Lidar cleaning system

Abstract

Methods, apparatus, devices, systems, and subsystems for cleaning a lidar sensor are provided. In one aspect, a lidar cleaning system includes a wiping portion configured to be in contact with an outer surface of a lidar sensor, a drive system coupled to the wiping portion and configured to drive the wiping portion in an operational state to move over the outer surface of the lidar sensor, and a fluid system configured to spray a liquid toward the outer surface of the lidar sensor.

Description

Cross-reference to related applications

[0001] This application claims priority to Chinese Patent Application No. 202410784279.0, filed June 17, 2024; Chinese Patent Application No. 202410317237.6, filed March 19, 2024; Chinese Patent Application No. 202421714059.2, filed July 18, 2024; Chinese Patent Application No. 202421714045.0, filed July 18, 2024; and Chinese Patent Application No. 202411328208.6, filed September 23, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to cleaning systems, and more particularly to cleaning systems for lidar sensors. Background Technology

[0003] LiDAR (Light Detection and Ranging) sensors are used in vehicles, such as those equipped with Advanced Driver Assistance Systems (ADAS) and / or autonomous driving capabilities. When vehicles are in motion, they frequently encounter weather conditions such as rain, snow, ice, sandstorms, dust, scratches, sewage, insect remains, and / or mud. This dirt and grime can accumulate on the viewing window of the LiDAR sensor, potentially making it difficult or impossible for the sensor to properly acquire information about the vehicle's surroundings. This can lead to inaccurate or suboptimal detection results, and even pose safety risks. Summary of the Invention

[0004] This disclosure describes methods, apparatus, systems, subsystems, and techniques for cleaning systems, such as lidar cleaning systems for lidar sensors.

[0005] On one hand, a lidar cleaning system is provided, comprising: a wiping part configured to contact an outer surface of a lidar sensor; and a drive system coupled to the wiping part and configured to drive the wiping part into an operational state to move on the outer surface of the lidar sensor, wherein the wiping part is detachably disposed in the lidar cleaning system.

[0006] Optionally, the lidar sensor is configured to move between a first position and a second position, and the lidar cleaning system is configured such that: when the lidar sensor is in the first position and the wiping part is in the working state, the wiping part contacts the outer surface of the lidar sensor; when the lidar sensor is in the second position and the wiping part is in the non-working state, the wiping part moves away from the lidar sensor.

[0007] Optionally, the lidar sensor is configured to move relative to the outer surface of the terminal device in one direction, and when the lidar sensor is in the first position, the lidar sensor is at least partially located above the outer surface in the direction; when the lidar sensor is in the second position, the lidar sensor is located below the outer surface in the direction.

[0008] Optionally, when the lidar sensor is in the second position inside the terminal device, a decorative cover is embedded in a hole on the body of the terminal device corresponding to the lidar sensor.

[0009] Optionally, the lidar cleaning system further includes a controller coupled to the drive system. The controller is configured to: receive at least one of the following: a signal indicating that the lidar sensor is in the first position; a signal indicating that the surface condition of the outer surface of the lidar sensor exceeds a threshold; a signal indicating weather information; or input information from a first user for activating the lidar cleaning system; and send a first control signal to the drive system to drive the wiping unit to move on the outer surface of the lidar sensor.

[0010] Optionally, the controller is configured to: determine that a predetermined cleaning process for the outer surface of the lidar sensor has been completed, and send an acknowledgment signal indicating that the predetermined cleaning process has been completed.

[0011] Optionally, the controller is configured to: receive a deactivation signal for disabling the lidar cleaning system, the deactivation signal indicating at least one of the following: the surface condition of the outer surface of the lidar sensor is below the threshold, the weather information changes, or input information from a second user for disabling the lidar cleaning system; and send a second control signal to the drive system to drive the wiping unit back to the initial position corresponding to the non-working state.

[0012] Optionally, the lidar sensor includes a window having the outer surface, and the shape of the wiping portion is configured to adapt to the shape of the window, such that the wiping portion remains in contact with a corresponding portion of the outer surface when it moves on the outer surface of the lidar sensor.

[0013] Optionally, the wiping portion includes: a support frame; and a wiper blade coupled to the support frame and configured to contact the outer surface of the lidar sensor.

[0014] Optionally, the support frame comprises flexible metal.

[0015] Optionally, the wiper blade may comprise flexible rubber or silicone.

[0016] Optionally, the wiper blade is coupled to the support frame by means of adhesive bonding, thermal riveting, or mechanical connection.

[0017] Optionally, the wiping unit further includes: a first wiper shaft coupled to a first end of the support frame; and a second wiper shaft coupled to a second end of the support frame, wherein the second end of the support frame is opposite to the first end of the support frame along a first axis, and the wiping unit reciprocates around the first axis.

[0018] Optionally, the first wiper shaft and the second wiper shaft are coupled to the support frame by riveting or welding.

[0019] Optionally, the lidar cleaning system further includes: a wiper drive assembly coupled to the first wiper shaft and configured to connect the wiping unit and the drive system.

[0020] Optionally, the wiper drive assembly includes: a connecting bushing coupled to the output shaft of the drive system; and a coupling assembly configured to connect the connecting bushing and the first wiper shaft of the wiping portion, wherein the drive system is configured to drive the output shaft to rotate the connecting bushing about the first axis, so as to cause the wiping portion to perform the reciprocating rotational motion via the first wiper shaft of the wiping portion.

[0021] Optionally, the connecting bushing is coupled to the output shaft by welding.

[0022] Optionally, the output shaft has a D-shaped, square, or polygonal shape.

[0023] Optionally, the lidar cleaning system further includes: a wiper support assembly coupled to the second wiper shaft and configured to support the reciprocating rotational motion of the wiping portion.

[0024] Optionally, the wiper support assembly includes: a rotating bushing coupled to the second wiper shaft of the wiping portion and configured to rotate about the first axis under the rotational drive of the second wiper shaft of the wiping portion; a connecting assembly configured to connect the second wiper shaft of the wiping portion and a first end of the rotating bushing; and a bearing coupled to a second end of the rotating bushing and configured to support the rotation of the rotating bushing.

[0025] Optionally, the wiper support assembly further includes: a bearing housing coupled to the bearing and configured to restrict movement of the bearing along a first axis, a second axis, and a third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other; and a bearing end cap coupled to the bearing housing and configured to support the bearing.

[0026] Optionally, the wiper support assembly further includes a sealing ring coupled to the bearing end cap and configured to at least protect the bearing from liquids or dust.

[0027] Optionally, the sealing ring is located inside the groove of the bearing end cap and at least partially contacts the rotating bushing.

[0028] Optionally, the sealing ring is positioned inside the groove of the bearing end cap by means of adhesive bonding.

[0029] Optionally, the wiper blade is detachably connected to the support frame.

[0030] Optionally, the radial flexibility of the wiping part is greater than its axial flexibility.

[0031] Optionally, the drive system includes: a motor; a reducer coupled to the motor; and an output shaft coupled to the reducer and the wiping section, wherein the reducer is configured to change the rotational speed of the motor for the output shaft.

[0032] Optionally, the reducer includes a plurality of gearboxes, the plurality of gearboxes including: a first gearbox for changing the rotational speed of the motor to a first speed; and a second gearbox for changing the first speed to a second speed for use on the output shaft.

[0033] Optionally, the first speed is less than the rotational speed, and the second speed is less than the first speed.

[0034] Optionally, the first speed is less than the rotational speed, the second speed is greater than the first speed, and the second speed is less than the rotational speed.

[0035] Optionally, the reducer includes: a worm gear coupled to the output shaft of the motor and configured to rotate about a first axis under the drive of the motor; and a worm wheel coupled to the worm gear and configured to rotate about a second axis perpendicular to the first axis under the rotational drive of the worm gear.

[0036] Optionally, the number of teeth on the worm gear is greater than the number of helical heads on the worm.

[0037] Optionally, the worm gear is coupled to the output shaft of the motor by bonding or interference fit.

[0038] Optionally, the reducer further includes: an intermediate shaft coupled to the worm gear and configured to rotate about the second axis under the rotational drive of the worm gear; an input gear coupled to the intermediate shaft and configured to rotate about the first axis under the rotational drive of the intermediate shaft; and an output gear coupled to the input gear and configured to rotate about the first axis under the rotational drive of the input gear, wherein the output shaft is coupled to the output gear and configured to rotate about the second axis under the rotational drive of the output gear.

[0039] Optionally, the number of teeth of the output gear is less than the number of teeth of the input gear.

[0040] Optionally, the worm gear is coupled to the intermediate shaft through its irregularly shaped inner hole.

[0041] Optionally, the reducer further includes: a first bearing coupled to a first end of the intermediate shaft; and a second bearing coupled to a second end of the intermediate shaft, wherein the first bearing and the second bearing are mounted on the housing of the reducer along the second axis.

[0042] Optionally, the drive system includes: a motor; a drive belt coupled to the motor and extending along a first axis, wherein the drive belt is configured to move along the first axis under the drive of the motor; and an output shaft coupled to the drive belt and the wiping unit, wherein the output shaft is configured to rotate about a second axis, and the rotation of the output shaft drives the wiping unit to perform the reciprocating rotational motion about the second axis.

[0043] Optionally, the transmission belt includes a closed belt made of a flexible material.

[0044] Optionally, the second axis is perpendicular to the first axis.

[0045] Optionally, the lidar cleaning system further includes a fluid system configured to spray fluid onto the outer surface of the lidar sensor.

[0046] Optionally, the fluid system includes: a fluid conduit; and at least one fluid nozzle coupled to the fluid conduit and configured to spray the fluid from the fluid conduit onto the outer surface of the lidar sensor.

[0047] Optionally, the fluid system further includes: a valve configured to control the fluid entering the fluid conduit, wherein the valve is configured to be opened or closed by an electromagnetic switch, the electromagnetic switch being controllable by a control circuit.

[0048] Optionally, the lidar sensor has a window having the outer surface, and the at least one fluid nozzle is configured to spray the fluid onto the window.

[0049] Optionally, when the lidar sensor is in the first position, the at least one fluid nozzle includes a plurality of fluid nozzles arranged around the viewing window.

[0050] Optionally, the at least one fluid nozzle is configured to spray no more than 5 grams of liquid at a time.

[0051] Optionally, the fluid system is configured to inject the fluid at time intervals between adjacent injections.

[0052] Optionally, the lidar cleaning system further includes a heating device configured to heat the fluid in the fluid system.

[0053] Optionally, the heating device includes a heating element made of wire.

[0054] Optionally, the wire is wound around at least a portion of the fluid conduit.

[0055] Optionally, the heating device is coupled to a control circuit and configured to be controlled by the control circuit.

[0056] On the one hand, a method for cleaning the outer surface of a lidar sensor using a lidar cleaning system as described in any of the foregoing aspects is provided.

[0057] On one hand, a lidar cleaning system is provided, comprising: a wiping section configured to contact the outer surface of a window of a lidar sensor; and a drive system including at least one linkage assembly coupled to the wiping section, the at least one linkage assembly including a first link and a second link, the second link including a first end coupled to the first link and a second end coupled to the wiping section, wherein the drive system is configured to drive the first link to move the second link along the edge of the window, thereby moving the wiping section on the outer surface of the window.

[0058] Optionally, the window includes a first edge and a second edge as the edges of the window, the first edge and the second edge extending along a first direction, and the lidar sensor includes a first side and a second side extending along a second direction, the second direction being different from the first direction, and the window is located between the first side and the second side along a third direction, the third direction being different from the first direction and the second direction.

[0059] Optionally, the window has a width and a height, the width being defined by the distance between the first side and the second side, and the height being defined by the length of the first edge or the length of the second edge.

[0060] Optionally, the height is less than the width.

[0061] Optionally, the at least one linkage assembly includes a first linkage assembly and a second linkage assembly, each of the first linkage assembly and the second linkage assembly including a corresponding first link and a corresponding second link, the corresponding first link being mounted on a corresponding side of the first side and the second side, and the corresponding second link being coupled to the corresponding first link and configured to be movable along a corresponding one of the first edge and the second edge, so that the wiping portion moves along the first direction on the outer surface of the window.

[0062] Optionally, the movement of the first link assembly is synchronized with the movement of the second link assembly.

[0063] Optionally, the first link is mounted on a connector fixed on a corresponding side of the first side and the second side.

[0064] Optionally, the first link includes a telescopic rod, and wherein the drive system includes an actuator configured to: drive the first link to rotate about the joint to extend the first link thereby changing the length of the first link to move the second link along the edge of the window; or drive the first link to extend to rotate the first link about the joint thereby changing the length of the first link to move the second link along the edge of the window.

[0065] Optionally, the drive system is configured to rotate or extend the first link relative to the joint to change the length of the portion of the first link between the joint and the edge of the window, thereby causing the second link to move along the edge of the window.

[0066] Optionally, the at least one linkage assembly further includes a third linkage, the first end of which is coupled to the end of the edge of the window, and the second end of which is coupled at a connection joint to the first end of the second linkage and the first linkage.

[0067] Optionally, the second link and the third link each include a rigid rod.

[0068] Optionally, the sum of the lengths of the second link and the third link is equal to the length of the edge of the window.

[0069] Optionally, while the second link moves toward or away from the end of the edge of the window, the third link is capable of rotating about the end of the edge of the window.

[0070] Optionally, the first link is mounted on a rod joint fixed on a corresponding side of the first side and the second side, and the drive system is configured to change the length of at least a portion of the first link between the rod joint and the connecting joint, so that the second link moves along the edge of the window.

[0071] Optionally, while the second end of the second link moves along the edge of the window, the first link can rotate about the rod joint.

[0072] Optionally, the drive system is configured such that, when the wiping part is in a first state, wherein the connecting joint is located on the edge of the window, and during the movement of the wiping part on the outer surface of the window, the length of at least a portion of the first link is at its maximum.

[0073] Optionally, the rod connector is located on the edge of a corresponding side of the first side and the second side, wherein the first end of the first link is mounted on the rod connector on the edge of the corresponding side, and the second end of the first link is coupled to the connecting connector.

[0074] Optionally, the drive system is configured to change the length of at least a portion of the first link between the rod joint and the connecting joint along the second direction.

[0075] Optionally, the drive system is configured to change the length of at least a portion of the first link between the rod joint and the connecting joint by extending the first link beyond the end of the edge of the window and changing the extension portion of the first link between the end of the first link at the edge of the window and the connection point.

[0076] Optionally, the drive system is configured to change the length of at least a portion of the first link between the rod joint and the connecting joint by shortening the portion of the first link between the end of the first link at the edge of the window and the rod joint.

[0077] Optionally, the drive system is configured to reciprocate the at least one linkage assembly between a first state and a second state, such that the wiping portion moves on the outer surface of the window between a first end of the edge of the window and a second end of the edge of the window, and when the at least one linkage assembly is in the first state, the wiping portion is located at the first end of the edge of the window, and when the at least one linkage assembly is in the second state, the wiping portion is located at the second end of the edge of the window.

[0078] Optionally, the drive system includes an actuator coupled to the at least one linkage assembly and a spring coupled to the first linkage, the actuator being configured to drive the at least one linkage assembly to move from the first state toward the second state, and the spring being configured to return the at least one linkage assembly from the second state to the first state.

[0079] Optionally, the spring is coupled between the end of the first link and a connector located on one side of the lidar sensor.

[0080] Optionally, the first link is mounted on a rod joint located on one side of the lidar sensor, and the spring is coupled between a point between the two ends of the first link and another joint located on one side of the lidar sensor.

[0081] On one hand, a lidar cleaning system is provided, comprising: a wiping section configured to contact an outer surface of a window of a lidar sensor; and a drive system including at least one linkage assembly coupled to the wiping section, the at least one linkage assembly including a link having a first end coupled to the wiping section and a second end coupled to a connector, the connector being movable in a channel mounted on one side of the lidar sensor, the channel extending along an edge of the window, wherein the drive system is configured to drive the link of the at least one linkage assembly to move along the channel, thereby moving the wiping section on the outer surface of the window.

[0082] Optionally, the lidar cleaning system further includes: a guide along the edge of the window, wherein the wiping portion is movable in the guide when the wiping portion is moved by the link of the at least one linkage assembly.

[0083] Optionally, the window includes a first edge and a second edge as the edges of the window, the first edge and the second edge extending along a first direction, wherein the lidar sensor includes a first side and a second side extending along a second direction, the second direction being different from the first direction, and the window is located between the first side and the second side along a third direction, the third direction being different from the first direction and the second direction.

[0084] Optionally, the window has a width and a height, the width being defined by the distance between the first side and the second side, the height being defined by the length of the first edge or the length of the second edge, and the height being less than the width.

[0085] Optionally, the at least one linkage assembly includes a first linkage assembly and a second linkage assembly. The first linkage assembly includes a first link having a first end coupled to a first end of the wiping portion and a second end coupled to a first connector, the first connector being movable in a first channel mounted on the first side of the lidar sensor; the second linkage assembly includes a second link having a first end coupled to a second end of the wiping portion and a second end coupled to a second connector, the second connector being movable in a second channel mounted on the second side of the lidar sensor. The drive system is configured to drive the first connector to move in the first channel and drive the second connector to move in the second channel, thereby moving the wiping portion on the outer surface of the viewing window.

[0086] Optionally, the lidar cleaning system further includes: a first guide along the first edge of the window, wherein the first end of the wiping portion is movable in the first guide; and a second guide along the second edge of the window, wherein the second end of the wiping portion is movable in the second guide, wherein the drive system is configured to drive the first link and the second link to move the first end of the wiping portion in the first guide and the second end of the wiping portion in the second guide, thereby moving the wiping portion on the outer surface of the window, and wherein the movement of the first link assembly is associated with the movement of the second link assembly.

[0087] Optionally, the linkage includes a telescopic rod, and the drive system includes an actuator configured to drive the linkage to move along the channel to change the length of the linkage, thereby causing the wiping portion to move on the outer surface of the window.

[0088] Optionally, the channel is configured to extend substantially in line with the contour of one side of the lidar sensor, such that the length of the link remains constant as the link moves within the channel.

[0089] Optionally, the link includes a rigid link.

[0090] On one hand, a lidar cleaning system is provided, comprising: a wiping section configured to contact the outer surface of a window of a lidar sensor; and a drive system comprising: a rotating assembly mounted on one side of the lidar sensor; and a drive belt coupled to the wiping section and movable on the rotating assembly, wherein the drive system is configured to drive the rotating assembly to move the drive belt, thereby causing the wiping section to move on the outer surface of the window.

[0091] Optionally, the rotating assembly includes: a main drive wheel mounted on one side of the lidar sensor; and two or more auxiliary drive wheels mounted on the edge of the window, wherein the drive system includes a motor configured to drive the main drive wheel to rotate, such that the drive belt is pulled and moves about the main drive wheel and the two auxiliary drive wheels, thereby moving the wiping part between the two ends of the edge of the window.

[0092] Optionally, the motor is configured to drive the main drive wheel to rotate back and forth within a limited angle range, the limited angle range corresponding to the distance of the edge of the window, so as to cause the wiping part to reciprocate.

[0093] Optionally, the window includes a first edge and a second edge extending along a first direction, and the lidar sensor includes a first side and a second side extending along a second direction, which is different from the first direction. The window is located between the first side and the second side along a third direction, which is different from both the first direction and the second direction.

[0094] Optionally, the window has a width and a height, the width being defined by the distance between the first side and the second side, the height being defined by the length of the first edge or the length of the second edge, and the height being less than the width.

[0095] Optionally, the driving assembly includes: a first rotating assembly and a second rotating assembly, wherein the first rotating assembly is the rotating assembly itself, and the first transmission belt is the transmission belt; and a second rotating assembly and a second transmission belt. The first rotating assembly is mounted on a first side of the lidar sensor, and the second rotating assembly is mounted on a second side of the lidar sensor. The first transmission belt is coupled to a first end of the wiping portion, and the second transmission belt is coupled to a second end of the wiping portion. The driving system is configured to drive the first rotating assembly to move the first transmission belt and drive the second rotating assembly to move the second transmission belt, thereby causing the wiping portion to move on the outer surface of the window, wherein the movement of the first transmission belt is associated with the movement of the second transmission belt.

[0096] On one hand, a lidar cleaning system is provided, comprising: a wiping section configured to contact an outer surface of a window of a lidar sensor; and a drive system including at least one linkage assembly coupled to the wiping section, the at least one linkage assembly including a telescopic rod having a first portion and a second portion, the first portion being freely movable into or out of the interior of the second portion, wherein the drive system is configured to change the length of the telescopic rod by moving the first portion relative to the second portion, thereby causing the wiping section to move on the outer surface of the window.

[0097] Optionally, the telescopic rod is coupled to a connector mounted on one side of the lidar sensor, and the drive system is configured to rotate the telescopic rod about the connector to change the length of the telescopic rod.

[0098] Optionally, the lidar cleaning system further includes a guide along the edge of the window, wherein the end of the wiping portion is coupled to a connector, the connector being confined within the guide and movable within the guide.

[0099] Optionally, the proximal end of the telescopic rod is coupled to one side of the lidar sensor, the distal end of the telescopic rod is coupled to the wiping section, and wherein the drive system is configured to change the length of the telescopic rod by rotating the telescopic rod about the proximal end.

[0100] Optionally, the proximal end of the telescopic rod is coupled to a groove mounted on one side of the lidar sensor, the distal end of the telescopic rod is coupled to the wiping part, and the drive system is configured to drive the telescopic rod to move along the groove.

[0101] Optionally, the at least one linkage assembly further includes a rigid rod, wherein a first end of the rigid rod is coupled to the wiping portion, a second end of the rigid rod is coupled to the distal end of the telescopic rod, a proximal end of the telescopic rod is fixedly coupled to one side of the lidar sensor, and wherein a first end of the edge of the outer surface of the lidar sensor is further away from the distal end of the telescopic rod than a second end of the edge of the outer surface.

[0102] Optionally, the at least one linkage assembly further includes: a first rigid rod having a first end coupled to the wiping portion and a second end coupled to the distal end of the telescopic rod; and a second rigid rod having a first end coupled to the distal end of the telescopic rod and a second end coupled to an edge of the outer surface of the lidar sensor, wherein the proximal end of the telescopic rod is coupled to one side of the lidar sensor, and the drive system is configured to change the length of the telescopic rod by rotation of the telescopic rod about the proximal end and / or telescopic movement of the telescopic rod.

[0103] Optionally, the outer surface may include a flat surface or a curved surface.

[0104] Optionally, the lidar cleaning system further includes: a fluid system comprising at least one fluid nozzle configured to spray gas and / or liquid onto the outer surface of the window of the lidar sensor.

[0105] Optionally, the lidar cleaning system further includes: a second drive system coupled to the fluid system and configured to move the fluid nozzle in a direction between a first position and a second position, such that when the wiping part is in the working state, the fluid nozzle is located above the outer surface of the lidar sensor in the direction, and when the wiping part is in the non-working state, the fluid nozzle is located below the outer surface of the lidar sensor in the direction.

[0106] Optionally, the fluid nozzle is integrated with the wiping part and extends along the length of the wiping part, and the fluid nozzle is movable together with the wiping part.

[0107] On one hand, a method is provided for cleaning the outer surface of a lidar sensor using a lidar cleaning system as described in any one of aspects 53 to 102.

