cleaning module 110 according to claim 1 further includes an air cover 50, the air cover being connected to the outer side 22B of the cold plate 22 to define a space having an opening side 52 and an opening side 54.

8. The effector cleaning module 110 according to claim 7, wherein, The space defined by the air cover accommodates an air bend 51, which allows air to flow more slowly on the cold plate and improves water generation efficiency.

9. The effector cleaning module 110 of claim 1 further includes an additional TEC 60, the additional TEC 60 being positioned such that the cold plate 62 of the additional TEC 60 is located above the reservoir 48.

10. The effector cleaning module 110 according to claim 2, wherein, The cold plate 22 is made of a transparent material, and the hole 26 is covered by the cold plate 22 such that the hole 26 is closed at the side of the cold plate, and the cold plate 22 covers the effector lens when the effector is housed in the hole 26.

11. The effector cleaning module according to claim 2, wherein, The cavity 26 is a through cavity.

12. The effector cleaning module according to claim 1, wherein, The water tank 48 also includes at least one of an antifreeze dispenser and a detergent dispenser.

13. A self-cleaning effector system 100, comprising an effector cleaning module 110 according to claim 1 and an effector 10, wherein the effector 10 is coupled to the effector cleaning module 110.

14. The self-cleaning effector system 100 according to claim 13, wherein, The effector 10 is housed in the cavity of the TEC20.

15. The self-cleaning effector system 100 according to claim 13, wherein, The effector 10 is located near the effector cleaning module 110.

16. The self-cleaning effector system 100 according to claim 13, wherein, The effector 10 is one of a sensor, lidar, camera, detector, and LED.

17. The self-cleaning effector system 100 according to claim 13, wherein, The effector 10 is located at a maximum distance of 10 cm from the inlet 44A of the pipe 44.

18. The self-cleaning effector system 100 of claim 13, comprising a water generation mode in which the TEC 20 is activated by the controller 30 to generate water by condensing moisture in the air on the cold plate 22 into water droplets and dropping the water droplets onto the liquid storage tank 48 by gravity.

19. The self-cleaning effector system 100 according to claim 18, wherein, The controller 30 activates the TEC in the water generation mode in response to a signal received from the water level sensor indicating that the water level in the storage tank is below a predetermined value.

20. The self-cleaning effector system 100 according to claim 18, wherein, The TEC 20 is activated by the controller 30 in the water generation mode based on the input of ambient humidity and temperature parameters received by the controller 30 from humidity sensors and temperature sensors that respectively record ambient humidity and temperature.

21. The self-cleaning effector system 100 according to claim 16, wherein, The effector is a camera with a housing, and the heat plate 24 of the TEC 20 is in thermal contact with the housing 56 of the camera to transfer heat to and from the housing 56 to the lens 14 of the camera 10.

22. The self-cleaning effector system 100 according to claim 13 includes an effector lens cleaning mode, wherein the water pump is activated by the controller 30 or manually activated to pump water from the reservoir to the water jet nozzle 42.

23. The self-cleaning effector system 100 of claim 13, comprising an effector lens drying mode, wherein the water jet nozzle 42 is switched to be connected to an air duct, and the air compressor 95 is activated to drive an airflow to the water jet nozzle.

24. The self-cleaning effector system 100 of claim 13, including an antifreeze mode, wherein the cold plate 22 is designed to contact the liquid reservoir 48 or the water 49 in the liquid reservoir 48 and is switched to a hot plate to heat the water 49 in the liquid reservoir 48.

25. The self-cleaning effector system 100 of claim 13, comprising an effector lens defrosting mode, wherein the TEC 20 is turned on by a controller for a period of time sufficient for the hot plate 24 to remove ice accumulated on the lens 14 of the effector 10.

26. The self-cleaning effector system 100 of claim 13, including an effector lens dehydration mode, wherein the TEC 20 is turned on for a duration and intensity sufficient to cause the hot plate 24 to evaporate moisture on the lens 14 of the effector 10.

27. The self-cleaning effector system 100 of claim 13 includes a cold plate defrosting mode in which the direction of the current is switched such that the cold plate 22 becomes a hot plate and the hot plate 24 becomes a cold plate, and this continues for a time sufficient to remove ice accumulated on the previous cold plate 22.

28. The self-cleaning effector system 100 of claim 13, comprising an effector electronics-only cooling mode, wherein the cold plate 22 is cooled to a temperature above the dew point, such that the cold plate 22 provides cool air to the electronics of the effector 10 without producing condensation.

29. The self-cleaning effector system 100 of claim 13, comprising a preventative cleaning mode, wherein the effector 10 is a camera, and the camera is configured to provide input to a controller 30 regarding an object approaching the lens of the camera, and the controller 30 is configured to activate the water jet nozzle 42 in response to the input to deflect the approaching object away from the lens 14 of the effector.

30. The self-cleaning effector system 100 according to claim 13, wherein, The effector is selected from sensors, cameras 500, LEDs, detectors, and lidar 200.

31. A vehicle 1000, comprising a self-cleaning effector system 100 according to claim 13, wherein the self-cleaning effector system 100 is embedded in the body portion or engine portion 70 of the vehicle 1000.

32. The means of transport 1000 according to claim 31, wherein, The main body portion of the vehicle into which the self-cleaning effector system 100 is embedded serves as a radiator for the self-cleaning effector system.

33. A self-cleaning sensor system 100, comprising an effector cleaning module 110 according to claim 1 and a sensor 10, wherein the sensor 10 is coupled to the effector cleaning module 110.

34. A self-cleaning camera system 100, comprising an effector cleaning module 110 according to claim 1 and a camera 10, wherein the camera 10 is connected to the effector cleaning module 110.

35. A self-cleaning lidar system 100, comprising an effector cleaning module 110 according to claim 1 and a lidar 10, wherein a camera 10 is connected to the effector cleaning module 110.

36. A self-cleaning lamp system 100, comprising an effector cleaning module 110 according to claim 1 and a lamp 10, wherein the lamp 10 is connected to the effector cleaning module 110.

37. A self-cleaning detector system 100, comprising an effector cleaning module 110 according to claim 1 and a detector 10, wherein the detector 10 is coupled to the effector cleaning module 110.

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