[0108] On one hand, a lidar cleaning system is provided, comprising: a wiping unit configured to contact an outer surface of a lidar sensor; a fluid system including a fluid nozzle configured to spray fluid onto the outer surface of the lidar sensor when the wiping unit is in an operational state, and the wiping unit being configured to move on the outer surface of the lidar sensor; and a drive system coupled to the fluid system and configured to move the fluid nozzle in a direction between a first position and a second position, such that when the wiping unit is in the operational state, the fluid nozzle is positioned above the outer surface of the lidar sensor in the direction, and when the wiping unit is in a non-operational state, the fluid nozzle is positioned below the outer surface of the lidar sensor in the direction.

[0109] Optionally, the wiping part and the fluid nozzle are arranged together, and the drive system is configured to move the wiping part and the fluid nozzle together.

[0110] Optionally, the fluid nozzle includes a nozzle body and a plurality of openings, the wiping part is mounted on the nozzle body, and the plurality of openings are distributed on the nozzle body.

[0111] Optionally, the fluid nozzle includes an inlet and the plurality of openings serving as the outlet of the fluid nozzle, and the fluid system includes a fluid conduit having a first end coupled to the inlet of the fluid nozzle and a second end coupled to a fluid supply source.

[0112] Optionally, the drive system includes a first drive assembly and a second drive assembly coupled to the first drive assembly, the wiping portion and the fluid nozzle being disposed on the second drive assembly, the first drive assembly being configured to move the second drive assembly between the first position and the second position along the direction, and the second drive assembly being configured to: after the second drive assembly moves to the first position, move the fluid nozzle and the wiping portion along the second direction different from the direction on the outer surface of the lidar sensor.

[0113] Optionally, the first drive assembly includes a first motor, a first shaft coupled to the first motor, and a base coupled to the first shaft, wherein the second drive assembly is mounted on the base, and the first motor is configured to drive the first shaft to move the base in the direction.

[0114] Optionally, the second drive assembly includes a series of extension members coupled to each other, with the fluid nozzle and the wiping portion coupled to the ends of the series of extension members. The second drive assembly is configured to extend the series of extension members along the second direction, the total extension length of the series of extension members being not less than the length of the outer surface of the lidar sensor along the second direction.

[0115] Optionally, the second drive assembly includes a second motor and a second shaft coupled to the second motor and the series of extension components, the second motor being configured to drive the second shaft to extend the series of extension components.

[0116] Optionally, the lidar cleaning system further includes a controller coupled to the first drive component and the second drive component.

[0117] Optionally, the controller is configured to: control the first drive assembly to move the second drive assembly to the first position, then control the second drive assembly to cause the wiping part to reciprocate on the outer surface of the lidar sensor, while controlling the fluid nozzle to spray the fluid onto the outer surface of the lidar sensor.

[0118] Optionally, the lidar cleaning system further includes a second drive system coupled to the wiping unit and configured to control the movement of the wiping unit on the outer surface of the lidar sensor.

[0119] Optionally, the second drive system is configured to control the wiping section independently of the drive system that controls the fluid nozzle.

[0120] Optionally, the wiping unit includes a wiper blade and a wiper arm, the wiper arm having a first end coupled to the wiper blade and a second end coupled to the second drive system.

[0121] Optionally, the wiper arm has an L-shaped shape, and the wiper blade has a shape adapted to the shape of the outer surface.

[0122] Optionally, the second drive system is configured to rotate the wiper arm within an angular range to drive the wiper blade to move on the outer surface from a first edge of a region of the outer surface to a second edge of a region of the outer surface, the first edge and the second edge extending along a second direction.

[0123] Optionally, the length of the wiper blade along the second direction is greater than the width of the region of the outer surface of the lidar sensor along the second direction.

[0124] Optionally, the region has a height along a third direction different from the second direction, and the height is less than the width.

[0125] Optionally, the wiper blade has a tapered end that is arc-shaped, and the lidar sensor has one or more limiting elements adjacent to the first edge and / or the second edge of the region.

[0126] Optionally, the second drive system is configured to drive the wiper arm to push the tapered end of the wiper blade against at least one of the one or more limiting members to move in the second direction, such that the wiper blade reaches a portion of the area adjacent to the first edge or the second edge.

[0127] Optionally, the wiping part includes a spring coupled between the wiper blade and the first end of the wiper arm.

[0128] Optionally, the region of the outer surface has a width along the second direction and a height along a third direction perpendicular to the second direction. The second drive system is configured to control the wiping portion to move along at least one track on the outer surface of the lidar sensor, the at least one track extending along one of the second direction and the third direction.

[0129] Optionally, the width is greater than the height, and the at least one track extends along the second direction.

[0130] Optionally, the region has a first edge and a second edge extending along the second direction, the distance between the first edge and the second edge along the third direction defining the height. The at least one track includes a first track arranged adjacent to the first edge and a second track arranged adjacent to the second edge, the wiping portion having a first end coupled to the first track and a second end coupled to the second track.

[0131] Optionally, the at least one track includes a lead screw.

[0132] Optionally, the second drive system includes a motor coupled to the lead screw via one or more transmission gears, the motor being configured to rotate the lead screw to drive the wiping portion to move linearly along one of the second direction and the third direction.

[0133] Optionally, the second drive system includes a pair of arms, which are respectively coupled to both ends of the wiping part, and the second drive system is configured to rotate the pair of arms to cause the wiping part to move linearly on the outer surface of the lidar.

[0134] Optionally, the lidar sensor includes a first side and a second side extending along the direction, the outer surface being located between the first side and the second side along a second direction or a third direction perpendicular to the direction, and each of the pair of arms being rotatable about a corresponding joint mounted on a corresponding side of the first side and the second side.

[0135] Optionally, the region of the outer surface includes a first edge and a second edge extending along the second direction, and the second drive system is configured to rotate the pair of arms to move the wiping portion from the first edge to the second edge on the outer surface of the lidar.

[0136] Optionally, the second drive system is configured such that, while the arm rotates around the corresponding connector, the arm can linearly move through the corresponding connector to change the length of the portion of the arm between the outer surface and the corresponding connector, thereby keeping the wiping part in contact with the outer surface.

[0137] Optionally, each of the pair of arms includes a telescopic rod, and the second drive system is configured to change the length of the telescopic rod between the respective connector and the outer surface so that the wiping portion remains in contact with the outer surface.

[0138] Optionally, the controller is configured to: receive at least one of a detection signal indicating the condition of the outer surface of the lidar sensor, a signal indicating weather information, or user input information, and based on the detection signal, control the drive system to move the wiping part on the outer surface of the lidar sensor, and control the fluid system to spray the fluid onto the outer surface of the lidar sensor.

[0139] Optionally, the lidar cleaning system further includes a heating device coupled to the fluid system and configured to heat the fluid before it is ejected from the fluid nozzle.

[0140] Optionally, the lidar sensor includes a first side and a second side extending along the direction, the outer surface is located between the first side and the second side along a second direction perpendicular to the direction, and the fluid system and the drive system are arranged adjacent to one of the first side and the second side of the lidar sensor.

[0141] On one hand, a method is provided for cleaning the outer surface of a lidar sensor using a lidar cleaning system described in any one of aspects 104 to 136.

[0142] On one hand, a lidar cleaning system is provided, comprising: a liquid fluid system including a liquid nozzle configured to spray liquid onto an outer surface of a lidar sensor; a gas fluid system including a gas nozzle configured to spray gas onto the outer surface of the lidar sensor; and a first actuator coupled to the gas fluid system and configured to drive the gas nozzle to move along a first direction between a first position and a second position, wherein the gas nozzle is located above the outer surface of the lidar sensor along the first direction at the first position and below the outer surface of the lidar sensor along the first direction at the second position.

[0143] Optionally, the lidar cleaning system further includes a second driver coupled to the liquid fluid system and configured to drive the liquid nozzle to move along a second direction between a third position and a fourth position, wherein the liquid nozzle is located above the outer surface of the lidar sensor along the second direction at the third position and below the outer surface of the lidar sensor along the second direction at the fourth position.

[0144] Optionally, the lidar sensor includes a first side and a second side, with the outer surface located between the first side and the second side.

[0145] Optionally, the gas fluid system and the first driver are arranged adjacent to the first side of the lidar sensor, and the liquid fluid system and the second driver are arranged adjacent to the second side of the lidar sensor.

[0146] Optionally, the gas fluid system and the first actuator, and the liquid fluid system and the second actuator are arranged adjacent to the first side of the lidar sensor.

[0147] Optionally, the gas fluid system and the first actuator are arranged closer to the first side of the lidar sensor than the liquid fluid system and the second actuator.

[0148] Optionally, the lidar cleaning system further includes a second liquid fluid system and a second gas fluid system, which are arranged adjacent to the second side of the lidar sensor.

[0149] Optionally, the lidar cleaning system further includes a controller coupled to the first driver and the second driver and configured to independently control the first driver and the second driver.

[0150] Optionally, the controller is configured to control the first driver to move the gas nozzle to the first position and control the second driver to move the liquid nozzle to the third position, such that the gas injected from the gas nozzle onto the outer surface of the lidar sensor is separated from the liquid injected from the liquid nozzle onto the outer surface of the lidar sensor.

[0151] Optionally, the controller is configured to control the first driver and the second driver to sequentially move the gas nozzle to the first position and the liquid nozzle to the third position.

[0152] Optionally, the projection of the gas ejected from the gas nozzle onto the outer surface of the lidar sensor and the projection of the liquid ejected from the liquid nozzle onto the outer surface of the lidar sensor are offset from each other.

[0153] Optionally, the controller is configured to: control the gas fluid system to inject gas from the gas nozzle when the gas nozzle is in the first position; and control the liquid fluid system to inject liquid from the liquid nozzle when the liquid nozzle is in the third position.

[0154] Optionally, the controller is configured to receive at least one of a detection signal indicating the condition of the outer surface of the lidar sensor, a signal indicating weather information, or user input information, and control at least one of the first driver or the second driver based on the received signal.

[0155] Optionally, the controller is configured to: in response to determining that the condition of the outer surface exceeds a first threshold but is below a second threshold, control the first driver to move the gas nozzle to the first position and control the gas fluid system to spray the gas from the gas nozzle onto the outer surface of the lidar sensor; and in response to determining that the condition of the outer surface exceeds the second threshold, i) control the first driver to move the gas nozzle from the second position to the first position and control the gas fluid system to spray the gas from the gas nozzle onto the outer surface of the lidar sensor, and ii) control the second driver to move the liquid nozzle from the fourth position to the third position and control the liquid fluid system to spray the liquid from the liquid nozzle onto the outer surface of the lidar sensor.

[0156] Optionally, the controller is configured to: control the gas fluid system to spray gas from the gas nozzle onto the outer surface of the lidar sensor before controlling the liquid fluid system to spray liquid from the liquid nozzle onto the outer surface of the lidar sensor; control the gas fluid system to spray gas from the gas nozzle onto the outer surface of the lidar sensor after controlling the liquid fluid system to spray liquid from the liquid nozzle onto the outer surface of the lidar sensor; or first control the gas fluid system to spray gas from the gas nozzle onto the outer surface of the lidar sensor, then control the liquid fluid system to spray liquid from the liquid nozzle onto the outer surface of the lidar sensor, and then control the gas fluid system to spray gas again to remove liquid residues on the outer surface of the lidar sensor.

[0157] Optionally, the lidar cleaning system further includes a first cover for the gas fluid system and a second cover for the liquid fluid system. When the gas nozzle is in the second position and the liquid nozzle is in the fourth position, the first cover, the second cover, and the outer surface of the lidar sensor are adapted to the corresponding contour of the terminal device on which the lidar sensor is mounted.

[0158] Optionally, the lidar cleaning system further includes a heating device coupled to the fluid system and configured to heat the liquid before it is sprayed from the liquid nozzle.

[0159] On one hand, a method for cleaning the outer surface of a lidar sensor is provided. The method includes: moving a gas nozzle of a gas fluid system from a second position to a first position along a first direction, the gas nozzle extending beyond the outer surface of the lidar sensor at the first position and located below the outer surface of the lidar sensor at the second position; when the gas nozzle is at the first position, spraying gas from the gas nozzle onto the outer surface of the lidar sensor; moving a liquid nozzle of a liquid fluid system from a fourth position to a third position along a second direction, the liquid nozzle extending beyond the outer surface of the lidar sensor at the third position and located below the outer surface of the lidar sensor at the fourth position; and when the liquid nozzle is at the third position, spraying liquid from the liquid nozzle onto the outer surface of the lidar sensor.

[0160] Optionally, the method further includes: moving the gas nozzle of the gas fluid system from the first position back to the second position before the liquid is sprayed from the liquid nozzle onto the outer surface of the lidar sensor when the liquid nozzle is in the third position.

[0161] Optionally, the method further includes: spraying gas from the gas nozzle onto the outer surface of the lidar sensor before spraying the liquid from the liquid nozzle onto the outer surface of the lidar sensor, to remove liquid residue on the outer surface of the lidar sensor.

[0162] Optionally, the method further includes: receiving at least one of a detection signal indicating the condition of the outer surface of the lidar sensor, a signal indicating weather information, or user input information; and controlling at least one of the first driver or the second driver based on the received signal.

[0163] Optionally, moving the gas nozzle of the gas fluid system from the second position to the first position along the first direction is performed in response to determining that the condition of the outer surface exceeds a first threshold but is below a second threshold.

[0164] Optionally, the method includes: in response to determining that the condition of the outer surface exceeds a second threshold, controlling a first driver to move the gas nozzle from the second position to the first position, and controlling the gas fluid system to spray gas from the gas nozzle onto the outer surface of the lidar sensor; and controlling a second driver to move the liquid nozzle from the fourth position to the third position, and controlling the liquid fluid system to spray liquid from the liquid nozzle onto the outer surface of the lidar sensor.

[0165] On one hand, a lidar lifting system is provided, comprising: a transmission assembly coupled to a first end of a support structure for a lidar sensor; a bushing coupled to a second end of the support structure; and a driver coupled to the transmission assembly. The driver is configured to drive the transmission assembly to move the support structure and the lidar sensor mounted on the support structure along at least one of a first direction or a second direction opposite to the first direction.

[0166] Optionally, the reducer includes: a lead screw coupled to the driver and configured to be driven by the driver to rotate about a first axis; and a lead screw nut coupled to the first end of the lead screw and the support structure. The lead screw nut is configured to be moved along the first axis by rotation of the lead screw. The support structure and the lidar sensor are movable together with the lead screw nut along the first axis in at least one of the first direction or the second direction.

[0167] Optionally, the lead screw includes a ball screw.

[0168] Optionally, the inner surface of the lead screw nut is coupled to the lead screw, and the outer surface of the lead screw nut is coupled to the first end of the support structure.

[0169] Optionally, the driver and the lead screw are stacked along the first axis.

[0170] Optionally, the second end of the support structure is opposite to the first end of the support structure along a second axis, and the lidar lifting system further includes: a guide rod coupled to the bushing and extending along a third axis parallel to the first axis, wherein the bushing is movable on the guide rod along the third axis in at least one of the first direction or the second direction.

[0171] Optionally, the inner part of the bushing is coupled to the guide rod, and the outer part of the bushing is coupled to the second end of the support structure.

[0172] Optionally, the bushing comprises graphite copper.

[0173] Optionally, the support structure includes an intermediate portion located between the first end and the second end of the support structure, the intermediate portion being higher than the first end and the second end along the second axis, wherein the lidar sensor is mounted on the surface of the intermediate portion.

[0174] Optionally, the lidar lifting system further includes one or more limiting elements configured to prevent movement of the lidar sensor.

[0175] Optionally, the one or more limiting members include: at least one first limiting member configured to prevent movement of the lead screw nut on the lead screw; and / or at least one second limiting member configured to prevent movement of the bushing on the guide rod. The one or more limiting members remain stationary during movement of the lidar sensor.

[0176] Optionally, the driver is configured to drive the transmission assembly to move the lidar sensor between a first predetermined position and a second predetermined position along the first direction or the second direction.

[0177] Optionally, the driver is configured to drive the transmission assembly to move the lidar sensor from the first predetermined position to the second predetermined position within a time period of no more than 3 seconds.

[0178] Optionally, at the first predetermined position, the top surface of the lidar sensor is located below the outer surface of the terminal device; at the second predetermined position, the top surface of the lidar sensor is located above the outer surface of the terminal device.

[0179] Optionally, at the second predetermined position, the distance between the top surface of the lidar sensor and the outer surface of the terminal device along the first direction is no greater than 30 mm.

[0180] Optionally, the lidar lifting system further includes: a position detector configured to detect whether the lidar sensor is in a predetermined position; and a control circuit coupled to the position detector and the driver and configured to send one or more control signals to the driver to drive the transmission assembly to move the lidar sensor to the predetermined position.

[0181] Optionally, the driver is configured to receive a control signal from the control system and drive the transmission assembly to move the lidar sensor to a predetermined position based on the control signal.

[0182] Optionally, the drive includes a motor.

[0183] On one hand, a method for moving a lidar sensor by means of a lidar lifting system described in any one of aspects 161 to 178 is provided.

[0184] On one hand, a method for moving a lidar sensor using a lidar lifting system is provided. The method includes: receiving a control signal for moving the lidar sensor; and activating a driver for the lidar lifting system to drive a transmission component of the lidar lifting system to move a support structure on which the lidar sensor is mounted to a predetermined position based on the control signal. The support structure includes a first end coupled to the transmission component and a second end coupled to a bushing.

[0185] Optionally, the method further includes: detecting whether the lidar sensor has reached the predetermined position; and deactivating the driver in response to detecting that the lidar sensor is at the predetermined position.

[0186] Optionally, the method further includes: deactivating the drive in response to determining that the transmission assembly is blocked by at least one limiting member, wherein the at least one limiting member includes a limiting member corresponding to the predetermined position.

[0187] Optionally, the driver is configured to drive the transmission assembly to move in at least one of a first direction or a second direction opposite to the first direction.

[0188] Optionally, the power transmission assembly includes: a lead screw coupled to the driver and configured to be driven by the driver to rotate about a first axis; and a lead screw nut coupled to a first end of the lead screw and the support structure, wherein the lead screw nut is configured to be moved along the first axis by rotation of the lead screw, wherein the support structure and the lidar sensor are movable together with the lead screw nut along the first axis in at least one of the first direction or the second direction.

[0189] Optionally, the second end of the support structure is opposite to the first end of the support structure along a second axis, and the lidar lifting system includes: a guide rod coupled to the bushing and extending along a third axis parallel to the first axis, wherein the bushing is movable on the guide rod along the third axis in at least one of the first direction or the second direction.

[0190] On one hand, a lidar cleaning system is provided, including a wiping section configured to contact an outer surface of a lidar sensor; and a drive system coupled to the wiping section and configured to drive the wiping section into an operational state to move on the outer surface of the lidar sensor. The lidar cleaning system is configured to move between a first position and a second position, such that when the lidar cleaning system is in the first position and the wiping section is in the operational state, the wiping section contacts the outer surface of the lidar sensor; and when the lidar cleaning system is in the second position and the wiping section is in a non-operational state, the lidar cleaning system is located inside the lidar sensor.

[0191] On one hand, a lidar system is provided, including a lidar sensor and a lidar cleaning system, the lidar cleaning system being configured to clean the outer surface of the lidar sensor. The lidar cleaning system includes: a lidar cleaning system according to any one of aspects 1 to 52, a lidar cleaning system according to any one of aspects 53 to 103, a lidar cleaning system according to any one of aspects 104 to 137, a lidar cleaning system according to any one of aspects 138 to 160, or a lidar cleaning system according to aspect 186.

[0192] Optionally, the lidar system further includes a lidar detection system configured to: detect the surface condition of the outer surface of the lidar sensor and determine whether the surface condition exceeds a threshold.

[0193] Optionally, the lidar detection system is configured to: in response to determining that the surface condition exceeds the threshold, send a trigger signal to activate the lidar cleaning system to clean the outer surface of the lidar sensor.

[0194] Optionally, the lidar system further includes a lidar lifting system coupled to the lidar sensor and configured to move the lidar sensor in one direction above or below the outer surface of the terminal device. The lidar lifting system is configured to be activated based on a trigger signal to move at least the outer surface of the lidar sensor above the outer surface of the terminal device, thereby allowing the lidar cleaning system to clean the outer surface of the lidar sensor.

[0195] Optionally, the trigger signal includes a signal for activating the lidar cleaning system and / or a signal for instructing the lidar sensor to operate.

[0196] Optionally, the lidar lifting system includes the lidar lifting system according to any one of aspects 161 to 185.

[0197] Optionally, the lidar system further includes a control system coupled to the lidar cleaning system, the lidar detection system, and the lidar lifting system. The control system is configured to: send a first control signal based on the trigger signal to activate the lidar lifting system, moving the lidar sensor above the outer surface of the terminal device; and send a second control signal based on the trigger signal to activate the lidar cleaning system, cleaning the outer surface of the lidar sensor.

[0198] Optionally, the control system is configured to: receive from the lidar lifting system an acknowledgment signal indicating that the lidar sensor has moved to a first predetermined position above the outer surface of the terminal device, and send the second signal to the lidar cleaning system.

[0199] Optionally, the control system is configured to: receive a second trigger signal from the lidar detection system indicating that the current surface condition of the outer surface of the lidar sensor is below the threshold, and send a third control signal to deactivate the lidar cleaning system.

[0200] Optionally, the terminal device may include a vehicle, a drone, or a robot.

[0201] Optionally, the lidar system further includes a control system coupled to the lidar cleaning system and the lidar detection system. The control system is configured to: receive the trigger signal from the lidar detection system and, based on the trigger signal, send a first control signal to activate the lidar cleaning system to clean the outer surface of the lidar sensor.

[0202] Optionally, the control system is configured to: receive a second trigger signal from the lidar detection system indicating that the current surface condition of the outer surface of the lidar sensor is below the threshold, and send a second control signal to deactivate the lidar cleaning system.

[0203] On one hand, a method for cleaning a lidar sensor using a lidar system described in any one of aspects 187 to 198 is provided.

[0204] On one hand, a rotary drive device is provided. The rotary drive device is configured to drive a rotatable structure. The rotary drive device includes a first rotary support member, a second rotary support member, a first latch, and a second latch. A first end of the first latch is configured to connect to the rotatable structure, and a second end of the first latch is configured to connect to the first rotary support member. A first end of the second latch is configured to connect to the rotatable structure, and a second end of the second latch is configured to connect to the second rotary support member. In the rotary drive device of this disclosure, the axially fastened rotatable structure is connected by latches. Some embodiments of this disclosure enable quick insertion and removal of the axially fastened rotatable structure. In this case, the difficulty of assembling and disassembling the axially fastened rotatable structure can be reduced, and the time and cost of assembling and disassembling the axially fastened rotatable structure can be saved.

[0205] Optionally, the first axial first end of the first rotary support has a first mounting hole, and the second end of the first snap fastener is connected to the first mounting hole. The second axial first end of the second rotary support has a second mounting hole, and the second end of the second snap fastener is connected to the second mounting hole.

[0206] Optionally, the first end of the rotatable structure is connected to the first end of the first buckle. The second end of the rotatable structure is connected to the first end of the second buckle.

[0207] Optionally, one of the first end of the rotatable structure and the first end of the first latch includes a third mounting hole, and the other of the first end of the rotatable structure and the first end of the first latch includes a first protrusion. The first protrusion is inserted into the third mounting hole. Alternatively, one of the second end of the rotatable structure and the first end of the second latch includes a fourth mounting hole, and the other of the second end of the rotatable structure and the first end of the second latch includes a second protrusion. The second protrusion is inserted into the fourth mounting hole.

[0208] Optionally, the first protrusion and the third mounting hole are configured to restrict sliding of the first protrusion relative to the third mounting hole. The second protrusion and the fourth mounting hole are configured to restrict sliding of the second protrusion relative to the fourth mounting hole.

[0209] Optionally, at least one of the first and second latches includes a bushing and a fixed shaft. A first end of the bushing is connected to the rotatable structure, and the bushing includes a fifth mounting hole. A first portion of the fixed shaft is inserted into the fifth mounting hole of the bushing and secured relative to the fifth mounting hole of the bushing.

[0210] Optionally, the second end of the first latch includes a first sleeve. The first end of the first sleeve is connected to the second portion of the fixed shaft. The second end of the first sleeve has a first latching member. The second end of the first latch engages with the first mounting hole via the first latching member. In the rotary drive device of this disclosure, the second end of the first latch engages with the first mounting hole via the first latching member. Some embodiments of this disclosure enable quick insertion and removal of axially fastened rotatable structures. In this case, the difficulty of assembling and disassembling the axially fastened rotatable structure can be reduced, and the time and cost of assembling and disassembling the axially fastened rotatable structure can be saved.

[0211] Optionally, the second end of the second latch includes a second sleeve. The first end of the second sleeve is connected to the second portion of the fixed shaft. The second end of the second sleeve has the first latching member formed thereon. The second end of the second latch engages with the second mounting hole via the first latching member. In the rotary drive device of this disclosure, the second end of the second latch engages with the second mounting hole via the first latching member. Some embodiments of this disclosure enable quick insertion and removal of axially fastened rotatable structures. In this case, the difficulty of assembling and disassembling the axially fastened rotatable structure can be reduced, and the time and cost of assembling and disassembling the axially fastened rotatable structure can be saved.

[0212] Optionally, the surface of the first portion of the fixed shaft is threaded. The fifth mounting hole of the bushing is threaded.

[0213] Optionally, the first fastener includes at least one hook.

[0214] Optionally, the first latching member includes multiple hooks. There is a gap between adjacent hooks. Through the gaps between the hooks, some embodiments of this disclosure can reduce the difficulty of assembling and disassembling axially fastened rotatable structures, and save time and cost associated with assembling and disassembling such structures.

[0215] Optionally, one of the first end of the second rotary support and the second end of the second latch has a groove formed in the circumferential direction. The other of the first end of the second rotary support and the second end of the second latch includes at least one second latching member. The second latch is configured to engage with the groove.

[0216] Optionally, the second latching member is configured to be movable radially in the second mounting hole.

[0217] Optionally, the end face of the second latching member is configured to protrude toward the second mounting hole.

[0218] Optionally, the end face of the second fastener is configured to include one or more combinations of spherical, aspherical, and conical surfaces.

[0219] Optionally, the second locking element is a ball-head plunger.

[0220] Optionally, the rotary drive includes a driver. The driver has an output shaft. The second axial end of the first rotary support is connected to the output shaft of the driver.

[0221] Optionally, a seventh mounting hole is formed on the axial end face of the second end of the first rotary support.

[0222] The output shaft is inserted into the seventh mounting hole of the first rotating support.

[0223] Optionally, the end of the output shaft and the seventh mounting hole are configured to restrict the sliding of the end of the output shaft relative to the seventh mounting hole.

[0224] On one hand, a lidar cleaning system is provided. The lidar cleaning system includes the aforementioned rotary drive device, rotatable structure, and wiper blade. The wiper blade is mounted on the rotatable structure and located between the rotatable structure and the lidar housing. Through the structure of the aforementioned rotary drive device, some embodiments of this disclosure can reduce the need for positioning elements during the rapid insertion and removal of the axially fastened rotatable structure. In this case, the difficulty of disassembling and assembling the axially fastened rotatable structure can be reduced, and the disassembly and assembly time and cost of the axially fastened rotatable structure can be saved.

[0225] On one hand, a lidar is provided. The lidar includes the aforementioned lidar cleaning system.

[0226] On one hand, a speed reducer is provided. The speed reducer includes a housing, a worm, a worm wheel, a first worm bearing, and a second worm bearing. The worm wheel is connected to the worm. A first end of the worm is mounted to the housing via the first worm bearing. A second end of the worm is mounted to the housing via the second worm bearing. By mounting the first end of the worm to the housing via the first worm bearing and the second end of the worm to the housing via the second worm bearing, some embodiments of this disclosure can improve the coaxiality of the worm bearings and make the rotation of the worm more stable.

[0227] Optionally, the reducer further includes a first worm gear bearing and a second worm gear bearing. The housing includes a first housing stepped surface and a second housing stepped surface. The worm includes a first worm step surface and a second worm step surface. The worm wheel includes a first worm wheel stepped surface and a second worm wheel stepped surface. The first worm bearing is constrained between the first worm step surface and the first housing stepped surface. The first worm gear bearing is constrained between the first worm wheel stepped surface and the second housing stepped surface. One end face of the second worm bearing contacts the second worm step surface. One end face of the second worm gear bearing contacts the second worm wheel stepped surface. In the reducer of this disclosure, the worm, the worm wheel, and the bearings are positioned by using stepped surfaces instead of positioning elements. Some embodiments of this disclosure reduce assembly difficulty and make the reducer structure more compact.

[0228] Optionally, the housing includes a first mounting hole and a second mounting hole. The first mounting hole is formed on the wall of the housing near the second end of the worm gear. The second mounting hole is formed on the wall of the housing near the second end of the worm wheel. The second end of the worm wheel passes through the second mounting hole. The reducer also includes a bearing end cap. The bearing end cap is mounted on the outside of the housing and partially covers the second mounting hole. The bearing end cap includes a third mounting hole. The second end of the worm wheel passes through the third mounting hole.

[0229] Optionally, the first end of the worm gear is mounted to the housing via the first worm gear bearing. The second end of the worm gear is mounted to the housing via the second worm gear bearing. The second worm gear bearing is located inside the second mounting hole. In the structure of the reducer disclosed herein, the worm gear bearings are mounted on the same housing. Some embodiments of this disclosure can improve the coaxiality of the worm gear bearings and make the rotation of the worm gear more stable.

[0230] Optionally, the bearing end cap includes a protrusion extending axially toward the housing along the worm gear. The second worm gear bearing is constrained between the end face of the protrusion and the stepped surface of the second worm gear. The worm gear bearing is positioned by the protrusion and the stepped surface of the worm gear. Some embodiments of this disclosure make the reducer structure more compact. The reducer of this disclosure does not require additional positioning elements to position the worm gear and bearing, making the reducer structure more compact.

[0231] Optionally, the housing includes a cover and a housing. The reducer includes a sealing strip. The sealing strip is at least partially located in the gap between the cover and the housing, and at least partially located inside a first groove. The first groove is provided on at least one of the cover and the housing. The sealing strip is interference-fitted with the first groove. In the reducer of this disclosure, the gap between the cover and the housing is sealed by the sealing strip. Some embodiments of this disclosure can improve the waterproof performance of the reducer.

[0232] Optionally, the housing includes at least one positioning hole. The lid includes at least one positioning hole. The at least one positioning hole of the housing and the at least one positioning hole of the lid are connected by a positioning pin.

[0233] Optionally, one of the housing and the cover includes at least one positioning hole. The other of the housing and the cover includes at least one positioning pin. The positioning pin is disposed in the positioning hole.

[0234] Optionally, the first end of the worm gear is mounted to the housing via the first worm gear bearing. The second end of the worm gear is mounted to the bearing end cover via the second worm gear bearing. The third mounting hole includes a stepped surface. The second worm gear bearing is located inside the third mounting hole. The second worm gear bearing is constrained between the second worm gear stepped surface and the stepped surface. In the structure of the reducer disclosed herein, the worm gear and bearing are positioned by using a stepped surface instead of a positioning element. Some embodiments of this disclosure reduce assembly difficulty and also make the reducer structure more compact.

[0235] Optionally, the reducer further includes a retaining ring. The retaining ring is located on the inner wall of the housing. The second worm bearing is constrained between the second worm step surface and the retaining ring. In the structure of the reducer disclosed herein, the worm and bearing are positioned by using the worm step surface and the retaining ring instead of positioning elements. Some embodiments of this disclosure can make the reducer structure more compact.

[0236] Optionally, the housing further includes a threaded retaining ring. The inner side of the first mounting hole includes threads. The threaded retaining ring mates with the threads of the first mounting hole. The second worm bearing is constrained between the second worm step surface and the threaded retaining ring. In the structure of the reducer disclosed herein, the worm and bearing are positioned by using the worm step surface and the threaded retaining ring instead of positioning elements. Some embodiments of this disclosure can make the reducer structure more compact.

[0237] Optionally, the reducer further includes a bearing end cap seal. The bearing end cap seal is located between the inner surface of the bearing end cap and the other end face of the second worm gear bearing. The bearing end cap seal contacts the second end of the worm gear. In the reducer of this disclosure, the gap between the bearing end cap and the worm gear bearing is sealed by the bearing end cap seal. Some embodiments of this disclosure can improve the waterproof performance of the reducer.

[0238] Optionally, the reducer includes a first sealing ring. The first sealing ring is located between the bearing end cover and the housing, and is at least partially located within a second groove. The second groove is disposed on at least one of the bearing end cover and the housing. The first sealing ring and the second groove are interference-fitted. In the reducer of this disclosure, the gap between the bearing end cover and the housing is sealed by the first sealing ring. Some embodiments of this disclosure can improve the waterproof performance of the reducer.

[0239] On one hand, a drive assembly is provided, including the aforementioned reducer and motor. The motor includes a motor output shaft. A second end of a worm gear is connected to the motor output shaft of the motor. The second end of the worm gear includes a fourth mounting hole. One end of the motor output shaft is disposed in the fourth mounting hole of the worm gear. In the drive assembly, the shapes of one end of the motor output shaft and the fourth mounting hole of the worm gear are configured to restrict the rotation of the motor output shaft relative to the worm gear. In the drive assembly of this disclosure, the worm bearing is mounted on the same housing. Some embodiments of this disclosure can improve the coaxiality of the worm bearing and make the rotation of the worm gear more stable.

[0240] Optionally, the fourth mounting hole includes a clearance portion. The drive assembly of this disclosure includes such a clearance portion. Some embodiments of this disclosure facilitate the mounting of the motor output shaft onto the worm gear.

[0241] Optionally, the drive assembly includes a second sealing ring. The second sealing ring is located between the housing and the motor, and is at least partially located within a third groove. The third groove is disposed on at least one of the housing and the motor. The second sealing ring is interference-fitted with the third groove. In the reducer of this disclosure, the gap between the housing and the motor is sealed by the second sealing ring. Some embodiments of this disclosure can improve the waterproof performance of the drive assembly.

[0242] On one hand, a lidar cleaning system is provided, including the aforementioned drive assembly and wiping unit. The drive assembly drives the wiping unit. In the structure of the lidar cleaning system disclosed herein, the worm gear bearing is mounted on the same housing. Some embodiments of this disclosure can improve the coaxiality of the worm gear bearing, making the drive of the wiping unit more stable and improving the cleaning effect.

[0243] On the one hand, a lidar is provided, including the aforementioned lidar cleaning system.

[0244] On one hand, a lidar cleaning system is provided, including a wiping unit, a drive system, a fluid system, and a base. The wiping unit includes a rotatable structure configured to rotate about a rotation axis. The rotatable structure is configured to contact at least a portion of the outer surface of the lidar when in operation. The drive system is coupled to the wiping unit. The drive system is configured to drive the rotatable structure of the wiping unit to rotate, thereby wiping at least a portion of the outer surface of the lidar during the rotational motion. The fluid system includes a nozzle. The nozzle is configured to spray fluid onto at least a portion of the outer surface of the lidar. The wiping unit, the drive system, the fluid system, and the lidar are positioned on the base.

[0245] Optionally, the drive system is configured to drive the rotatable structure of the wiping part to reciprocate between a first position and a second position.

[0246] Optionally, the wiping part is configured not to obstruct the field of view of the lidar when it is not in operation.

[0247] Optionally, the drive system includes a rotary drive device. At least one of the first end and the second end of the rotatable structure is configured to be connected to the rotary drive device.

[0248] Optionally, the rotary drive device includes a first rotary shaft support, a second rotary shaft support, and a driver. The first rotary shaft support is connected to the first end of the rotatable structure. The second rotary shaft support is connected to the second end of the rotatable structure. The driver includes an output shaft. The output shaft is connected to at least one of the first rotary shaft support or the second rotary shaft support.

[0249] Optionally, the output shaft is connected to the first rotating shaft support. The driver is disposed on a first side of the base. The second rotating shaft support is disposed on a second side of the base. The second side is opposite to the first side.

[0250] Optionally, the driver includes a reducer and a motor. The motor includes a motor output shaft. The reducer is connected to the motor output shaft.

[0251] Optionally, at least a portion of the outer surface of the lidar includes a curved surface. The rotatable structure includes an arcuate shape that matches the curved surface.

[0252] Optionally, the outer surface of the lidar includes the outer surface of the lidar's window. The outer surface of the window has the curved surface. The curved surface of the window is configured to protrude from a first surface of the base.

[0253] Optionally, the surface is a portion of a sphere, a portion of an ellipsoid, or a portion of an aspherical surface.

[0254] Optionally, the rotatable structure includes a body and a contact portion disposed on the body. The contact portion is configured to contact at least a portion of the outer surface of the lidar when the wiping portion is in the operating state.

[0255] Optionally, the contact portion includes a strip-shaped structure formed of rubber or silicone material.

[0256] Optionally, at least a portion of the nozzle is disposed inside the base.

[0257] Optionally, there are multiple nozzles. The multiple nozzles are arranged circumferentially around the lidar.

[0258] Optionally, there are multiple nozzles. The fluid system also includes a fluid supply conduit in communication with the multiple nozzles.

[0259] Optionally, the fluid supply conduit includes a first fluid supply conduit and a second fluid supply conduit. A first portion of the plurality of nozzles is connected to the first fluid supply conduit. A second portion of the plurality of nozzles is connected to the second fluid supply conduit.

[0260] Optionally, the first portion of the nozzle includes at least two nozzles. The at least two nozzles are connected to the first fluid supply conduit via a multi-port pipe. The second portion of the nozzle includes at least two nozzles. The at least two nozzles are connected to the second fluid supply conduit via the multi-port pipe.

[0261] Optionally, the first fluid supply pipe is directly connected to the fluid storage device. The second fluid supply pipe is also directly connected to the fluid storage device. Alternatively, the first and second fluid supply pipes are connected to the fluid storage device via the multi-port pipe.

[0262] Optionally, the first fluid supply conduit and the second fluid supply conduit are configured to enter the interior of the base through a second surface of the base.

[0263] Optionally, the nozzle includes a nozzle body, a fluid inlet conduit, and a one-way device. The nozzle body includes a cavity. The fluid inlet conduit is configured to deliver the fluid to the cavity via the one-way device.

[0264] Optionally, the inlet of the nozzle body is connected to the fluid inlet pipe via an interference fit.

[0265] Optionally, the one-way device includes a sleeve. The sleeve covers the outlet of the fluid inlet pipe.

[0266] Optionally, the sleeve comprises the rubber or silicone material.

[0267] Optionally, the nozzle further includes a heating device. The heating device is connected to the outer wall of the cavity.

[0268] Optionally, the nozzle body includes an inlet end, an outlet end, and a third surface disposed between the inlet end and the outlet end. The third surface is configured to connect with the first surface of the base. The outlet end is disposed outside the base. The inlet end is disposed inside the base.

[0269] Optionally, a waterproof layer is disposed beneath the third surface of the nozzle body.

[0270] Optionally, the sidewall of the nozzle body includes one or more fixing devices. The fixing devices are disposed below the third surface. The fixing devices are configured to secure the nozzle relative to the base after the nozzle is mounted on the base.

[0271] Optionally, the fixing device includes a resilient snap-fit. The interior of the base includes a groove that matches the resilient snap-fit.

[0272] Optionally, the third side of the base includes an opening. The opening is configured to receive a first electrical connector. The first electrical connector is configured for electrical connection to the lidar. A second electrical connector is provided on the fourth side of the base. The second electrical connector is configured for electrical connection to the lidar cleaning system.

[0273] Optionally, the second electrical connector includes a cover. The connection between the cover and the base includes a sealing structure.

[0274] Optionally, the lidar cleaning system further includes a first plate. The first plate is disposed above the first surface of the base.

[0275] Optionally, the lidar includes a protrusion projecting from the first surface of the base. The first plate is disposed around the protrusion of the lidar.

[0276] Optionally, the first plate includes a descending ramp for the lidar.

[0277] Optionally, the lidar cleaning system further includes a second plate. The second plate is connected to the second surface of the base.

[0278] Optionally, the connection between the inner edge of the second plate and the second surface of the base includes the sealing structure.

[0279] On one hand, a lidar system is provided. The lidar system includes a lidar and a lidar cleaning system as described in any of the preceding paragraphs. The lidar cleaning system is configured to clean at least a portion of the outer surface of the lidar.

[0280] On the one hand, a vehicle is provided. The vehicle includes the aforementioned lidar system.

[0281] Optionally, the vehicle includes an outer panel. The outer panel includes holes configured to receive the lidar cleaning system.

[0282] On one hand, a lidar cleaning system is provided, including a wiping section configured to at least partially contact the outer surface of a lidar when in operation; and a drive system coupled to the wiping section and configured to drive the wiping section to move and wipe the outer surface of the lidar, wherein the drive system includes a drive motor and a slider coupled to the wiping section and configured to move under the drive of the drive motor, and the wiping section is configured to be movable relative to the slider.

[0283] Optionally, the drive motor is configured to drive the wiping part to reciprocate between a first position and a second position via the slider.

[0284] Optionally, the drive system further includes a linear transmission mechanism configured to be connected to the drive motor and drive the slider to move in a straight line, such that the wiping part moves from the first position to the second position.

[0285] Optionally, the drive system further includes a guide rail configured to guide the movement direction of the slider.

[0286] Optionally, the guide rail includes a first matching structure, and the slider includes a second matching structure capable of engaging with the first matching structure of the guide rail.

[0287] Optionally, the linear drive mechanism and the guide rail are disposed on the first surface of the lidar, and the lidar cleaning system further includes a cover located on the linear drive mechanism and the guide rail.

[0288] Optionally, a portion of the cover is disposed inside the slider.

[0289] Optionally, the cover includes a steel sheet.

[0290] Optionally, the linear transmission mechanism includes a transmission wheel and a transmission belt, the transmission wheel being coupled to the output shaft of the drive motor, the transmission belt being coupled to the transmission wheel, and the slider being connected to the transmission belt.

[0291] Optionally, when the transmission belt is tensioned, the transmission wheel drives the transmission belt to perform linear motion.

[0292] Optionally, the drive wheel includes teeth, and the inner side of the drive belt includes belt teeth that mesh with the teeth of the drive wheel.

[0293] Optionally, the slider includes a groove structure through which the transmission belt is configured; the inner side of the groove structure of the slider includes a tooth structure that engages with the teeth of the transmission belt.

[0294] Optionally, the slider includes the groove structure, and the transmission belt is configured to pass through the groove structure; the groove structure of the slider is fixedly connected to the transmission belt by adhesive.

[0295] Optionally, the slider is coupled to the wiping section via a connector configured to provide pressure to the wiping section against the outer surface of the lidar.

[0296] Optionally, the connector includes: A rotating member, the first end of which is coupled to the end of the slider and the second end of which is coupled to the wiping portion; a first rotating shaft configured to pass through the end of the slider and movably connected to the first end of the rotating member; and a torsion spring disposed on at least a portion of the first rotating shaft, the rotating member being connected to the torsion spring.

[0297] Optionally, the wiping portion is detachably coupled to the connector.

[0298] Optionally, the wiping part includes a body and a detachable component, wherein the end of the connector coupled to the wiping part includes a structure that matches the detachable component.

[0299] Optionally, the body of the wiping part includes a U-shaped structure configured to be connected to one end of the detachable component via a second rotation axis.

[0300] Optionally, the wiping part includes a body and a contact part disposed on the body, wherein the contact part is configured to contact the outer surface of the lidar when the wiping part is in the working state.

[0301] Optionally, the contact portion includes a strip-shaped structure formed of rubber or silicone.

[0302] Optionally, the outer surface of the lidar includes the outer surface of the lidar's viewing window.

[0303] Optionally, the wiping part is configured to be located at a preset distance from the edge of the window when it is not in operation.

[0304] Optionally, one or both sides of the window include clearance portions, and the wiping portion is configured to be at least partially located at the clearance portions when in a non-operating state.

[0305] Optionally, a guide portion is disposed between the avoidance portion and the window, and the guide portion is configured to contact the wiping portion.

[0306] Optionally, the guide portion includes a plane or curved surface for connecting the window and the clearance portion.

[0307] Optionally, the lidar cleaning system further includes one or more fluid systems configured to provide fluid to at least a portion of the outer surface of the lidar.

[0308] Optionally, the fluid system is disposed on a second surface of the lidar adjacent to the outer surface and includes a nozzle configured to spray the fluid onto the outer surface of the lidar.

[0309] Optionally, the fluid system further includes a heating device configured to heat the fluid to be injected.

[0310] On one hand, a lidar system is provided, including a lidar and a lidar cleaning system as described in any one of the present disclosures. The lidar cleaning system is configured to clean the outer surface of the lidar.

[0311] Details of one or more embodiments of the subject matter of this disclosure are set forth in the accompanying drawings and the following description. Other features, aspects, and advantages of the subject matter will become apparent from the description, drawings, and claims. Brief description of the attached figures

[0312] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various aspects of this disclosure and, together with the description, further serve to explain the principles of this disclosure and enable those skilled in the art to make and use this disclosure.

[0313] Figure 1A An example vehicle with an example lidar system is shown.

[0314] Figure 1B The detection range of an example lidar sensor is shown.

[0315] Figure 1C An example location of an example LiDAR system in a vehicle is shown.

[0316] Figure 2 An example vehicle system is shown.

[0317] Figure 3 An example lidar system is shown.

[0318] Figure 4 An example lidar sensor is shown.

[0319] Figure 5 An example lidar cleaning system is shown.

[0320] Figures 6A-6B The example lidar system is shown in three-dimensional (3D) external views at different angles.

[0321] Figure 7 A-7D shows an example location and mode of an example lidar sensor.

[0322] Figures 8A-8B An example of mounting a sample LiDAR sensor on a device is shown.

[0323] Figures 9A-9C An example lidar lifting system is shown.

[0324] Figures 10A-10B The example lidar cleaning system is shown in views on different planes.

[0325] Figure 11A An example wiping section is shown.

[0326] Figure 11B An example wiper drive assembly is shown.

[0327] Figure 11C An example wiper support assembly is shown.

[0328] Figure 12A-12B An example fluid system with an example heating device is shown.

[0329] Figures 13A-13H An example driver system is shown.

[0330] Figures 14A-14B Another example drive system is shown.

[0331] Figure 15 A schematic view of an example lidar cleaning system is shown.

[0332] Figure 16 A schematic view of an example lidar cleaning system in motion is shown.

[0333] Figure 17 A schematic side view of an example lidar cleaning system in motion is shown.

[0334] Figure 18 A schematic side view of another example lidar cleaning system is shown.

[0335] Figure 19 A schematic side view of another example lidar cleaning system is shown.

[0336] Figure 20 A schematic side view of another example lidar cleaning system in motion is shown.

[0337] Figure 21 A schematic side view of another example lidar cleaning system in motion is shown.

[0338] Figure 22 A schematic side view of another example lidar cleaning system in motion is shown.

[0339] Figure 23 A schematic side view of another example lidar cleaning system in motion is shown.

[0340] Figure 24 A schematic side view of another example lidar cleaning system in motion is shown.

[0341] Figure 25 A schematic side view of another example lidar cleaning system is shown.

[0342] Figure 26 A schematic side view of another example lidar cleaning system in motion is shown.

[0343] Figures 27A-28C An example lidar cleaning system is shown.

[0344] Figures 29A-29C Another example of a lidar cleaning system is shown.

[0345] Figures 30A-30BAnother example of a lidar cleaning system is shown.

[0346] Figures 31A-31C Another example of a lidar cleaning system is shown.

[0347] Figures 32A-32D Another example of a lidar cleaning system is shown.

[0348] Figure 33A A flowchart is shown for an example process used to perform a lidar cleaning system.

[0349] Figure 33B A flowchart illustrating an example process for cleaning the outer surface of a lidar sensor using a lidar cleaning system is shown.

[0350] Figure 33C A flowchart illustrating an example process of moving a lidar sensor using a lidar lifting system is shown.

[0351] Figure 34 A front view of an example of a rotary drive device consistent with some embodiments of this disclosure is shown.

[0352] Figure 35 A perspective view is shown of an example of a rotating support and a snap-fit ​​that is consistent with some embodiments of this disclosure.

[0353] Figure 36 A perspective view of an example of a snap fastener consistent with some embodiments of this disclosure is shown.

[0354] Figure 37 A perspective view is shown of an example of a rotatable structure and snap-fit ​​consistent with some embodiments of this disclosure.

[0355] Figure 38 A perspective view is shown of an example of a rotatable structure and snap-fit ​​consistent with some embodiments of this disclosure.

[0356] Figure 39 A cross-sectional view of an example of a first rotating support member consistent with some embodiments of this disclosure is shown.

[0357] Figure 40 A cross-sectional view of an example of a second rotating support member consistent with some embodiments of this disclosure is shown.

[0358] Figure 41 A cross-sectional view of an example of a first snap fastener consistent with some embodiments of this disclosure is shown.

[0359] Figure 42 A cross-sectional view of an example of a second snap fastener consistent with some embodiments of this disclosure is shown.

[0360] Figure 43A front view of an example of a rotary drive device consistent with another embodiment of this disclosure is shown.

[0361] Figure 44 A perspective view of an example of a rotatable structure and snap fastener consistent with another embodiment of this disclosure is shown.

[0362] Figure 45 A perspective view of an example of a second rotating support consistent with another embodiment of this disclosure is shown.

[0363] Figure 46 A cross-sectional view of an example of a second rotating support consistent with another embodiment of this disclosure is shown.

[0364] Figure 47 A cross-sectional view of an example of a second snap fastener consistent with another embodiment of this disclosure is shown.

[0365] Figure 48 A perspective view of an example of a speed reducer consistent with some embodiments of this disclosure is shown.

[0366] Figure 49 A perspective view showing an example of a drive component consistent with some embodiments of this disclosure.

[0367] Figure 50 A cross-sectional view of an example of a speed reducer consistent with some embodiments of this disclosure is shown.

[0368] Figure 51 A cross-sectional view of an example of a speed reducer consistent with some embodiments of this disclosure is shown along the direction of arrow AA.

[0369] Figure 52 A cross-sectional view of an example housing of a speed reducer consistent with some embodiments of this disclosure is shown.

[0370] Figure 53 A side view of an example of a speed reducer consistent with some embodiments of this disclosure is shown.

[0371] Figure 54 A cross-sectional view of an example housing of a speed reducer consistent with some embodiments of this disclosure is shown.

[0372] Figure 55 A cross-sectional view of an example worm gear of a speed reducer consistent with some embodiments of this disclosure is shown.

[0373] Figure 56 A cross-sectional view of an example worm gear of a reducer consistent with some embodiments of this disclosure is shown.

[0374] Figure 57 A cross-sectional view of an example bearing end cover of a reducer consistent with some embodiments of this disclosure is shown.

[0375] Figure 58 A cross-sectional view of an example of a speed reducer consistent with another embodiment of this disclosure is shown.

[0376] Figure 59 A cross-sectional view of an example housing of a reducer consistent with another embodiment of this disclosure is shown.

[0377] Figure 60 A cross-sectional view of an example bearing end cover of a reducer consistent with another embodiment of this disclosure is shown.

[0378] Figure 61 A cross-sectional view of an example of a drive component consistent with another embodiment of this disclosure is shown.

[0379] Figure 62 A cross-sectional view of an example of a drive component consistent with another embodiment of this disclosure is shown.

[0380] Figure 63 A perspective view showing an example of a drive component consistent with another embodiment of this disclosure.

[0381] Figure 64 An exploded view of an example of an exemplary lidar system that includes a lidar cleaning system, consistent with some embodiments of this disclosure, is shown.

[0382] Figure 65 An assembly diagram of an example of an exemplary lidar system, including a lidar cleaning system, is shown, consistent with some embodiments of this disclosure.

[0383] Figure 66 A top view is shown of an example of an exemplary lidar system that includes a lidar cleaning system, consistent with some embodiments of this disclosure.

[0384] Figure 67 A perspective view of an example of an exemplary wiping section consistent with some embodiments of this disclosure is shown.

[0385] Figure 68 A cross-sectional view is shown of an example of an exemplary lidar system including a drive system consistent with some embodiments of the present disclosure, the drive system being configured to drive a wiping unit.

[0386] Figure 69A A perspective view of an example of a separate exemplary nozzle consistent with some embodiments of this disclosure is shown.

[0387] Figure 69B A cross-sectional view of an example of a separate exemplary nozzle consistent with some embodiments of this disclosure is shown.

[0388] Figure 69CA cross-sectional view is shown of an example of an exemplary nozzle assembled on a base, consistent with some embodiments of this disclosure.

[0389] Figure 70A A perspective view of an example of an exemplary lidar system, consistent with some embodiments of this disclosure, is shown, excluding the lower surface panel when viewed from the lower surface of the base.

[0390] Figure 70B A perspective view of an example of an exemplary lidar system including a lower surface panel when viewed from the lower surface of the base, consistent with some embodiments of this disclosure.

[0391] Figure 70C shows a front cross-sectional view of an example of an exemplary lidar system including a lower surface panel, consistent with some embodiments of this disclosure.

[0392] Figure 71 shows a schematic diagram of an example of a separate lower surface panel consistent with some embodiments of this disclosure.

[0393] Figure 72A A schematic diagram of an example of a separate base consistent with some embodiments of this disclosure is shown.

[0394] Figure 72B A perspective view is shown of an example of a lidar system including a lidar electrical connector, consistent with some embodiments of this disclosure.

[0395] Figure 72C A perspective view is shown of an example of a lidar system including an electrical connector configured for a cleaning system, consistent with some embodiments of this disclosure.

[0396] Figure 73 A schematic diagram of an example of a separate cover for an electrical connector consistent with some embodiments of this disclosure is shown, the electrical connector being configured for use in a cleaning system.

[0397] Figure 74 A front view of an example of a lidar system including a lidar cleaning system, consistent with some embodiments of this disclosure, is shown.

[0398] Figure 75 A perspective view shows an example of a lidar system including a lidar cleaning system, consistent with some embodiments of this disclosure.

[0399] Figure 76 A partial perspective view of an example of a lidar system including a lidar cleaning system, consistent with some embodiments of this disclosure, is shown.

[0400] Figure 77 An example of a linear drive mechanism applicable to this disclosure is shown.

[0401] Figures 78a to 78c Another example of a linear drive mechanism applicable to this disclosure is shown.

[0402] Figure 79 A perspective view shows an example of a lidar cleaning system that includes a cover, consistent with some embodiments of this disclosure.

[0403] Figure 80 A partially enlarged perspective view of an example of a lidar cleaning system consistent with some embodiments of this disclosure is shown.

[0404] Figure 81a An assembly diagram of an example of a connector and slider consistent with some embodiments of this disclosure is shown.

[0405] Figure 81b An exploded view of an example of a connector and slider consistent with some embodiments of this disclosure is shown.

[0406] Figure 82a An assembly diagram of an example of a rotating member and a wiping portion of a connector consistent with some embodiments of this disclosure is shown.

[0407] Figure 82b An exploded view of an example of a rotating member and a wiping portion of a connector consistent with some embodiments of this disclosure is shown.

[0408] Figure 82c A schematic diagram showing an example of the body of the wiping part consistent with some embodiments of this disclosure is provided.

[0409] Figure 83 A perspective view is shown of an example of a lidar system when the wiping section of the lidar cleaning system is in a non-operating state, consistent with some embodiments of the present disclosure.

[0410] Figure 84 A top view is shown of an example of a lidar system when the wiping section of the lidar cleaning system is in a non-operating state, consistent with some embodiments of this disclosure.

[0411] Figure 85 A schematic diagram illustrating an example of the field of view of the lidar when the wiping section of the lidar cleaning system is in a non-operating state, consistent with some embodiments of this disclosure.

[0412] The same reference numerals and names in the various figures denote the same elements. It should also be understood that the various exemplary embodiments shown in the figures are merely illustrative and are not necessarily drawn to scale. Detailed Implementation

[0413] Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. Numerous specific details are set forth in the following detailed description to provide a thorough understanding of the various embodiments described. However, it will be apparent to those skilled in the art that the various embodiments described can be practiced without these specific details. In other instances, well-known methods, processes, components, circuits, and networks have not been described in detail to avoid unnecessarily obscuring aspects of the embodiments.

[0414] Several features are described below, each of which can be used independently of the others or in any combination with them. However, no single feature may solve all of the problems described above, or may only solve one of them. Some of the problems described above may not be fully solved by any of the features described herein. Although headings are provided, information related to a particular heading, if not found in the section with that heading, may be found elsewhere in this description. General Overview

[0415] In some aspects and / or implementations, the systems, methods, apparatuses, computer program products, and technologies described herein include and / or implement lidar cleaning systems with various configurations, for example, for various applications or scenarios. For example, a lidar cleaning system can be integrated into an end device (e.g., a vehicle, drone, or robotic system). A lidar cleaning system can be configured to clean the outer surface of a lidar sensor in response to at least one of a detection signal indicating the dirt condition of an outer surface, a signal indicating weather information, or an input signal based on user input. Dirt, dust, or debris on the outer surface of a lidar sensor can interfere with the path of the lidar sensor's detection beam, leading to inaccurate measurements. Maintaining a clean outer surface can improve the data quality of the lidar sensor, reduce calibration requirements, and allow for accurate, consistent, and reliable data collection.

[0416] In some embodiments, the lidar cleaning system includes a wiping section with an arcuate shape, configured to clean the outer surface of a lidar sensor with a hemispherical shape via reciprocating rotational motion. Fluids (e.g., water, gas) can be sprayed onto the lidar's outer surface to facilitate cleaning. The fluid can be further heated, for example by a heating device, to remove ice or frost from the lidar's outer surface under low-temperature conditions. The wiping section can be configured for easy removal from the lidar cleaning system, enabling easy replacement. The lidar cleaning system can be configured with multi-stage (e.g., two-stage) speed adjustment for a more compact assembly, employing dynamic sealing to form a seal between moving parts and bearings to prevent liquid leakage and / or ingress of external contaminants, etc.

[0417] In some implementations, in addition to the lidar sensor, the lidar system also includes a lidar lifting system configured to raise or lower the lidar sensor to more than one predetermined position, such as two predetermined positions. In one example, the first predetermined position may be a standby position when the lidar sensor is not in operation, while the second predetermined position may be an operating position when the lidar sensor is activated. In the standby position, the top surface of the lidar sensor may be configured to be located below the outer panel of the terminal device to avoid impact or scratches. In some cases, when the lidar sensor is moved to the standby position inside the terminal device, a decorative cover may be provided to fill the hole on the terminal device body corresponding to the lidar sensor. In the operating position, the lidar sensor may be at least partially raised above or beyond the outer panel of the terminal device to perform sensor functions, such as sensing and detecting its surrounding environment, or to allow the lidar sensor to be cleaned by the lidar cleaning system of the lidar system. The lidar lifting system can extend the lifespan of the lidar sensor, reduce maintenance costs, and improve the aesthetics of the terminal device.

[0418] In some embodiments, the lidar cleaning system is configured to have a wiping unit drive system mounted on one or more side surfaces of the lidar sensor, at least partially located inside the lidar sensor, or as a separate module independent of the lidar sensor. In some embodiments, the drive system includes at least one linkage assembly, which may include one, two, or three or more links. In some embodiments, the drive system includes at least one rotating component. In some embodiments, the drive system includes at least one telescopic component. The drive system can be configured to move the wiping unit on the outer surface of the lidar sensor's window. The techniques implemented herein can have several technical advantages or benefits. First, the lidar cleaning system can be compact. The lidar cleaning system can effectively utilize the space near the side surfaces of the lidar sensor and does not require expanding the lidar sensor housing to accommodate at least the wiping unit and the wiping unit drive system. Second, the lidar cleaning system can be configured to move the wiping unit along any desired side of the window (e.g., the side with a shorter length, such as a height less than the width of the window). In this way, the lidar cleaning system can complete the cleaning steps in a short time (e.g., the wiping unit moves back and forth on the viewing window), reducing interruptions to lidar sensing caused by cleaning the lidar sensor. Third, the wiping unit can be configured to have a short size (e.g., a small thickness), which can also reduce interruptions to lidar sensing.

[0419] In some embodiments, the lidar cleaning system includes a wiping section, a fluid system, and a drive system. The wiping section may contact the outer surface of the lidar sensor. The fluid system may include at least one fluid nozzle configured to spray liquid onto the outer surface of the lidar sensor when the wiping section wipes or scrapes the outer surface, before or after the wiping section is in operation, or in response to a user input command. The drive system may move the fluid nozzle between one or more predetermined positions (e.g., a standby position and an operating position). When activated, the fluid nozzle may be at least partially located above or beyond the outer surface of the lidar sensor, and when not in operation or in standby, it may be at least partially located below the outer surface of the lidar sensor. The techniques implemented herein may provide one or more technical advantages and benefits. For example, the lidar cleaning system may be configured to clean the outer surface of the lidar window quickly and in a short cleaning time to remove contaminants such as debris, dirt, etc. The wiping section may be configured to have a small size. A smaller wiping area on a lidar sensor results in less physical obstruction within the field of view, reducing or eliminating beam obstruction and leading to less interference and more reliable data collection. Furthermore, the wiping section can be easily removed from the lidar cleaning system. Due to material reliability and various environmental factors, the wiping section may wear down over time; easy replacement reduces maintenance inconvenience and costs, and allows users to adjust the wiping section according to specific conditions, such as using winter wipers in snowy conditions and standard wipers in sunny weather. Additionally, lidar cleaning systems can have a compact design and can be integrated with lidar sensors and / or end devices (e.g., vehicles) for a better appearance. Lidar cleaning systems can also be standalone modules independent of lidar sensors or end devices, facilitating customization and mass production.

[0420] In some embodiments, the lidar cleaning system includes a fluid system, a first actuator, and a second actuator, but does not include a wiping section. The fluid system may include a liquid fluid system and a gas fluid system. The liquid fluid system may include at least one liquid nozzle configured to spray liquid onto the outer surface of the lidar sensor. The gas fluid system may include at least one gas nozzle configured to spray gas onto the outer surface of the lidar sensor. The first actuator may be configured to drive the gas nozzle between a first position (e.g., the working position of the gas nozzle) and a second position (e.g., the standby position of the gas nozzle). The second actuator may be configured to drive the liquid nozzle between a first position (e.g., the working position of the liquid nozzle) and a second position (e.g., the standby position of the liquid nozzle). In some embodiments, the first actuator and the second actuator are the same actuator. The techniques implemented herein may provide one or more technical advantages and benefits. For example, the gas nozzle can provide non-contact cleaning, which reduces the risk of physical contact scratching or damage to the lidar window and can also facilitate continuous data collection from the lidar sensor without periodic physical obstruction within the lidar sensor's field of view. Gas cleaning and liquid cleaning are suitable for removing different types of dirt, and spraying gas after liquid cleaning can also remove residual water droplets from the outer surface of the lidar sensor. Furthermore, the direction of the gas / liquid nozzles can be predetermined or adjusted based on vehicle movement for better cleaning. Additionally, gas and liquid cleaning can be a more environmentally friendly solution as it does not involve dealing with dirty or damaged windows or wiping surfaces.

[0421] Besides lidar sensors, the techniques implemented herein can be used in any other suitable devices (e.g., optical cameras or sensors). Furthermore, in addition to vehicles, the techniques implemented herein can be applied to other end devices, such as robotic devices or drones. For illustrative purposes, vehicles are described as examples of end devices in this disclosure, and lidar systems are described as examples of devices implemented using the cleaning techniques described herein. The techniques implemented herein can be used in any suitable applications, such as autonomous mobility (e.g., driving like a vehicle, flying like a drone, or moving like a robot), environmental monitoring, etc. System Overview

[0422] Figure 1A An example vehicle 100 is shown using an example lidar system 110 to capture environmental information. As described in further detail below, the lidar system 110 may be... Figure 3 The lidar system 300 is described in further detail below. The lidar system 110 can have a small and compact structure, enabling seamless integration into the vehicle 100.

[0423] LiDAR is a remote sensing technology that uses light to measure distances and create detailed three-dimensional (3D) representations of objects and landscapes. Light can include continuous light waves or light pulses. By sending and receiving light, LiDAR system 110 can measure the time it takes for light to travel to and from surrounding objects and calculate distances, for example, millions of times per second. LiDAR system 110 can also be configured to create a real-time 3D model of the environment, which can be represented as a point cloud. A point cloud can be a collection of 3D data points representing the surfaces of objects, structures, and environments within a specific area. Each data point in the point cloud can be defined by its X, Y, and Z coordinates in space, which represent its position in 3D space. Using point clouds, vehicles can accurately identify the positions of objects on the road, such as cars, pedestrians, and / or cyclists.

[0424] In some examples, such as Figure 1A As shown, the LiDAR system 110 can generate high-quality, unstitched point clouds 112, enabling easy and efficient processing of driver assistance algorithms. The LiDAR system 110 can provide high-resolution 3D vision for intelligent vehicles (such as vehicle 100), complementing or cooperating with other sensors (such as cameras and / or radar) to enhance their perception capabilities to handle more complex road conditions (such as dark environments or unknown objects on highways). The LiDAR system 110 can also provide a high-performance, automotive-grade LiDAR solution designed specifically for mass-produced vehicles, ensuring safer and smarter driver assistance, such as L2+ driver assistance. The LiDAR system 110 can be configured to support a wide range of applications in passenger cars and commercial vehicles with advanced driver assistance systems (ADAS) and / or autonomous vehicle fleets (autonomous mobility). The LiDAR system 110 can also be applied to any suitable end device, such as drones or robots. For example, the LiDAR system 110 can support robotic applications such as last-mile delivery robots and logistics robots in restricted areas.

[0425] Figure 1B The example lidar sensor's detection range and extent are shown. In some implementations, the lidar sensor can be configured as a long-range lidar sensor with a long detection range, such as from hundreds to thousands of meters, but with a relatively narrow detection angle or field of view (FOV), such as approximately 20 to 40 degrees horizontally. Long-range lidar sensors allow for accurate object detection and classification at long distances. Long-range lidar can be positioned on the roof of a vehicle (e.g., the front and / or rear roof) to provide an unobstructed view of the road ahead and / or behind, and to detect distant objects, which is useful for highway driving and early detection of distant obstacles.

[0426] In some implementations, the lidar sensor can be configured as a short-range lidar sensor, having a short detection range (e.g., as shown in the image). Figure 1B(As shown by the dashed line), for example, within a few meters of a lidar sensor, but with a wider detection angle, such as 60 degrees to nearly 360 degrees horizontally. A wider field of view (FOV) can capture nearby objects and provide a more comprehensive view of the surrounding environment / objects. Short-range lidar sensors can be positioned near headlights or side-mounted to enhance situational awareness and assist in lane keeping and / or lane changing operations.

[0427] In some implementations, the lidar sensor can be configured as a mid-range lidar. Mid-range lidar sensors strike a balance between long-range and short-range lidar sensors in terms of detection range (e.g., several meters to hundreds of meters) and field of view (FOV, e.g., 30 to 130 degrees horizontally). Mid-range lidar sensors can be positioned on the front bumper, side panels, or rear bumper to detect objects and obstacles near the vehicle, making them ideal for detecting nearby objects during parking and city driving.

[0428] In some embodiments, multiple lidar sensors are arranged around the vehicle 100 and configured to have different detection ranges and fields of view (FOV) to cover a large area around the vehicle. In some embodiments, for example... Figure 1B As shown, the lidar sensor includes one or more short-range lidar sensors 132 and one or more mid-range lidar sensors 134, configured to achieve 360-degree perception. Using a combination of lidar sensors at different locations can provide a comprehensive view of the environment. Data from these lidar sensors can be processed and / or integrated with other sensor inputs (e.g., cameras and / or radar) to make real-time decisions for safe and efficient autonomous driving. Combinations of lidar sensors with different detection ranges, fields of view (FOV), and / or different locations can be selected to achieve a balance between distance visibility and near-range obstacle detection, while considering aesthetics and cost.

[0429] In some implementations, the lidar sensor can be Figure 4 The lidar sensor 400 described herein. In some embodiments, all of the multiple lidar sensors are activated. In some embodiments, the multiple lidar sensors are activated and / or deactivated based on different scenarios or requirements. For example, in some cases, when the vehicle is traveling at high speeds (e.g., above 40 mph), one or more short-range lidar sensors can be deactivated, while one or more long-range and / or mid-range lidar sensors can be activated. Conversely, when the vehicle is traveling at low speeds (e.g., below 40 mph), one or more long-range lidar sensors can be deactivated, while one or more short-range and / or mid-range lidar sensors can be activated. This effectively saves power and / or extends the lifespan of the lidar sensors.

[0430] Figure 1C An example position of an example LiDAR system 150 relative to a vehicle is shown. The LiDAR system 150 can be... Figure 3 The lidar system 300 is described in detail below. The lidar system 150 can be mounted along a horizontal axis on the side of the vehicle, with the lidar system 150 facing outwards. In some embodiments, the lidar system 150 may include a lidar sensor, such as a mid-range lidar sensor or a short-range lidar sensor, for detecting nearby objects during urban driving. In some embodiments, the lidar sensor may be... Figure 4 The lidar sensor 400 described in the document.

[0431] like Figure 1C As shown, lidar sensors can be positioned near the wheels. Therefore, lidar sensors are prone to getting dirty due to their proximity to the wheels and the road surface, as dust, grime, mud, and debris can be present in these locations. When the vehicle moves, the wheels kick up these particles, some of which may accumulate on the lidar sensor. Furthermore, lidar sensors mounted on the side panels offer less shielding compared to roof-mounted sensors. Due to their low mounting position and protrusion on the vehicle's exterior surface, lidar sensors are easily scratched by small stones or debris, accidental collisions, or other harsh road conditions.

[0432] Embodiments of this disclosure provide a lidar cleaning system configured to clean lidar sensors. The cleaning process of the lidar cleaning system can be initiated automatically or manually. In some embodiments, for example... Figure 3 As further described in detail, automatic cleaning of the lidar sensor can be achieved, wherein the lidar detection system monitors the surface condition of the outer surface of the lidar sensor (or the lidar sensor's window) in situ, and in response to determining that the surface condition exceeds a threshold, the lidar cleaning system is activated to clean the outer surface of the lidar sensor (or the lidar sensor's window). Once the lidar cleaning system determines that the surface condition is within the threshold or the cleaning process is complete, the lidar cleaning system is deactivated. In some embodiments, the lidar cleaning system is configured to be activated by manually pressing a button to clean the outer surface of the lidar sensor (or the lidar sensor's window), or by one or more weather conditions (e.g., rain or snow). When the button is pressed, the lidar cleaning system can be activated to clean the outer surface of the lidar sensor (or the lidar sensor's window). The cleaning process can then be stopped by the user releasing the button, by an internal timer that automatically stops the wiping unit after a specific amount of time, or by the completion of a predetermined cleaning process.

[0433] In some implementations, for example, Figure 3 and Figures 9A-9C As further described in detail, a lidar lifting system is employed to raise or lower the lidar sensor to more than one predetermined position, such as two predetermined positions. The first predetermined position could be a standby position when the lidar sensor is not in operation, while the second predetermined position could be an operating position when the lidar sensor is activated. In the standby position, the top surface of the lidar sensor can be configured to remain below the vehicle's outer panel to avoid impact or scratches. In the operating position, the lidar sensor can protrude above the vehicle's outer panel (e.g., partially) to perform lidar sensor functions, such as sensing and understanding its surrounding environment, or to allow the lidar sensor's outer surface or window to be cleaned by a lidar cleaning system. Such a lidar lifting system can extend the lifespan of the lidar sensor, reduce maintenance costs, and improve the vehicle's appearance. Example vehicle system

[0434] Figure 2 The vehicle (e.g.) is shown Figure 1A-1C Example vehicle system 200 in vehicle 100. In some embodiments, vehicle system 200 includes sensor system 202, perception system 204, planning system 206, and control system 208. Vehicle system 200 may have autonomous capabilities, for example, through at least one function, feature, device, and / or the like, enabling the vehicle to operate partially or completely without human intervention, including but not limited to fully automated vehicles (e.g., vehicles that do not rely on human intervention), highly automated vehicles (e.g., vehicles that do not rely on human intervention under certain conditions), and / or the like.

[0435] In some implementations, sensor system 202 includes a sensor suite comprising one or more devices, such as lidar 202a, radar 202b, camera 202c, sonar 202d, global positioning system (GPS) 202e, and inertial measurement unit (IMU) 202f. Lidar 202a may include a lidar sensor, for example... Figure 1A 110 lidar sensor Figure 1B The lidar sensor 132 or 134, or Figure 1C The lidar sensor. The lidar 202a can be... Figure 3 The lidar system 300 is described in further detail below. In some embodiments, the sensor system 202 uses one or more devices included in the sensor system 202 to generate environmentally relevant data. The data generated by the sensor system 202 can be used by one or more systems to observe the environment in which the vehicle is located.

[0436] In some embodiments, the perception system 204, planning system 206, and control system 208 are included and / or implemented in the vehicle's autonomous navigation system. Additionally or alternatively, in some embodiments, the perception system 204, planning system 206, and control system 208 are included in one or more separate systems. In some embodiments, any and / or all of the perception system 204, planning system 206, and control system 208 are implemented in software (e.g., software instructions stored in memory), computer hardware (e.g., via a microprocessor, microcontroller, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), and / or the like), or a combination of computer software and computer hardware.

[0437] In some implementations, the perception system 204 receives data associated with at least one physical object in the environment and classifies said at least one physical object. In some examples, the perception system 204 receives data from at least one lidar (e.g., a LiDAR sensor). Figure 2 Image data (e.g., from a LiDAR 202a) that is associated with a physical object. Figure 1A (Point cloud 112). In such an example, the perception system 204 classifies physical objects based on groupings of physical objects (e.g., bicycles, vehicles, traffic signs, pedestrians and / or similar objects). In some implementations, the perception system 204 sends data associated with the classification of physical objects to the planning system 206.

[0438] In some implementations, the planning system 206 receives data associated with a destination and generates data associated with at least one route or trajectory along which a vehicle can travel toward the destination. In some implementations, the planning system 206 receives data from the perception system 204 periodically or continuously and updates the route or trajectory based on the data generated by the perception system 204, or generates at least one different route or trajectory.

[0439] In some embodiments, control system 208 receives data associated with at least one trajectory from planning system 206, and control system 208 controls the operation of the vehicle. In some embodiments, control system 208 includes steering control system 208a and powertrain control system 208b. Control system 208 can control the operation of these systems based on the received trajectory. In some embodiments, powertrain control system 208b receives control signals from control system 208 to cause the vehicle to start, stop, accelerate, decelerate, perform left turns, perform right turns, and / or similar operations. Steering control system 208a is configured to receive control signals from control system 208 to cause the vehicle to rotate one or more wheels of the vehicle. In some examples, where the trajectory includes a left turn, control system 208 sends control signals to cause steering control system 208a to adjust the steering angle of the vehicle, thereby causing vehicle 200 to turn left. Example LiDAR system

[0440] Figure 3 This demonstrates that it can be used in terminal devices (e.g., vehicles, such as...) Figure 1A-1C Vehicle 100 or Figure 2 An example lidar system 300 is implemented in the vehicle described herein. The lidar system 300 can be implemented as... Figure 1A The lidar system 110 Figure 1C 150 or Figure 2 The 202a lidar.

[0441] In some embodiments, the lidar system 300 includes a lidar sensor 302, a lidar cleaning system 304, and a control system 310. The lidar system 300 may also include a lidar detection system 306 configured to detect the surface condition of the lidar sensor 302. The lidar system 300 may also include a lidar lifting system 308, for example... Figures 9A-9C The lidar sensor 302 can be described in further detail below. Figure 4 The lidar sensor 400 is described in further detail below. The lidar cleaning system 304 may be as follows: Figure 5-32D Any of the lidar cleaning systems described herein. In some embodiments, the lidar sensor 302, lidar cleaning system 304, lidar detection system 306, and lidar lifting system 308 are electrically connected to and communicate with the control system 310. The control system 310 may include at least one processor and at least one memory, the memory storing programming instructions executable by the at least one processor to perform one or more operations.

[0442] In some embodiments, the lidar detection system 306 monitors and detects the cleanliness of the outer surface of the lidar sensor 302. The outer surface may be the surface of the window of the lidar sensor 302. In response to determining that the surface cleanliness condition exceeds a predetermined threshold, the lidar cleaning system 304 may be activated to clean the outer surface of the lidar sensor 302. Subsequently, in response to determining that the surface condition is below the threshold or the cleaning process is completed, the lidar cleaning system 304 may be deactivated.

[0443] In some embodiments, the lidar lifting system 308 is configured to raise or lower the lidar sensor 302 to more than one predetermined position, such as two predetermined positions. The first predetermined position may be a standby position when the lidar sensor 302 is not in operation, while the second predetermined position may be an operating position when the lidar sensor 302 is activated. In the standby position, the top surface of the lidar sensor 302 may be configured to be located below the outer panel of the terminal device to avoid impact or scratches. In the operating position, the lidar sensor 302 may protrude above (e.g., partially) the outer panel of the terminal device to perform sensor functions, such as sensing and understanding its surrounding environment, or to allow the lidar sensor 302 to be cleaned by the lidar cleaning system 304. The lidar lifting system 308 can extend the lifespan of the lidar sensor, reduce maintenance costs, and improve the appearance of the vehicle.

[0444] The control system 310 can send a first control signal to the lidar lifting system 308 to control the lidar lifting system 308 to move the lidar sensor 302 from a standby position (e.g., a position below the outer panel of the terminal device) to a working position (e.g., a position extending above the outer panel of the terminal device), for example, after a vehicle engine start signal, an autonomous driving / assisted driving activation signal, or a similar signal. The control system 310 can then send a second control signal to the lidar cleaning system 304 to clean the outer surface of the lidar sensor 302, for example, in response to a signal indicating dirt on the lidar surface. After the cleaning process is complete, the control system 310 can send a third control signal to the lidar cleaning system 304 to deactivate the lidar cleaning system 304. Furthermore, the control system 310 can send a fourth control signal to the lidar lifting system 308 to control the lidar lifting system 308 to retract the lidar sensor 302 from its working position back to its standby position.

[0445] In some implementations, after the lidar sensor 302 moves to its working position, the lidar lifting system 308 sends a signal to the control system 310 indicating that the lidar sensor 302 is at its destination. In response to the signal from the lidar lifting system 308, the control system 310 may send a control signal to activate the lidar cleaning system 304 to clean the outer surface of the lidar sensor 302.

[0446] In some embodiments, the lidar cleaning system 304 is activated in response to one or more weather conditions (e.g., rainy or snowy weather). In some embodiments, the lidar cleaning system 304 is activated in response to user input.

[0447] In some embodiments, the lidar detection system 306 monitors and detects the surface condition of the outer surface of the lidar sensor 302 in situ during the cleaning process performed by the lidar cleaning system 304. In response to determining that the surface condition is below or within a threshold, the lidar detection system 306 sends a signal to the control system 310 indicating that the outer surface of the lidar sensor 302 is clean. In response to the signal from the lidar detection system 306, the control system 310 sends a control signal to the lidar cleaning system 304 to terminate the cleaning process.

[0448] As described above, the lidar detection system 306 is configured to detect and monitor the cleanliness or contamination level on the outer surface or window of a lidar sensor. In some embodiments, the lidar detection system 306 is configured to use multiple detection light emission channels from the lidar sensor and / or additional detectors disposed on the rotor to detect and locate the lidar contamination level and contamination range. In some examples, the lidar detection system 306 includes at least one light receiving device and a processing unit. The light receiving device may be disposed on the optomechanical rotor of the lidar and is configured to receive the echo generated after the beam emitted by the lidar for detecting a target is reflected by dirt on the window, and convert the echo into a detection electrical signal. The processing unit may be coupled to at least one light receiving device and is configured to identify the contamination status of the window based on the detection electrical signal. The lidar detection system 306 can achieve 360-degree detection of the window, expand the detection range of the photomask contamination, identify different types of contamination, and improve detection efficiency. In some embodiments, the lidar detection system 306 is configured and performed as described in Chinese patent application CN202010859163.0, filed August 20, 2020, which is commonly owned and incorporated herein by reference in its entirety.

[0449] In some embodiments, the lidar detection system 306 is configured to use a light source with a wavelength different from that of the lidar laser to detect contamination on the lidar window. In some examples, the lidar detection system 306 includes a window contamination detection system for the lidar, comprising a transmitting device. The transmitting device is arranged on the optomechanical rotor of the lidar and is capable of emitting detection beams with different wavelengths for detecting contamination on the lidar window. A receiving device is arranged on the optomechanical rotor of the lidar and is configured to receive the light emitted by the transmitting device. The echo of the detection beam reflected by the contamination on the lidar window is converted into a detection electrical signal. The lidar detection system 306 may also include a processing unit coupled to the receiving device and configured to identify the contamination status of the lidar window based on the detection electrical signal. The lidar detection system 306 can reduce optical crosstalk when detecting contamination on the lidar window, while enabling 360-degree detection of the lidar window and detection of different types of contamination, thereby improving detection efficiency. In some embodiments, the lidar detection system 306 is configured and performed as described in Chinese patent application CN202010859161.1, filed August 24, 2020, which is commonly owned and incorporated herein by reference in its entirety.

[0450] In some embodiments, the lidar detection system 306 is configured to use pulse coding time, time-of-flight, distance threshold, point threshold, and / or other conditions for detection, improving detection accuracy. In some examples, the lidar detection system 306 provides a lidar window contamination detection method, which may include the following steps: transmitting a multi-pulse sequence with pulse coding; receiving radar echoes and obtaining echo pulse sequences in the radar echoes corresponding to the multi-pulse sequence; and determining whether the lidar window is contaminated based on the time-of-flight of the echo pulse sequences. According to this lidar window contamination detection method, the light beam generated by the transmitting unit of the lidar sensor is used to detect contamination of the lidar window. No additional light source and / or detection equipment is required. Detection is performed using the coding time, time-of-flight, and number of echo points of the lidar sensor, resulting in high detection accuracy and reduced false positives. Lidar window contamination detection is performed using the same transmitting unit and the same receiving unit in the lidar sensor used for target detection. This simplifies the structure and saves internal space of the lidar sensor. In some embodiments, the lidar detection system 306 is configured and performed as described in Chinese patent application CN202110734418.5, filed June 30, 2021, which is commonly owned and incorporated herein by reference in its entirety.

[0451] In some embodiments, the lidar detection system 306 is configured to perform contamination detection using conditions including the rationality of the time window, peak intensity, pulse width, and / or waveform integral value. In some examples, the lidar detection system 306 employs a lidar window contamination detection method, which may include the steps of: emitting a laser pulse; receiving stray light pulses generated by the laser pulse; and determining whether the lidar window of the lidar is contaminated based on the characteristics of the stray light pulses. Based on this lidar window contamination detection method, contamination of the lidar window is detected using the transmitting and receiving units in the lidar. No additional separate light source and light receiving equipment are required, thus simplifying the structure. Furthermore, this method can fully utilize the blind time of the coaxial transmitting and receiving lidar system, improving the detection efficiency of lidar window contamination for coaxial transmitting and receiving lidars. In some embodiments, the lidar detection system 306 is configured and performed as described in Chinese Patent Application CN202111113771.8, filed September 23, 2021, which is jointly owned and incorporated herein by reference in its entirety.

[0452] In some embodiments, the lidar detection system 306 is configured to detect contamination using variations in ambient light noise received by the lidar. In some examples, the lidar detection system 306 provides a lidar window contamination detection method and apparatus, as well as a storage medium. The lidar window contamination detection method may include the following steps: receiving echoes at different horizontal field-of-view angles; calculating ambient noise in the echoes for a given horizontal field-of-view angle; and determining whether the lidar window is contaminated based on the ambient noise intensity and the rate of change of ambient noise intensity at that horizontal field-of-view angle. According to this detection technique, contamination detection of the lidar window can be achieved without adding additional light sources and light receiving devices. Therefore, the structural complexity of the lidar system and the complexity of contamination detection of the lidar window are reduced, and the contamination detection capability is enhanced. In some embodiments, the lidar detection system 306 is configured and performed as described in Chinese Patent Application CN202111562642.7, filed December 20, 2021, which is commonly owned and incorporated herein by reference in its entirety. Example LiDAR sensor

[0453] Figure 4 An example lidar sensor 400 is shown. The lidar sensor 400 can be... Figure 1B The lidar sensor 132 or 134, or Figure 3 The lidar sensor 302 can be used to achieve... Figure 1A The lidar system 110 Figure 1C 150 lidar systems Figure 2 LiDAR 202a or Figure 3 In the lidar system 300, the lidar sensor 400 can also be implemented as... Figures 5 to 32D Any of the lidar sensors described herein.

[0454] In some embodiments, the lidar sensor 400 includes a laser emitting device (e.g., at least one laser emitter) 430, a control device (e.g., at least one controller) 402, a detection device (e.g., at least one detector) 410, and a data processing device (e.g., at least one processor) 404. The laser emitting device 430 may include at least one laser 408 and at least one driver 406 coupled to the laser 408 and configured to emit laser pulse signals.

[0455] Control device 402 can be coupled to driver 406 and configured to generate a trigger signal. Driver 406 can receive the trigger signal from control device 402 and drive coupled laser 408 to emit a laser pulse signal L. The laser pulse signal L can be diffusely reflected on object 420, for example, and a portion of the echo signal L' can be returned to lidar sensor 400. Detection device 410 is configured to receive the echo signal L' of the laser pulse signal L reflected by object 420 and convert the echo signal L' into an electrical signal.

[0456] Data processing device 404 can be configured to obtain the reception time of echo signal L' from detection device 410 and the emission time of laser pulse signal L from laser emitting device 400. Data processing device 404 can determine the distance information of object 420 based on the emission time of laser pulse signal L and the reception time of echo signal L'. Repeating this process millions of times per second can create accurate real-time 3D maps of the environment, such as point clouds. Figure 1A Point cloud 112. Terminal devices (e.g., vehicles, such as...) Figure 1A-1C Vehicle 100 or Figure 2 The onboard computer in a vehicle can use this lidar point cloud for safe navigation. Example LiDAR cleaning system

[0457] Figure 5 An example lidar cleaning system 500 is shown. In some embodiments, the lidar cleaning system 500 includes at least one of a lidar wiping unit assembly 502, a wiping unit driving system 504, a fluid system 506, a fluid driving system 508, a controller 510, and / or a fluid heating system 512. These components and systems can be coupled to and communicate with each other. The lidar cleaning system 500 can be implemented as follows: Figure 3 The lidar cleaning system 304. The lidar cleaning system 500 can be made by... Figure 6A-32D Any of the lidar cleaning systems described herein can be implemented.

[0458] The lidar wiping assembly 502 can be configured to reciprocate on the outer surface of the lidar sensor for cleaning. The outer surface can be the surface of the lidar sensor's viewing window. The reciprocating motion can be a rotational motion (e.g., as shown in the image). Figure 6A-14B (as described in) or linear motion (e.g., as...) Figure 15-31C (As described in the text). The wiping unit drive system 504 can be coupled to the lidar wiping unit assembly 502 and is configured to drive the reciprocating motion of the lidar wiping unit assembly 502. The wiping unit drive system 504 can be a drive system (e.g., such as...). Figure 6A-31C (As described in the text). In some embodiments, gas nozzles and / or liquid nozzles are used instead of wiping assembly to clean the lidar window by spraying gas (e.g., air) onto the outer surface of the lidar sensor, thereby blowing away debris and contaminants, such as... Figures 32A-32D The details are described in further detail below.

[0459] Fluid system 506 can be configured to spray liquid and / or gas onto the outer surface of a lidar sensor to facilitate cleaning. Fluid system 506 may include a fluid nozzle through which liquid and / or gas are sprayed. In some embodiments, fluid drive system 508 is coupled to fluid system 506 and configured to move the fluid nozzle from one predetermined position to another. For example, the predetermined positions may include a standby position and an operating position, in which the fluid nozzle is in a non-operating state and positioned below the outer surface of the lidar sensor; and in the operating position, the fluid nozzle at least partially protrudes above the outer surface of the lidar sensor and is activated to spray the liquid onto the outer surface of the lidar sensor. Fluid drive system 508 can be configured to drive the fluid nozzle from the standby position to the operating position after the lidar cleaning system 500 is activated, or to retract from the operating position to the standby position after the cleaning process or liquid and / or gas spraying is completed. Fluid system 506 can be as follows: Figure 27A-32D The fluid system described herein. In some embodiments, the fluid system remains stationary relative to the lidar window, for example, as... Figure 6A-14B As described herein, a fluid drive system 508 may not be required.

[0460] Furthermore, the fluid heating system 512 can be configured to heat the liquid and / or gas before it is injected through a liquid nozzle, for example, to remove frost from the outer surface or viewing window of a lidar sensor under low-temperature conditions. The fluid heating system 512 can be as follows: Figure 6A-14BThe heating device described herein.

[0461] In some embodiments, the wiping unit drive system 504 and the fluid drive system 508 are separate drive systems. In some embodiments, the lidar wiping unit assembly 502 and the fluid system 506 are driven by the same drive system.

[0462] In some implementations, for example, Figure 6A-14B As described in further detail, the lidar wiping assembly 502 includes a wiping section with an arcuate shape, configured to clean the hemispherical outer surface of the lidar sensor via a reciprocating rotational motion. A liquid (e.g., water) can be sprayed onto the outer surface of the lidar sensor to facilitate cleaning. The liquid can be further heated to remove frost from the outer surface under cryogenic conditions. Furthermore, the wiping section can be configured for easy removal from the lidar cleaning system, enabling easy replacement of the wiping section. The wiping section can be implemented with two-stage speed adjustment for a more compact assembly, and a dynamic seal can be used to form a seal between the moving parts and the bearing to prevent liquid leakage and / or the ingress of external contaminants, etc.

[0463] In some implementations, for example, Figure 15-26 As described above, the lidar cleaning system 500 has a wiping drive system 504, which is mounted on the side surface of the lidar sensor, at least partially located inside the lidar sensor, or is a separate module independent of the lidar sensor. In some embodiments, the wiping drive system 504 includes at least one linkage assembly, which may further include one, two, or three links. In some embodiments, the wiping drive system 504 includes at least one rotating assembly. The wiping drive system is configured to move the wiping part on the outer surface of a window coupled to the lidar sensor. The lidar cleaning system 500 can be configured to move the wiping part along a first side (e.g., along the height direction of the window), which may be smaller than a second side of the window (e.g., along the width direction of the window). This allows the lidar cleaning system 500 to complete a wiping process in a shorter time, reducing interruptions to lidar sensing caused by cleaning the lidar sensor. In some embodiments, the wiping drive system can be arranged relative to the mounting position of the lidar sensor. For example, as... Figure 1C As shown, the space above or below the lidar sensor is limited, and the wiping unit drive system can be adaptively set on the left and right sides of the lidar sensor.

[0464] In some implementations, for example, Figure 27A-31CAs described herein, the lidar cleaning system 500 includes a wiping unit, a fluid system, and a drive system. The wiping unit can contact the outer surface of the lidar sensor. The fluid system may include a fluid nozzle configured to spray liquid and / or gas onto the outer surface of the lidar sensor when the wiping unit wipes or scrapes the outer surface. The drive system can linearly move the fluid nozzle between one or more predetermined positions (e.g., a standby position and an operating position). When the wiping unit is activated, the fluid nozzle may be located above or beyond the outer surface of the lidar sensor, while when the wiping unit is in a non-operating or standby state, the fluid nozzle may be located below the outer surface of the lidar sensor.

[0465] In some implementations, for example, Figures 32A-32D As described, the lidar cleaning system 500 includes a fluid system and at least one actuator. The fluid system may include a liquid fluid system and a gas fluid system. The liquid fluid system may include a liquid nozzle configured to spray liquid onto the outer surface of the lidar sensor. The gas fluid system may include a gas nozzle configured to spray gas onto the outer surface of the lidar sensor. A first actuator may be configured to drive the gas nozzle to move along a first direction between a first position (e.g., the working position of the gas nozzle) and a second position (e.g., the standby position of the gas nozzle). A second actuator may be configured to drive the liquid nozzle to move between the first position (e.g., the working position of the liquid nozzle) and the second position (e.g., the standby position of the liquid nozzle). The first and second actuators may be the same actuator, and the direction of the gas / liquid nozzles may be adjusted by the same actuator.

[0466] In the following text, for ease of reference, different implementations of the lidar cleaning system are categorized into various types. Note that these categorizations are for illustrative purposes only. The various types of lidar cleaning systems are further described in detail below. Different types of lidar cleaning systems can be implemented independently or in suitable combinations (e.g., partially). For example, components of some lidar cleaning systems can be implemented in other lidar cleaning systems. Type I LiDAR Cleaning System

[0467] Figure 6A-14BSchematic diagrams of different embodiments of a first-class lidar cleaning system are shown. In some embodiments, the lidar cleaning system includes a wiping section configured to clean the outer surface of the lidar sensor via a reciprocating rotational motion. The outer surface of the lidar sensor may have an arcuate or curved shape, such as a hemispherical or multifaceted shape. The shape of the wiping section may be adapted to the shape of the outer surface of the lidar sensor, even if the shape of the wiping section does not perfectly match the shape of the outer surface of the lidar sensor. The wiper blade may be elastic and configured to ensure that the wiper blade adheres to the outer surface of the lidar sensor. A liquid (e.g., water) may be sprayed onto the outer surface of the lidar to facilitate cleaning. The liquid may be further heated, for example by a heating device, to remove frost from the outer surface of the lidar under low-temperature conditions. Figure 6A-14B This may include a coordinate system, such as an X-axis, Y-axis, and / or Z-axis. It should be noted that the consistency of the coordinate system may vary from graph to graph. For example, Figure 9A The X-axis in the text can be different from the X-axis in the text. Figure 10B The X-axis in [the context]. It should also be understood that parallel directions can be referred to as the same axis. For example, in [the context of...] Figure 9A In the diagram, both direction A and direction B are parallel to the Z-axis, therefore both direction A and direction B can be referred to as the Z-axis.

[0468] Figures 6A-6B A three-dimensional (3D) perspective view of a lidar system 600 at different angles is shown. The lidar system 600 may include a lidar sensor 690 having an outer surface 696, a lifting system 610, a lidar cleaning system 620, and control circuitry 692. Control circuitry 692 may be included in a control system (e.g., Figure 3 In the control system 310). The lidar system 600 can be integrated with... Figure 1A The lidar system 110 Figure 1C 150 lidar systems Figure 2 LiDAR 202a or Figure 3 The lidar system 300 is the same as or similar to the lidar sensor 690. Figure 1B LiDAR sensor 132 or 134, Figure 3 The lidar sensor 302 or Figure 4 The lidar sensor 400 is the same as or similar to the lidar sensor 400. The lifting system 610 can be with... Figure 3 The lifting system 308 or Figures 9A-9C The lifting system described herein is the same as or similar to that described above. The lidar cleaning system 620 can be used with... Figure 3 304 LiDAR cleaning system Figure 5 LiDAR cleaning system 500 or about Figures 6A to 14B Any of the aforementioned lidar cleaning systems are the same or similar.

[0469] The lifting system 610 may include a driver 680 and a reducer 670. The lidar cleaning system 620 may include a wiping unit 630, a drive system 640, a heating device 660, and a fluid system 650. In some embodiments, the lidar system 600 includes a detection system, for example... Figure 3 The lidar detection system 306. In some embodiments, the lidar system 600 is mounted on the side of the vehicle along a horizontal axis, wherein the lidar sensor 690 faces outward, for example as... Figure 1C As shown. For simplicity, the lifting system 610 may be abbreviated as "lifter" in the following description or figures, and the lidar cleaning system 620 may be abbreviated as "cleaner" in the following description or figures.

[0470] Figure 7 The operation 700 of the lidar system 600 is shown. Figure 7 Figure (a) shows the lidar sensor 690 of the lidar system 600 in the working position 702, where the lidar sensor 690 is raised above the outer plate 694 (or outer surface) of the terminal device. Figure 7 Figure (c) shows the standby position 704, where the lidar sensor 690 is positioned below the outer panel 694 (or outer surface) of the terminal device, for example to protect the lidar sensor 690 from impacts or scratches when it is not in operation. Different positions of the lidar sensor 690 can be achieved by the lidar lifting system 610 (see...). Figure 6A Control. In some embodiments, at the working position 702, the lidar sensor 690 extends no more than 30 mm above the outer plate 694 or the outer surface of the terminal device.

[0471] Similarly, the lidar cleaning system 620 can operate in two modes: a standby mode 706 when in a non-working state and a cleaning mode 708 when in a working state. In the standby mode 706 of the lidar cleaning system 600, as... Figure 7 As shown in Figure (d), the wiping portion 630 is positioned on the lateral side of the lidar sensor 690. In this mode, the wiping portion 630 is configured not to interfere with the normal function of the lidar sensor 690. In the cleaning mode 708, the wiping portion 630 wipes the outer surface 696 of the lidar sensor 690 with a reciprocating rotational motion, for example as... Figure 7 Figure (b) shows the instantaneous position of the wiping part 630 as it rotates about the X-axis.

[0472] In some implementations, such as Figure 8AAs shown, the lidar system 600 is coupled to an outer frame 804, and the outer frame 804 can be further assembled with a top cover 806, passing through holes in a sheet metal part 802 (e.g., a sheet metal part of a terminal device). The outer frame 804 and the top cover 806 can be fixed to the terminal device in a manner that maintains their relative position to the sheet metal part 802. In some embodiments, such as Figure 8B As shown, the lidar system 600 is mounted on the metal frame 808 of the terminal device, and the top of the lidar system 600 is directly assembled to the top cover 806, passing through a hole in the sheet metal part 802 of the terminal device. That is, the lidar system 600 is disposed between the metal frame 808 and the sheet metal part 802 of the terminal device, forming an assembly. The lidar sensor 690 can move relative to the sheet metal part 802, for example, between a standby position 704 and a working position 702. In the working position 702 (see...) Figure 7 A), the lidar sensor 690 is raised above the sheet metal part 802 of the terminal device, while in the standby position 704 (see Figure 7 (c) The lidar sensor 690 is lowered below the sheet metal part 802 of the terminal device.

[0473] In some embodiments, the lidar cleaning system 620 is securely attached to the metal frame 808 and is therefore immovable. The lidar cleaning system 620 can be configured to clean the outer surface 696 of the lidar sensor 690 when the lidar sensor 690 is in its operating position 702. In some embodiments, the connection or assembly methods between the above-mentioned components include, but are not limited to: welding, riveting, bonding, snap-fit, press-fit, clamping or fasteners, keyways and key shafts, magnetic connections, tongue and groove connections, threaded inserts, soldering, adhesives, or quick-release couplings, etc. Example LiDAR Lifting System

[0474] Figure 9AThis is a schematic cross-sectional view of an example lidar lifting system 610. The lidar lifting system 610 includes a driver 680 (e.g., a motor) and a reducer 670, which can be stacked along the Z-axis. The reducer 670 may further include at least a lead screw 912 and a lead screw nut 910. The lead screw 912 is connected to the driver 680 and can be driven by the driver 680 to rotate about the Z-axis. A thread on the inner surface of the lead screw nut 910 engages with a matching thread on the lead screw 912, such that the lead screw nut 910 can move up and down along the Z-axis as the lead screw 912 rotates. In some embodiments, the lead screw 912 may include, but is not limited to: ball screws, trapezoidal screws, square thread screws, sawtooth screws, round thread screws, multi-threaded screws, precision screws, micro screws, self-locking screws, non-rotating screws, etc.

[0475] The outer surface of the lead screw nut 910 is further coupled to one end of the support structure 904. For example... Figure 9A As shown, the support structure 904 may have a first end (e.g., one end along the negative X-axis), a middle portion, and a second end (e.g., one end along the positive X-axis). The first end is coupled to the lead screw nut 910. The middle portion of the support structure 904 may be higher than the first and second ends and may have a flat surface, wherein the lidar sensor 690 is mounted on the flat surface of the middle portion. When the lead screw nut 910 is raised or lowered along the Z-axis, the lidar sensor 690 and the support structure 904 move together with the lead screw nut 910. In some embodiments, the connection or assembly methods for coupling the lead screw nut 910 and the support structure 904 include, but are not limited to: welding, riveting, bonding, snap-fit, press-fit, clamping or fasteners, keyways and key shafts, magnetic connections, tenon joints, threaded inserts, soldering, adhesives, or quick-release couplings, etc.

[0476] In some embodiments, the lidar lifting system 610 further includes a bushing 922 and a guide rod 920 to provide accuracy and stability for the linear movement of the lidar sensor 690 and the support structure 904 along the Z-axis. The outer surface of the bushing 922 is connected to the second end of the support structure 904, as shown below. Figure 9AAs shown. The bushing 922 may be a sleeve-shaped component that fits internally onto the guide rod 920. The bushing 922 may include materials with a low coefficient of friction, including but not limited to: graphite copper, bronze, plastic, polymers, etc. The guide rod 920 may be a straight rigid rod extending along the Z-axis. The material of the guide rod 920 may include but is not limited to: steel or aluminum. The bushing 922 may rise or fall along the guide rod 920 along the Z-axis with the linear movement of the support structure 904, wherein the guide rod 920 is used to guide the linear movement of the bushing 922 along the Z-axis to reduce swaying or lateral movement. In some embodiments, a lubricant is used between the guide rod 920 and the bushing 922 to further reduce friction and wear, achieving reliable and durable movement along a straight path.

[0477] In some embodiments, the drive 680 is protected by a drive retainer 902 and positioned above the lead screw 912 along the positive Z-axis. The drive 680 can be coupled to the lead screw 912 via a drive coupling 906. When the drive 680 rotates, the drive coupling 906 transmits torque and rotational motion to the lead screw 912. The type of drive coupling may include, but is not limited to, flexible couplings (e.g., claw couplings, elastomer couplings, and beam couplings) for compensating for angular misalignment or axial movement, and rigid couplings for precise positioning. Furthermore, the bottom end of the lead screw 912 may be supported by a bearing 914 and a bearing cap 916. The bearing 914 allows the lead screw 912 to rotate along the Z-axis without jamming or wobbling and reduces friction between the lead screw 912 and the bearing cap 916, while the bearing cap 916 provides a housing for the bearing 914 and may have seals or protective features to shield the bearing 914 from dust, debris, and contaminants. Furthermore, the guide rod 920 and the bushing 922 may be disposed inside the inner sleeve 918. The guide rod 920 may be supported by a guide rod cap 924 to hold the guide rod 920 in place and reduce its lateral movement along the X-axis and / or Y-axis. In some embodiments, the bearing cap 916 may be used as a limiting member against the lead screw nut 910. The bearing 914 and the bearing cap 916 may be integrated together or be a single component, such as similar to the guide rod cap 924.

[0478] In some embodiments, the lidar lifting system 610 is configured to receive a control signal from a control circuit 692. The control signal can be used to activate or deactivate the lidar lifting system 610 to linearly move the lidar sensor 690 along the Z-axis to a predetermined position. As described above, the predetermined position may include, but is not limited to, a standby position 704 when the lidar sensor 690 is not in operation, and a working position 702 when the lidar sensor 690 is activated in operating mode. In some examples, the lidar sensor 690 is moved from the standby position 704 to the working position 702 (see...). Figure 7 A and Figure 7 C), or move in the opposite direction, which takes 3 seconds or less.

[0479] In some embodiments, the lidar lifting system 610 is also coupled to a position detector configured to detect whether the lidar sensor 690 is in a predetermined position. A control circuit 692 may be coupled to the position detector and the driver 680, and the control circuit 692 may send one or more control signals to the driver 680 to drive the reducer 670 to move the lidar sensor 690 to the predetermined position. In some embodiments, when the lidar lifting system 610 is activated to move the lidar sensor 690 from the working position 702 to the standby position 704, the position detector monitors the position of the lidar sensor 690 in situ during the movement. In response to detecting that the lidar sensor 690 has arrived at or is approaching the standby position 704, it sends a signal to the control circuit 692 confirming that it is in the predetermined position. The control circuit 692 then sends a control signal to the lidar lifting system 610 to stop the movement of the lidar sensor 690.

[0480] In some embodiments, one or more mechanical stoppers are used to stop the lidar sensor 690 at a predetermined stop position, such as... Figure 9B and Figure 9CAs shown. In some embodiments, at least one of the one or more mechanical limiting members may be configured to stop the linear movement of the lead screw nut 910 on the lead screw 912. In some embodiments, at least one of the one or more mechanical limiting members may be configured to stop the linear movement of the bushing 922 on the guide rod 920. In some embodiments, the limiting members include at least one first limiting member configured to stop the linear movement of the lead screw nut 910 on the lead screw 912; and at least one second limiting member configured to stop the linear movement of the bushing 922 on the guide rod 920. The one or more mechanical limiting members remain stationary relative to the sheet metal of the vehicle 802 during the movement of the lidar sensor 690.

[0481] picture Figure 9B This is an exemplary 3D view of a portion of a lidar system 600, showing a limiting element, such as a protrusion 940 of the lidar housing, for stopping the movement of the lead screw nut 910 on the lead screw 912 when the lidar sensor 690 reaches its working position 702. A protrusion 930 of the lidar lifting system 610 is a mechanical component that protrudes or extends from the body or assembly of the lidar lifting system 610 along the positive Y direction. Similarly, a protrusion 940 of the lidar housing is a mechanical component that protrudes or extends from the body or assembly of the lidar sensor housing along the positive Y direction. The protrusion 930 moves along the Z-axis with the lidar sensor 690, while the protrusion 940 of the lidar housing remains stationary relative to the terminal device. When the lidar sensor 690 moves to the predetermined working position 702, the top surface of the protrusion 930 contacts the bottom surface of the protrusion 940 of the lidar housing, as... Figure 9B As shown. At this point, the protrusion 930 can no longer move further along the positive Z-axis, effectively stopping the movement of the lidar sensor 690 at its working position 702.

[0482] Figure 9C This is an exemplary cross-sectional view of a portion of a lidar system 600, showing a limiting element, such as the guide rod cap 924, for stopping the movement of the bushing 922 on the guide rod 920 when the lidar sensor 690 reaches its standby position 704. A bearing cap 916 can also be used as a limiting element against the lead screw nut 910. As described above, the bushing 922 moves together with the support structure 904 and the lidar sensor 690, while the guide rod cap 924 remains stationary relative to the terminal device. For example, the guide rod cap 924 can be mounted to the terminal device. Figure 9CThe diagram illustrates the transition phase as the lidar sensor 690 moves from its operating position 702 to its standby position 704. As the lidar sensor 690 moves along the negative Z-axis toward its standby position 704, the bottom surface of the bushing 922 eventually contacts the top surface of the guide rod cap 924. At this point, the bushing 922 can no longer advance along the negative Z-axis, effectively stopping the movement of the lidar sensor 690 at its standby position 704. Example LiDAR cleaning system

[0483] Figure 10A-14B A schematic diagram and cross-sectional view of an example lidar cleaning system 620 are shown. The techniques implemented in this paper can be combined with... Figures 9A-9C The lidar lifting system 610 discussed herein is used to move the lidar sensor 690 to a predetermined position before or after cleaning the outer surface 696 of the lidar sensor 690. The outer surface 696 may be the surface of the window of the lidar sensor 690.

[0484] Figure 10A and Figure 10B Cross-sectional views of the lidar cleaning system 620 in different planes are shown. Figure 10A A cross-sectional plane is shown passing through the wiping section 630, the drive system 640, the wiper drive assembly 1020, and the wiper support assembly 1010. Figure 10B A cross-sectional plane is shown passing through the fluid system 650 and the heating device 660.

[0485] like Figures 10A-10B As shown, the lidar cleaning system 620 may include a wiping unit 630 and a drive system 640. In some embodiments, the lidar cleaning system 620 further includes a fluid system 650. In some embodiments, the lidar cleaning system 620 further includes a heating device 660. In some embodiments, the lidar cleaning system 620 further includes a wiper drive assembly 1020 and a wiper support assembly 1010. The wiping unit 630 is configured to move around its central X-axis (see...) Figure 10AThe reciprocating rotational motion of the wiper 630 is used to clean the outer surface 696 of the lidar sensor 690. The drive system 640 is configured to drive the reciprocating rotational motion of the wiper 630. The fluid system 650 is configured to spray fluid (e.g., water or gas) before, during, or after cleaning to enhance the cleaning effect. The heating device 660 is used to heat the fluid, for example, to remove frost from the outer surface 696 under low-temperature conditions. The wiper drive assembly 1020 is configured to transmit torque and rotational motion from the drive system 640 to one end of the wiper 630 to drive its reciprocating rotational motion. The wiper support assembly 1010 is configured to passively support the reciprocating rotational motion of the wiper 630 through the other end of the wiper 630.

[0486] In some embodiments, the outer surface 696 (or window) of the lidar sensor 690 has a curved or hemispherical shape, for example, as shown in the figure. Figure 10A As shown. In some embodiments, the shape of the wiping portion 630 is adapted to the shape of the outer surface 696, such that when the wiping portion 630 performs the rotational movement on the outer surface 696 (e.g., as shown). Figure 7 As shown in Figure B, the wiping portion 630 maintains contact with the corresponding portion of the outer surface 696. In some examples, the shape of the wiping portion 630 is substantially the same as the shape of the outer surface 696. In some examples, the shape of the wiping portion 630 is not exactly the same as the shape of the outer surface 696, and the wiping portion 630 may have a flexible wiper blade to contact the outer surface 696.

[0487] Reference Figure 6A , Figure 10A and Figure 10B The drive system 640 can be spatially positioned above the fluid system 650 and the heating device 660 along the positive Z-axis. The wiping portion 630 may be Ω-shaped, with its two opposite ends along the X-axis coupled to the wiper drive assembly 1020 and the wiper support assembly 1010, for example... Figure 10A As shown. The wiper support assembly 1010 can be disposed on the top of the inner sleeve 1006, while the wiper drive assembly 1020, coupled to the power output end of the drive system 640, can be disposed at the same or similar height as the wiper support assembly 1010 along the Z direction. In other words, the central axis passing through both ends of the wiping portion 630 remains parallel to the X-axis. In this way, the wiping portion 630 can perform the reciprocating rotational motion around the X-axis. In some embodiments, the drive system 640 and the wiper drive assembly 1020 can be on one side of the lidar sensor 690, while the wiper support assembly 1010 can be disposed on the opposite side of the lidar sensor 690 along the X-axis, for example, as Figure 10A As shown. Additionally or alternatively, the heating device 660 and the fluid system 650 may be adjacent to the drive system 640, but in a plane at an angle relative to the XZ plane, where the XZ plane is as shown... Figure 10A As defined. In other words, the heating device 660 and the fluid system 650 can be laterally disposed between the drive system 640 and the lifting system 610, for example as... Figure 6A As shown.

[0488] In some embodiments, the lidar cleaning system 620 also includes a controller coupled to a drive system, such as the drive system 640 (e.g., Figures 13A-13H (as shown) or drive system 1400 (such as Figures 14A-14B As shown), and the fluid system 650. The controller can receive an acknowledgment signal indicating that the lidar sensor 690 is in one of predetermined positions (e.g., standby position 704 and operating position 702), or a trigger signal, such as a signal indicating that the surface condition of the outer surface of the lidar sensor 690 exceeds a predetermined threshold (e.g., from a lidar detection system, such as...). Figure 3 At least one of (306). Furthermore, the controller can send a control signal to the drive system to drive the wiping part 630 to move on the outer surface 696 of the lidar sensor 690. Additionally, the controller can send another control signal to the fluid system 650 to spray the fluid onto the outer surface 696 of the lidar sensor 690. In some embodiments, the controller may include at least a portion of the control circuitry 692, such as... Figure 6B As shown.

[0489] In some embodiments, the controller determines that the cleaning process on the outer surface 696 of the lidar sensor 690 has been completed. For example, the cleaning process may be a predetermined number of sprays and / or a predetermined number of rotational movements of the wiping section 630. Subsequently, the controller may send a confirmation signal indicating that the cleaning process has been completed. The confirmation signal may be transmitted wirelessly or via a wire. The confirmation signal may be sent to one or more systems, such as the lidar lifting system 610. In some embodiments, the lidar lifting system 610 is activated to move the lidar sensor 690 to another predetermined position. For example, after the cleaning process is completed, the lidar sensor 690 may be moved from the working position 702 to the standby position 704 (e.g., as shown in the image). Figure 7(As shown). In some embodiments, the lidar sensor 690 is in working position 702 during operation. After the cleaning process is complete, the controller stops the cleaning system. In some embodiments, the controller determines that the cleaning process is complete, for example, in response to determining that the surface condition of the outer surface 696 of the lidar sensor 690 is below a threshold, determining that weather conditions have changed (e.g., rain or snow has stopped), or user input to stop the cleaning process.

[0490] In some implementations, the controller receives a deactivation signal to deactivate the lidar cleaning system 620, wherein the deactivation signal indicates that the surface condition of the outer surface of the lidar sensor 690 is within or below a predetermined threshold. In one example, the deactivation signal may originate from a surface condition detector (e.g., Figure 3 The lidar detection system 306 monitors the surface condition of the lidar sensor 690 in situ during the cleaning process performed by the lidar cleaning system 620. In another example, the deactivation signal may originate from the lidar cleaning system 620 when the cleaning process is completed. Furthermore, the controller may send control signals to the drive system to drive the wiping unit 630 back to its initial position corresponding to the non-operating state, such as the cleaner's standby mode 706 (see...). Figure 7 (See Figures (a) and (c)). Furthermore, the controller can send another signal to the fluid system 650 to stop the injection of the fluid.

[0491] The components of the example lidar cleaning system 620 are further described in detail below in Figures 11-14B.

[0492] Figure 11A An example of a wiping section 630 is shown. In some embodiments, the wiping section 630 includes a wiper support 1102, a wiper blade 1104, and two wiper pivots 1106. The wiper support 1102 may have an arcuate shape. The wiper blade 1104 is attached to the inner surface of the wiper support 1102 and may also have an arcuate shape. When the lidar cleaning system 620 is in its cleaning mode 708, the wiper blade 1104 is at least partially in contact with the outer surface 696 during its reciprocating rotational movement about the X-axis.

[0493] In some embodiments, the wiper blade 1104 comprises one or more concentric layers, and each layer of the wiper blade 1104 may include one or more portions. For example, Figure 11AThe image shows two layers of a wiper blade 1104: a first wiper blade 1104a and a second wiper blade 1104bb. The first wiper blade 1104a may have only one portion, while the second wiper blade 1104b may have two portions, 1104b1 and 1104b2. Dividing a single layer into different portions can potentially increase the flexibility of the wiper blade 1104.

[0494] The different concentric layers of the wiper blade 1104 may comprise the same or different materials. In some embodiments, the wiper blade 1104 comprises silicone or rubber. In some embodiments, the coupling or assembly between the different concentric layers of the wiper blade 1104, or between the wiper blade 1104 and the wiper support bracket 1102, utilizes, but is not limited to: adhesives, riveting, welding, bonding, snap-fit, press-fit, clamping or fasteners, keyways and key shafts, magnetic connections, tongue and groove connections, threaded inserts, soldering or quick-release couplings, etc.

[0495] Two wiper shafts 1106 can be coupled along the X-axis to two opposite ends of the wiper support bracket 1102 and arranged in a mirror-symmetrical configuration, for example, as shown below. Figure 11A As shown. In some embodiments, the wiper support bracket 1102 comprises flexible steel. In some embodiments, the two wiper shafts 1106 are coupled to the wiper support bracket 1102 via a coupling mechanism, which includes, but is not limited to: riveting, welding, adhesive, bonding, snap-fit, press-fit, clamping or fasteners, keyways and key shafts, magnetic connections, tenon and mortise connections, threaded inserts, soldering or quick-release couplings, etc.

[0496] Figure 11B An example of a wiper drive assembly 1020 is shown. The wiper drive assembly 1020 may include a connecting bushing 1110 that connects the power output shaft 1017 of the drive system 640 and the wiper shaft 1106 of the wiping unit 630. The connecting bushing 1110 can transmit torque and rotational motion from the power output shaft 1017 of the drive system 640 to the shaft 1106 of the wiping unit 630, while providing other benefits such as alignment, support, and reduced wear and friction. The power output shaft 1017 can be inserted into the interior of the connecting bushing 1110 from one end, while the wiper shaft 1106 is also inserted into the interior of the connecting bushing 1110 along the X-axis from the opposite end.

[0497] Various types of connecting bushings 1110, such as rigid couplings and flexible couplings, can be used here. The connecting bushing 1110 can utilize connecting mechanisms, including but not limited to: D-type shaft connections, clamping connections, open ring connections, screw connections, flange connections, sleeve connections, pipe connections, claw connections, gear connections, disc connections, European-style connections, mesh connections, universal joints, etc. For example, Figure 11B The screw connection between the wiper shaft 1106 and the connecting bushing 1110 is shown by fastening screw 1108. Figure 11B The D-shaped shaft connection between the connecting bushing 1110 and the power output shaft 1017 is also shown, wherein the power output shaft 1017 has a D-shaped cross-section. Note that any other suitable shape besides the D-shape, such as a square or polygon, can also be used here, as long as it can prevent slippage between the power output shaft 1017 and the connecting bushing 1110.

[0498] In some embodiments, the connection between the wiper shaft 1106 and the connecting bushing 1110 is configured to facilitate decoupling the wiping section 630 from the wiper drive assembly 1020. The wiping section 630 may wear down over time due to material reliability and various environmental factors. Easy replacement of the wiping section 630 can potentially reduce maintenance inconvenience and costs, and allow users to adjust their wiping section according to specific conditions, such as using winter wiper blades in snowy conditions and standard wiper blades in sunny weather. Figure 11B As shown, the fastening screw 1108 is used to couple the wiper shaft 1106 and the connecting bushing 1110. In some embodiments, one or more corresponding retaining structures (e.g., holes, grooves, or slots) are used on both the wiper shaft 1106 and the connecting bushing 1110 to retain the fastening screw 1108. In this example, the wiper shaft 1106 and the connecting bushing 1110 can be decoupled by simply loosening the fastening screw 1108. In some embodiments, the wiper shaft 1106 and the connecting bushing 1110 can be connected by a D-shaped shaft without a fastening screw. In this example, decoupling can be achieved by simply applying a force along the X-axis to pull the shaft out of the connecting bushing. The radial (e.g., along the X direction) flexibility of the wiping portion 630 is greater than the axial (e.g., along the Y direction) flexibility of the wiping portion 630.

[0499] Figure 11C An example of a wiper support assembly 1010 is shown. In some embodiments, the wiper support assembly 1010 includes a rotating bushing 1002, a fastening screw 1122, and a bearing 1003. The rotating bushing 1002 is coupled to the wiper shaft 1106 of the wiping portion 630 and can rotate about the X-axis under the rotational drive of the wiper shaft 1106 of the wiping portion 630. One end of the rotating bushing 1002, for example... Figure 11C The right end of the wiper is coupled to the wiper shaft 1106 of the wiping section 630 via a connecting mechanism (e.g., fastening screw 1122 or any other suitable detachable connecting mechanism). Furthermore, the bearing 1003 is coupled to the opposite end of the rotating bushing 1002 to passively support the rotation of the rotating bushing 1002.

[0500] In some embodiments, the wiper support assembly 1010 further includes a bearing housing 1004 and a bearing end cap 1128. The bearing housing 1004 is at least partially attached to a first side of the bearing 1003 (e.g., Figure 11C The bearing end cap 1128 contacts the outer side of the bearing 1003 to securely attach the outer ring of the bearing 1003. The bearing end cap 1128 is coupled to the bearing housing 1004 and is configured to protect, seal, and support the bearing 1003. The bearing end cap 1128 can remain stationary when the wiping part 630 rotates. Both the bearing housing 1004 and the bearing end cap 1128 can be used to hold the bearing 1003 in place.

[0501] In some embodiments, the wiper support assembly 1010 further includes a sealing ring 1124 to at least protect the bearing 1003 from liquids, dust, debris, and / or contaminants. In some embodiments, the sealing ring 1124 is disposed within a recess in the bearing end cap 1128 and at least partially contacts the rotating bushing 1002, such as... Figure 11C As shown. In some embodiments, the sealing ring 1124 is positioned within the groove of the bearing end cap 1128 by adhesive bonding.

[0502] Figure 10B and Figure 12A-12B A schematic diagram of an example fluid system 650 is shown. (Refer to...) Figure 10B The fluid system 650 may include a fluid conduit 1204 and at least one fluid nozzle 1202. The fluid nozzle 1202 may be connected to the fluid conduit 1204 and configured to spray fluid (e.g., water, gas) from the fluid conduit 1204 onto the outer surface 696 of the lidar sensor 690. In some embodiments, the fluid conduit 1204 extends along both the X-axis and the Z-axis. One or more fluid nozzles 1202 may be inserted along the Z-axis into the fluid outlet 1226 of the fluid conduit 1204.

[0503] In some embodiments, the fluid system 650 further includes a valve 1206 to control the flow of liquid into the fluid conduit 1204. Figure 12AA cross-sectional view of the example fluid system 650 is shown. Liquid can be introduced into the fluid conduit 1204 from the inlet 1208, which may be connected to an external fluid conduit system. A valve 1206 is located near the inlet 1208 in the fluid conduit 1204. When the valve 1206 is open, liquid is introduced into the fluid system 650, flows through the fluid conduit 1204, and is then ejected through the one or more fluid nozzles 1202. When the valve 1206 is closed, liquid is prevented from entering the fluid system 650.

[0504] In some implementations, for example, Figure 12B As shown, the valve 1206 is configured to be opened or closed by an electromagnetic switch 1212, which is controlled by a controller (e.g., control circuit 692). The electromagnetic switch 1212 may be located near the valve 1206 and on an electromagnetic switch mounting bracket 1214. In some embodiments, the electromagnetic switch 1212 and the electromagnetic switch mounting bracket 1214 are spatially positioned below the fluid conduit 1204 along the negative Z-direction.

[0505] In some embodiments, the one or more fluid nozzles 1202 are distributed around the lidar sensor 690. In some embodiments, the one or more fluid nozzles 1202 are integrated into the wiping portion 630. Each fluid nozzle 1202 can spray liquid, for example, 5 grams or less per spray. Additionally or alternatively, a time interval may exist between adjacent sprays. For example, the time interval may be 2 to 7 seconds. In some embodiments, the one or more fluid nozzles 1202 are configured to spray the liquid onto the lower portion of the outer surface 696 of the lidar sensor 690 or onto the lidar sensor window. In some embodiments, the one or more fluid nozzles 1202 may be positioned in front of and above the lidar sensor 690 to utilize airflow in the direction of travel of the terminal device (e.g., a vehicle), as well as gravity, spray direction, and heating devices.

[0506] The lidar cleaning system 620 may also include a heating device 660 to heat the liquid (e.g., water) in the fluid system 650. Figure 12B As shown, the heating device 660 may include, but is not limited to, an electrically heated element wound around at least a portion of the fluid conduit 1204. When liquid flows through the fluid conduit 1204, the heating device 660 can heat the liquid before it is sprayed through the one or more fluid nozzles 1202. This heated liquid can be used to remove frost from the outer surface 696 of the lidar sensor 690 under cryogenic conditions. In some embodiments, the heating device 660 is coupled to a controller so that it can be turned on or off by the controller. First example of a drive system

[0507] Figure 10A and Figures 13A-13H A schematic diagram of a first example of a drive system 640 is shown. The drive system 640 is configured to drive a wiping unit 630 to reciprocate in rotation on the outer surface of a lidar sensor 690. In some embodiments, the drive system 640 includes a motor 1018, a reducer 1016, and a power output shaft 1017. The reducer 1016 is configured to change the rotational speed of the motor 1018 for the power output shaft 1017.

[0508] In some implementations, for example, Figures 13A-13H As shown, the reducer 1016 includes a worm gear 1301 and a worm wheel 1302. The worm gear 1301 is coupled to the output shaft 1314 of the motor 1018 and can rotate about the Z-axis under the drive of the motor 1018 (e.g., as shown). Figure 13C (As shown). The worm gear 1302 meshes with the worm 1301 and can rotate about the X-axis under the rotational drive of the worm 1301 (e.g., as shown). Figure 13D-13F (As shown). In other words, the motor 1018 applies rotational power to the worm 1301, which then rotates against the worm wheel 1302, and the helical thread of the worm 1301 pushes the teeth of the worm wheel 1302, thereby causing the worm wheel 1302 to rotate. The worm wheel 1302 is then pushed against a load, such as the wiping part 630. The assembly of the worm 1301 and the worm wheel 1302 changes the rotational motion by 90 degrees, for example, from the Z-axis to the X-axis (e.g., as shown). Figure 13C-13D As shown in the diagram, the plane of motion can also be changed due to the position of the worm 1301 on the worm wheel 1302. In some embodiments, the worm 1301 is coupled to the motor output shaft 1314 of the motor 1018 by suitable methods or techniques, including but not limited to: adhesives, interference fits, welding, riveting, bonding, snap-fit, press fits, clamps or fasteners, keyways and key shafts, magnetic connections, tenon joints, threaded inserts, soldering or quick-release couplings, etc. In some embodiments, the number of teeth on the worm wheel 1302 is greater than the number of helical threads on the worm 1301. The transmission ratio can be defined as equal to the ratio of the number of teeth on the worm wheel to the number of helical threads on the worm. In some examples, the transmission ratio of the worm wheel 1302 to the worm 1301 is greater than 2:1, 5:1, 10:1, 20:1, 30:1, 40:1 or even larger.

[0509] In some embodiments, the reducer 1016 further includes an intermediate shaft 1312, an input gear 1308, and an output gear 1310, for example... Figure 13E-13HAs shown. The intermediate shaft 1312 is coupled to the worm gear 1302 and can rotate about the X-axis under the rotational drive of the worm gear 1302. The input gear 1308 is mounted on the intermediate shaft 1312, so the rotation of the intermediate shaft 1312 further drives the input gear 1308 to rotate about the X-axis. The output gear 1310 is also mounted on the corresponding intermediate shaft 1112, so the rotation of the intermediate shaft 1112 further drives the input gear 1310 to rotate about the X-axis. The output gear 1310 meshes with the input gear 1308, such that the rotation of the input gear 1308 drives the rotation of the output gear 1310. The output gear 1310 is coupled to the power output shaft 1017. Therefore, the power output shaft 1017 can rotate about an axis parallel to the X-axis under the rotational drive of the output gear 1310. In other words, the motor 1018 provides rotational motion to the worm gear 1301. When the worm gear 1301 rotates, its thread engages with the worm wheel 1302 on the intermediate shaft 1312. When the worm wheel 1302 rotates, it also rotates the input gear 1308 on the same shaft. The output gear 1310 is coupled to the power output shaft 1017, and the teeth of the output gear 1310 mesh with the teeth of the input gear 1308. When the input gear 1308 rotates, it drives the output gear 1310. Finally, the power output shaft 1017 rotates together with the output gear 1310 and drives the wiper drive assembly 1020 (e.g., as shown in the image). Figure 10A and Figure 11B (As shown) Torque and rotational motion are transmitted to the wiping section 630. In some embodiments, the diameter of the output gear 1310 is smaller than the diameter of the input gear 1308. Alternatively or additionally, the input gear 1308 has more teeth than the output gear 1310 to achieve speed reduction.

[0510] In some embodiments, the connection mechanism between the worm gear 1302 and the intermediate shaft 1312, between the input gear 1308 and the intermediate shaft 1312, and / or between the output gear 1310 and the power output shaft 1017 can be any connection mechanism capable of preventing slippage, such as including but not limited to: the D-shaped inner hole of the worm gear 1302 (e.g., as shown in the image). Figure 13H (as shown), D-shaped shaft, adhesive, interference fit, welding, riveting, bonding, snap fit, press fit, clamping or fastener, keyway and key shaft, magnetic connection, tongue and groove connection, threaded insert, soldering or quick release connector, etc.

[0511] In some embodiments, the reducer 1016 includes two gearboxes: a first gearbox and a second gearbox. The first gearbox is configured to change the rotational speed of the motor 1018 to a first speed; the second gearbox is configured to change the first speed to a second speed for use on the power output shaft 1017. For example, as Figures 13A-13H As shown, the first transmission may include the worm gear 1301 and the worm wheel 1302. The assembly of the worm gear 1301 and the worm wheel 1302 is configured to change the rotational speed of the motor 1018 to a first speed, such as the rotational speed of the worm wheel 1302. The second transmission may include the intermediate shaft 1312, the input gear 1308, the output gear 1310, and the power output shaft 1017. The second transmission is configured to change the rotational speed of the worm wheel 1302 to a second speed, such as the rotational speed of the power output shaft 1017. In some embodiments, the first speed is less than the rotational speed of the motor 1018, and the second speed is less than the first speed. In some embodiments, the first speed is less than the rotational speed of the motor 1018, and the second speed is higher than the first speed but less than the rotational speed of the motor 1018. Deceleration and / or acceleration can be achieved using various combinations of gears and / or transmission ratios, where the transmission ratio is the ratio of the number of teeth on the input gear or worm to the number of teeth on the output gear or worm wheel.

[0512] Each shaft, such as intermediate shafts 1112 and 1312, may have a corresponding bearing at its end. In some embodiments, the reducer 1016 further includes a first bearing 1318 and a second bearing 1320 for intermediate shaft 1312. Figure 13D , Figure 13F and Figure 13G As shown, the first bearing 1318 can be located at one end of the intermediate shaft 1312, while the second bearing 1320 can be located at the opposite end of the intermediate shaft 1312 along the X-axis. Both bearings 1318 and 1320 can include an inner surface that conforms to the end of the intermediate shaft 1312 and an outer surface mounted on the housing of the reducer 1016 (see Figure 1). Figure 13F Both bearings 1318 and 1320 can be configured to support axial and radial loads on the intermediate shaft 1312 and increase stability. Similarly, the reducer 1016 may also include a first bearing 1114 and a second bearing 1116, which can be located at opposite ends of the intermediate shaft 1112 along the X-axis. Both bearings 1114 and 1116 may include an inner surface that conforms to the end of the intermediate shaft 1112 and an outer surface that is mounted on the housing of the reducer 1016. Both bearings 1114 and 1116 can be configured to support axial and radial loads on the intermediate shaft 1112 and increase stability. Second example of a drive system

[0513] Figure 14A A schematic diagram of a second embodiment of the drive system 1400 is shown. Figure 14B A schematic exploded view of the drive system 1400 is shown. The drive system 1400 is configured to drive the wiping unit 630 to reciprocate in rotation on the outer surface of the lidar sensor 690.

[0514] In some embodiments, the drive system 1400 includes a motor 1402, a drive belt 1404, and a power take-off shaft 1017. The drive belt 1404 may be coupled to the motor 1402 and run along a first axis (e.g., the Z-axis, see...). Figure 14A The drive belt 1404 extends and can move along the Z-axis under the drive of the motor 1402. The power output shaft 1017 can be coupled to the drive belt 1404 and the wiping part 630 (see...). Figure 11B and Figure 14B The power output shaft 1017 may be positioned around a second axis (e.g., Figure 14B The X-axis of the power output shaft 1017 rotates, and the rotation of the power output shaft 1017 drives the wiping part 630 to reciprocate around the same axis. Figures 14A-14B The X-axis shown is perpendicular to both the Y-axis and the Z-axis.

[0515] In some embodiments, the drive belt 1404 comprises a closed belt made of a flexible material (e.g., rubber). In some embodiments, the force driving the drive belt 1404 is generated by friction between the motor 1402 and the lower side of the moving surface of the drive belt 1404. Similarly, the force driving the power output shaft 1017 can be generated by friction between the power output shaft 1017 and the lower side of the moving surface of the drive belt 1404. Type II LiDAR Cleaning System

[0516] Embodiments of this disclosure provide a second type of lidar cleaning system, wherein the wiping unit driving system (e.g., Figure 5 The wiping drive system 504 is mounted on at least one side surface of the lidar sensor. In some embodiments, the drive system includes at least one linkage assembly (e.g., as shown in the image). Figure 15-25 As shown in further detail below, it may include one, two, or three or more links. The link assembly may include a telescopic rod, and the movement of the link assembly may include a change in the length of the telescopic rod. In some embodiments, the telescopic rod includes, but is not limited to: a single-stage telescopic rod, a multi-stage telescopic rod, a single-acting telescopic rod, a ball screw telescopic rod, a telescopic cylinder, etc. In some embodiments, for example, Figure 20 , Figure 22 or Figure 26As shown, the wiping unit drive system can reduce the space occupied by the lidar cleaning system in front of the lidar sensor, thereby improving aesthetics and reducing the impact on the lidar's field of view. In some embodiments, the drive system includes at least one rotating component (e.g., as shown in the image). Figure 26 (As shown in further detail below). The drive system is configured to move the wiping part on the outer surface of the lidar sensor, for example, linearly. Although not shown, Figure 15-26 Any of the lidar cleaning systems described herein may include fluid systems (e.g. Figure 5 The fluid system 506) and the associated drive system (e.g. Figure 5 The fluid drive system 508 can be used in the fluid drive system 508. Figures 27A to 32D Described in any of them.

[0517] Figure 15 This is a schematic view of an example lidar cleaning system 1500 used with lidar sensor 1590. Lidar sensor 1590 can be used with... Figure 1B LiDAR sensors 132, 134, Figure 3 The lidar sensor 302 or Figure 4 The lidar sensor is the same as or similar to the 400. For example... Figure 15 As shown, the lidar sensor 1590 has a first side 1592 (in the YZ plane) and a second side 1594 (in the YZ plane) opposite to each other. The lidar sensor 1590 may include a window 1580 located between the first side 1592 and the second side 1594. The window 1580 has an inward-facing inner surface and an outward-facing outer surface 1582, and the outer surface 1582 can also be considered as the outer surface of the lidar sensor 1590.

[0518] When the lidar sensor 1590 is used, it emits light through the window 1580 to detect the surrounding environment. In some embodiments, the outer surface 1582 of the window 1580 is a flat surface. In some embodiments, the outer surface 1582 of the window 1580 has an arcuate or curved shape (e.g., a hemispherical shape). The window 1580 has a first edge 1584 and a second edge 1588, the first edge 1584 having a first end 1586 and a second end 1587. For example, in... Figure 15 When viewed in the XYZ coordinate system, the first edge 1584 and the second edge 1588 of the viewport 1580 both extend along the Y direction of the coordinate system; the first side 1592 and the second side 1594 can extend parallel to the YZ plane; and the outer surface 1582 of the viewport 1580 can extend relative to the XY plane. Note that the outer surface 1582 can be curved, and the viewport 1580 can be tilted.

[0519] like Figure 15 As shown, the lidar cleaning system 1500 may include a wiping section 1510 and a drive system 1520. The wiping section 1510 contacts the outer surface 1582 of the viewing window 1580. When the lidar cleaning system 1500 is activated, the drive system 1520 drives the wiping section 1510 to move along the first edge 1584 and / or the second edge 1588 of the viewing window 1580 on the outer surface 1582 of the viewing window 1580. In some embodiments, the movement of the wiping section 1510 is constrained such that the wiping section 1510 can only move along the first edge 1584 and / or the second edge 1588 of the viewing window 1580. For example, the lidar cleaning system 1500 may also include a guide rail along the first edge 1584 and / or the second edge 1588 of the viewing window 1580, and the wiping section 1510 moves in the guide rail when driven by the drive system 1520. When the lidar cleaning system 1500 is deactivated, the wiping part 1510 stays at the end of the outer surface 1582 or the window 1580 (e.g., the first end 1586 or the second end 1587 of the first edge 1584, and / or the end of the second edge 1588) to reduce or avoid obstructing the window for light emission and reception of the lidar sensor 1590.

[0520] In some embodiments, the lidar cleaning system 1500 also includes a fluid system (e.g., regarding...). Figure 27A-32D The fluid system includes a fluid nozzle. The fluid nozzle can be configured to spray a gas (e.g., air at a certain velocity) or a liquid (e.g., water, detergent, or a combination thereof), which enhances the cleaning effect of the wiping unit 1510 when cleaning the viewing window 1580. In some embodiments, the fluid nozzle is integrated into the wiping unit 1510, and the drive system 1520 moves the wiping unit 1510 and the fluid nozzle together, for example as... Figure 27B-27C As shown. In some embodiments, the fluid nozzle is separated from the wiping section 1510, for example, as Figures 29A-29C , Figures 30A-30B or Figures 32A-32D As shown. For example, the fluid nozzle may be mounted on the first side 1592, adjacent to the first edge 1584 of the viewing window 1580, or it may be mounted on the second side 1594, adjacent to the second edge 1588 of the viewing window 1580. In some embodiments, when the lidar cleaning system 1500 is activated, the fluid nozzle extends above the outer surface 1582 to spray gas or liquid, while the wiping part 1510 moves on the outer surface 1582. When the lidar cleaning system 1500 is deactivated, the fluid nozzle retracts below the outer surface 1582, while the wiping part 1510 remains on the edge of the outer surface 1582.

[0521] The drive system 1520 may include at least one linkage assembly coupled to the wiping portion. In some embodiments, the drive system 1520 includes a first linkage assembly 1530 mounted on a first side 1592 of the lidar sensor 1590, and a second linkage assembly 1550 mounted on a second side 1594 of the lidar sensor 1590. One end of the wiping portion 1510 is coupled to the first linkage assembly 1530, and the other end of the wiping portion 1510 is coupled to the second linkage assembly 1550. In some embodiments, the first linkage assembly 1530 has the same or similar configuration as the second linkage assembly 1550. For simplicity, the structure of the first linkage assembly 1530 is discussed in detail below; the structure of the second linkage assembly 1550 can be referred to the structure of the first linkage assembly.

[0522] In some implementations, for example, Figure 15-18 As shown, the first linkage assembly 1530 includes a first link 1532, a second link 1534, and a third link 1536 connected at a connecting joint 1540. One end of the first link 1532 is coupled to a rod joint 1538 fixed to a first side 1592, and the other end is coupled to the connecting joint 1540. The first link 1532 may be a telescopic rod, wherein the length of the first link 1532 can be changed during movement of the first linkage assembly 1530. For example, the telescopic rod 1532 may include a first portion 1532a and a second portion 1532b that can accommodate part or all of the first portion 1532a, wherein the first portion 1532a can extend or retract from the second portion 1532b to change the overall length of the telescopic rod 1532. The first portion 1532a can move freely (e.g., slide) into or out of the interior of the second portion 1532b. For example, a spring may not be coupled between the first part 1532a and the second part 1532b.

[0523] One end of the second link 1534 is coupled to the wiping part 1510, and the other end is coupled to the connecting joint 1540. The second link 1534 may be a rigid rod, wherein the length of the second link 1534 does not change or remains constant during the movement of the first link assembly 1530. One end of the third link 1536 is coupled to the second end 1587 of the first edge 1584, and the other end is coupled to the connecting joint 1540. The third link 1536 may be a rigid rod, wherein the length of the third link 1536 does not change or remains constant during the movement of the first link assembly 1530.

[0524] In some implementations, for example, Figure 21-22 As shown in further detail, the first link assembly (e.g., Figure 21 The first link assembly 2130) includes a first link (e.g., Figure 21 The first link 2132 or Figure 22 The first link 2232) and the second link (e.g., Figure 21 The second link 2134 or Figure 22 The second link (2234) can be a telescopic link, and the second link can be a rigid link.

[0525] In some implementations, for example, Figure 23-25 As shown in further detail, the first linkage assembly includes a single link. For example, the single link may be a telescopic rod (e.g., Figure 23 Link 2332 or Figure 24 Link 2432). For example, a single link can be a rigid bar (e.g., Figure 25 Linkage 2532).

[0526] Figure 16 This is a schematic view 1600 of the LiDAR cleaning system 1500 in motion when activated. When the LiDAR cleaning system 1500 is activated, the drive system 1520 drives the wiping unit 1510 along the first edge 1584 and / or the second edge 1588 of the viewing window 1580, from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the LiDAR cleaning system 1500 reciprocates between the first state (a) and the second state (c) until the LiDAR cleaning system 1500 is deactivated.

[0527] In the first state (a), the wiping part 1510 may be located at the first end 1586 of the first edge 1584. When driven by the drive system 1520, which includes the first link assembly 1530 and the second link assembly 1550, the lidar cleaning system 1500 may pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping part 1510 may be located at a point on the first edge 1584 between the first end 1586 and the second end 1587. In the second state (c), the wiping part 1510 may be located at the second end 1587 of the first edge 1584. In some embodiments, each link assembly 1530, 1550 includes a telescopic rod 1532, and the length of the telescopic rod changes as the lidar cleaning system 1500 moves between the first state (a) and the second state (c). Furthermore, when the lidar cleaning system 1500 moves between the first state (a) and the second state (c), the first link 1532 can rotate about the rod joint 1538 or extend relative to the rod joint 1538. Thus, when the wiping part 1510 is driven along the first edge 1584 between the first end 1586 and the second end 1587, the wiping part 1510 moves on the outer surface 1582 of the viewing window 1580.

[0528] It should be noted that Figure 15-16 The arrangement of the lidar cleaning system 1500 is for illustrative purposes only and should not be construed as limiting the arrangement of the lidar cleaning system in actual use environments. For example, when the lidar cleaning system 1500 is installed on a vehicle, one of the first and second sides can be placed horizontally (e.g., the XZ plane is considered a horizontal plane), and the wiping part can move along the outer surface of the window in a vertical direction (e.g., the Y direction is considered a vertical direction). The distance between the first side 1592 and the second side 1594 can be defined as the width of the window 1580 (i.e., the X direction). The vertical distance between the first end and the second end of the first edge 1584 or the second edge 1588 can be defined as the height of the window 1580 (e.g., the Y direction). In some embodiments, the height of the window 1580 is less than the width of the window 1580. Compared to similar lidar cleaning systems configured to move the wiping part along the width direction of the window, the lidar cleaning system 1500 moves the wiping part 1510 along the height direction of the window, requiring less time to complete a single wipe.

[0529] In some embodiments, the drive system 1520 includes a first linkage assembly 1530 mounted on a first side 1592 of the lidar sensor 1590 and a second linkage assembly 1550 mounted on a second side 1594 of the lidar sensor 1590. When the lidar cleaning system 1500 is activated, the first linkage assembly 1530 and the second linkage assembly 1550 move synchronously. For example, the end of the wiping portion 1510 coupled to the first linkage assembly 1530 simultaneously reaches the same end of the corresponding edges 1584, 1588. Thus, when moving along edge 1584, the wiping portion is always parallel to the height direction of the viewing window. In other embodiments, when the lidar cleaning system 1500 is activated, the first linkage assembly 1530 and the second linkage assembly 1550 move asynchronously, and the wiping portion 1510 may be retractable. For example, when the end of the wiping portion 1510 coupled to the first link assembly 1530 reaches the first end 1586 of the first edge 1584, the end of the wiping portion 1510 coupled to the second link assembly 1550 can be located at a point between the first end and the second end of the second edge 1588. In this way, the wiping portion 1510 can move on the outer surface 1582 at different angles. First Embodiment

[0530] Figure 17This is a side view of an example lidar cleaning system 1700. This side view is projected from above a first side 1792 (e.g., first side 1592) of a lidar sensor 1790 (e.g., lidar sensor 1590) coupled to the lidar cleaning system 1700. In addition to the drive system including at least one linkage assembly 1730, the lidar cleaning system 1700 may have... Figure 15-16 It has the same configuration as the 1500 LiDAR cleaning system in China.

[0531] like Figure 17 As shown, the linkage assembly 1730 may include a first link 1732 (e.g., first link 1532), a second link 1734 (e.g., second link 1534), and a third link 1736 (e.g., third link 1536). One end of the first link 1732 is coupled to a rod joint 1738 (e.g., rod joint 1538) fixed to a first side 1792, and the other end is coupled to a connecting joint 1740 (e.g., connecting joint 1540). The first link 1732 is rotatable about the rod joint 1738. The first link 1732 may be a telescopic rod, wherein the length of the first link 1732 may change during movement of the linkage assembly 1730. For example, the telescopic rod may include a first portion (e.g., 1532a) and a second portion (e.g., 1532b) that can accommodate part or all of the first portion, wherein the first portion may extend from or retract into the second portion to change the overall length of the telescopic rod. One end of the second link 1734 is coupled to the wiping section 1710, and the other end is coupled to the connecting joint 1740. The second link 1734 is movable along the edge 1784 of the window (e.g., window 1580) with the wiping section 1710. The second link 1734 may be a rigid link, wherein the length of the second link 1734 does not change during the movement of the link assembly 1730. One end of the third link 1736 is coupled to the second end 1787 of the edge 1784, and the other end is coupled to the connecting joint 1740. The third link 1736 is rotatable about the second end 1787 of the edge 1784. The third link 1736 may be a rigid link, wherein the length of the third link 1736 does not change during the movement of the link assembly 1730. In some embodiments, the sum of the lengths of the second link 1734 and the third link 1736 is equal to the length of the edge 1784 of the window. Thus, when the wiping part 1710 moves to the first end 1786 of the edge 1784 (e.g., the lidar cleaning system 1700 is in the first state (a)), the connecting joint 1740 rests on the edge 1784. In some embodiments, the length of the second link 1734 is equal to the length of the third link 1736. Thus, when the wiping part 1710 moves to the second end 1787 of the edge 1784 (e.g., the lidar cleaning system 1700 is in the second state (c)), the second link 1734 overlaps with the third link 1736.

[0532] When the lidar cleaning system 1700 is activated, the drive system drives the wiping unit 1710 along the edge 1784 of the viewing window, from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 1700 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 1700 is deactivated.

[0533] In the first state (a), the wiping part 1710 may be located at the first end 1786 of the edge 1784. When driven by a drive system including the linkage assembly 1730, the lidar cleaning system 1700 may pass through an intermediate state (b) and reach a second state (c). In the intermediate state (b), the wiping part 1710 may be located at a point on the edge 1784 between the first end 1786 and the second end 1787, and the length of the first linkage 1732 is greater than its length in the first state (a). In the second state (c), the wiping part 1710 may be located at the second end 1787 of the edge, and the length of the first linkage 1732 may be at its maximum during the movement between the first state (a) and the second state (c).

[0534] In some embodiments, the drive system includes a first actuator configured to rotate a first link 1732 about a rod joint 1738. As the first link 1732 rotates about the rod joint 1738 from (a) to (b) to (c), the first link 1732 extends over the outer surface of the window (e.g., outer surface 1582), a second link 1734 moves along an edge 1784, and a third link 1736 rotates about a second end 1787. Thus, the drive system moves the wiping portion 1710 on the outer surface of the window.

[0535] In some embodiments, as described above, the first link 1732 is a telescopic rod, and the length of the first link 1732 can be freely changed during rotation of the first link 1732 about the rod joint 1738. For example, the first portion can move (or slide) into or out of the interior of the second portion, while the end of the wiping portion 1710 can be constrained to move in a guide rail on the edge 1784 of the window. In some embodiments, the drive system includes a second actuator configured to change the length of the first link 1732 between the rod joint 1738 and the connecting joint 1740. When the length of the first link 1732 extends (e.g., from (a) to (b) to (c)) or shortens (e.g., from (c) to (b) to (a)), the first link 1732 rotates about the rod joint 1738, the second link 1734 moves along the edge 1784, and the third link 1736 rotates about the second end 1787. In this way, the drive system moves the wiping portion 1710 on the outer surface of the window. The drive system may include a second linkage assembly (e.g., second linkage assembly 1550) mounted on the other side of the lidar sensor (e.g., second side 1594). The second linkage assembly may have the same or similar configuration as linkage assembly 1730.

[0536] Figure 18-19 This is a side view of an example lidar cleaning system 1800, 1900 including a reciprocating mechanism (e.g., a spring). The spring, together with a first actuator or a second actuator, drives the lidar cleaning system to reciprocate between a first state and a second state. Lidar cleaning systems 1800, 1900 can be similar to... Figure 17 The 1700 lidar cleaning system.

[0537] In some implementations, for example, Figure 18 As shown, the linkage assembly 1830 of the drive system of the lidar cleaning system 1800 may include a spring 1860. The spring 1860 is coupled between the rod joint 1838 and the end of the first link 1832. The first link 1832 may be a rigid rod or a telescopic rod. Now refer to the previous section... Figure 17 In some embodiments, when an actuator (e.g., an actuator configured to change the length of the first link 1732) drives the link assembly 1830 from the first state (a) to the second state (c), the spring 1860 deforms from its natural state to a stretched state. The elastic force in the spring 1860 can then drive the link assembly 1830 back from the second state (c) to the first state (a) with less or no power from the actuator.

[0538] In some implementations, for example, Figure 19As shown, the linkage assembly 1930 of the drive system of the lidar cleaning system 1900 includes a spring 1960 coupled to a first link 1932, for example, at a position between the two ends of the first link 1932. The first link 1932 is coupled between a rod joint 1938 and a connecting joint 1940. One end of the spring 1960 is coupled to a point on the first link 1932 between the rod joint 1938 and the connecting joint 1940. The other end of the spring 1960 is coupled to a third joint 1962 on the side 1992 of the lidar sensor 1990. Now refer to back Figure 17 In some embodiments, when an actuator (e.g., an actuator configured to rotate the first link 1732 about the rod joint 1738) drives the link assembly 1930 from the first state (a) to the second state (c), the spring 1960 deforms from its natural state to a stretched / compressed state. The elastic force in the spring 1960 can then drive the link assembly 1930 back from the second state (c) to the first state (a) with less or no power from the actuator. Second Embodiment

[0539] Figure 20 This is a side view of an example lidar cleaning system 2000. The side view is projected from above the first side 2092 of the lidar sensor 2090 coupled to the lidar cleaning system 2000. Except that the drive system includes at least one linkage assembly 2030, the lidar cleaning system 2000 may have... Figure 15-16 It has the same configuration as the 1500 LiDAR cleaning system in China.

[0540] In some implementations, for example, Figure 20As shown, the linkage assembly 2030 includes a first link 2032 (e.g., first link 1532), a second link 2034 (e.g., second link 1534), and a third link 2036 (e.g., third link 1536) connected at a connecting joint 2040. One end of the first link 2032 is coupled to a rod joint 2038 fixed to the first side 2092, and the other end is coupled to the connecting joint 2040. The first link 2032 is rotatable about the rod joint 2038. The first link 2032 may be a telescopic rod, wherein the length of the first link 2032 may change during movement of the linkage assembly 2030. For example, the telescopic rod may include a first portion (e.g., 1532a) and a second portion (e.g., 1532b) that can accommodate part or all of the first portion, wherein the first portion may extend from or retract into the second portion (or may slide freely into or out of the interior of the second portion) to change the overall length of the telescopic rod. One end of the second link 2034 is coupled to the wiping portion 2010, and the other end is coupled to the connecting joint 2040. The second link 2034 is movable along the edge 2084 of the window with the wiping portion 2010. The second link 2034 may be a rigid rod, wherein the length of the second link 2034 does not change during the movement of the link assembly 2030. One end of the third link 2036 is coupled to the second end 2087 of the edge 2084, and the other end is coupled to the connecting joint 2040. The third link 2036 is rotatable about the second end 2087 of the edge 2084. The third link 2036 may be a rigid rod, wherein the length of the third link 2036 does not change during the movement of the link assembly 2030. In some embodiments, the sum of the lengths of the second link 2034 and the third link 2036 is equal to the length of the edge 2084 of the window.

[0541] In some embodiments, when the wiping part 2010 is placed at the first end 2086 of the edge 2084 (e.g., the lidar cleaning system 2000 is in a first state (a)), the connecting joint 2040 rests on the edge 2084. In some embodiments, the length of the second link 2034 is equal to the length of the third link 2036. Thus, when the wiping part 2010 moves to the second end 2087 of the edge 2084 (e.g., the lidar cleaning system 2000 is in a second state (c)), the second link 2034 overlaps with the third link 2036.

[0542] When the lidar cleaning system 2000 is activated, the drive system drives the wiping unit 2010 along the edge 2084 of the viewing window, from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2000 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2000 is deactivated.

[0543] In the first state (a), the wiping portion 2010 may be located at the first end 2086 of the edge 2084. When driven by a drive system including the linkage assembly 2030, the lidar cleaning system 2000 may pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping portion 2010 may be located at a point on the edge 2084 between the first end 2086 and the second end 2087, and the length of the first linkage 2032 is less than its length in the first state (a). In the second state (c), the wiping portion 2010 may be located at the second end 2087 of the edge, and the length of the first linkage 2032 is minimal during the movement between the first state (a) and the second state (c).

[0544] In some embodiments, the drive system includes a first actuator configured to rotate the first link 2032 about the rod joint 2038. As the first link 2032 rotates about the rod joint 2038 from (a) to (b) to (c), the first link retracts below the outer surface of the window (e.g., outer surface 1582), the second link 2034 moves along the edge 2084, and the third link 2036 rotates about the second end 2087. Thus, the drive system moves the wiping portion 2010 on the outer surface of the window.

[0545] In some embodiments, as described above, the first link 2032 is a telescopic rod, and the length of the first link 2032 can be freely changed during rotation of the first link 2032 about the rod joint 2038. For example, the first portion can move (or slide) into or out of the interior of the second portion, while the end of the wiping portion 2010 can be constrained to move in a guide rail on the window edge 2084. In some embodiments, the drive system includes a second actuator configured to change the length of the first link 2032 between the rod joint 2038 and the connecting joint 2040. When the length of the first link 2032 shortens (e.g., from (a) to (b) to (c)) or lengthens (e.g., from (c) to (b) to (a)), the first link 2032 rotates about the rod joint 2038, the second link 2034 moves along the edge 2084, and the third link 2036 rotates about the second end 2087. In this way, the drive system causes the wiping part 2010 to move on the outer surface of the window.

[0546] Figure 20 Springs are not shown (e.g., Figure 18 Spring 1860, Figure 19 The spring 1960 is used, but it should be understood that in other embodiments, the spring may also be located in the linkage assembly 2030. The drive system of the lidar cleaning system 2000 may include a second linkage assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor. The second linkage assembly may have the same configuration as the linkage assembly 2030. Third Embodiment

[0547] Figure 21 This is a side view of an example lidar cleaning system 2100. The side view is projected from above the first side 2192 of the lidar sensor 2190 coupled to the lidar cleaning system 2100. Except that the drive system includes at least one linkage assembly 2130, the lidar cleaning system 2100 may have... Figure 15-16 It has the same configuration as the 1500 LiDAR cleaning system in China.

[0548] In some implementations, for example, Figure 21 As shown, the linkage assembly 2130 includes a first linkage 2132 and a second linkage 2134. One end of the first linkage 2132 is coupled to a rod connector 2138 on the edge 2196 of the first side 2192, and the other end is coupled to a connecting connector 2140. The first linkage 2132 can be connected to... Figure 15-16The first link 1532 is the same as or similar to the first link 2132. The first link 2132 may be a telescopic rod, wherein the length of the first link 2132 may change during movement of the link assembly 2130. For example, the telescopic rod may include an extension located between the edge 2184 of the window of the lidar sensor 2190 and the connecting joint 2140. In some embodiments, the first link 2132 does not rotate about the rod joint 2138 and changes its length along the direction of the edge 2196. One end of the second link 2134 is coupled to the wiping part 2110, and the other end is coupled to the connecting joint 2140. The second link 2134 may move along the edge 2184 of the window with the wiping part 2110. The second link 2134 may be a rigid rod, wherein the length of the second link 2134 does not change during movement of the link assembly 2130. In some embodiments, the length of the second link 2134 is equal to the length of the edge 2184 of the window. Thus, when the wiping part 2110 moves to the first end 2186 of the edge 2184 (for example, when the lidar cleaning system 2100 is in the first state (a)), the second link 2134 overlaps with the edge 2184.

[0549] When the lidar cleaning system 2100 is activated, the drive system drives the wiping unit 2110 along the edge 2184 of the viewing window from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2100 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2100 is deactivated.

[0550] In the first state (a), the wiping portion 2110 may be located at the first end 2186 of the edge 2184. When driven by a drive system including the linkage assembly 2130, the lidar cleaning system 2100 may pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping portion 2110 may be located at a point on the edge 2184 between the first end 2186 and the second end 2187, and the length of the first linkage 2132 is greater than its length in the first state (a). In the second state (c), the wiping portion 2110 may be located at the second end 2187 of the edge 2184, and the length of the first linkage 2132 is at its maximum during the movement between the first state (a) and the second state (c).

[0551] In some embodiments, the drive system includes an actuator configured to change the length of the first link 2132 between the edge 2184 and the connecting joint 2140. When the length of the first link 2132 is extended (e.g., from (a) to (b) to (c)), the first link 2132 extends over the outer surface of the window (e.g., outer surface 1582), and the second link 2134 moves along the edge 2184 from the first end 2186 to the second end 2187. When the length of the first link 2132 is shortened (e.g., from (c) to (b) to (a)), the second link 2134 moves along the edge 2184 from the second end 2187 to the first end 2186. Thus, the drive system moves the wiping portion 2110 on the outer surface of the window.

[0552] Figure 21 Springs are not shown (e.g., Figure 18 The spring 1860 is used, but it should be understood that in other embodiments, the spring may also be located in the linkage assembly 2130. The drive system of the lidar cleaning system 2100 may include a second linkage assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor 2190. The second linkage assembly may have the same or similar configuration as the linkage assembly 2130. Fourth embodiment

[0553] Figure 22 This is a side view of an example lidar cleaning system 2200. The side view is projected from above the first side 2292 of the lidar sensor 2290 coupled to the lidar cleaning system 2200. Except that the drive system includes at least one linkage assembly 2230, the lidar cleaning system 2200 may have... Figure 15-16 It has the same configuration as the 1600 LiDAR cleaning system in China.

[0554] In some implementations, for example, Figure 22 As shown, the linkage assembly 2230 includes a first linkage 2232 and a second linkage 2234. One end of the first linkage 2232 is coupled to a rod connector 2238 on the edge 2296 of the first side 2292, and the other end is coupled to a connecting connector 2240. The first linkage 2232 can be connected to... Figure 15-16The first link 1532 is the same as or similar to the first link 2232 and may be a telescopic link, wherein the length of the first link 2232 may change during movement of the link assembly 2230. For example, the telescopic link may include a retracted portion located between the edge 2284 of the window and the connecting joint 2240. In some embodiments, the first link 2232 does not rotate about the link joint 2238 and changes its length along the direction of the edge 2296. One end of the second link 2234 is coupled to the wiping part 2210, and the other end is coupled to the connecting joint 2240. The second link may move along the edge 2284 of the window with the wiping part 2210. The second link 2234 may be a rigid link, wherein the length of the second link 2234 does not change during movement of the link assembly 2230. In some embodiments, the length of the second link 2234 is equal to the length of the edge 2284 of the window. Thus, when the wiping part 2210 moves to the first end 2286 of the edge 2284 (for example, when the lidar cleaning system 2200 is in the first state (a)), the second link 2234 overlaps with the edge 2284.

[0555] When the lidar cleaning system 2200 is activated, the drive system drives the wiping unit 2210 along the edge 2284 of the viewing window from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2200 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2200 is deactivated.

[0556] In the first state (a), the wiping portion 2210 may be located at the first end 2286 of the edge 2284. When driven by a drive system including the linkage assembly 2230, the lidar cleaning system 2200 may pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping portion 2210 may be located at a point on the edge 2284 between the first end 2286 and the second end 2287, and the length of the first linkage 2232 is less than its length in the first state (a). In the second state (c), the wiping portion 2210 may be located at the second end 2287 of the edge 2284, and the length of the first linkage 2232 is minimal during the movement between the first state (a) and the second state (c).

[0557] In some embodiments, the drive system includes an actuator configured to change the length of the first link 2232 between the edge 2284 and the connecting joint 2240. When the length of the first link 2232 is shortened (e.g., from (a) to (b) to (c)), the first link 2232 retracts below the outer surface of the window (e.g., outer surface 1582), and the second link 2234 moves along the edge 2284 from the first end 2286 to the second end 2287. When the length of the first link 2232 is extended (e.g., from (c) to (b) to (a)), the second link 2234 moves along the edge 2284 from the second end 2287 to the first end 2286. Thus, the drive system moves the wiping portion 2210 on the outer surface of the window.

[0558] Figure 22 Springs are not shown (e.g., Figure 18 The spring 1860 is used, but it should be understood that in other embodiments, the spring may also be disposed in the link assembly 2230. The drive system of the lidar cleaning system 2200 may include a second link assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor. The second link assembly may have the same or similar configuration as the link assembly 2230. Fifth Embodiment

[0559] Figure 23 This is a side view of an example lidar cleaning system 2300. The side view is projected from above the first side 2392 of the lidar sensor 2390 coupled to the lidar cleaning system 2300. Except that the drive system includes at least one linkage assembly 2330, the lidar cleaning system 2300 may have... Figure 15-16 It has the same configuration as the 1500 LiDAR cleaning system in China.

[0560] like Figure 23 As shown, the linkage assembly 2330 may include a linkage 2332. One end of the linkage 2332 is coupled to a rod connector 2338 fixed to the first side 2392, and the other end is coupled to a wiping part 2310. The linkage 2332 is rotatable about the rod connector 2338. The linkage 2332 can be connected to... Figure 15-16 The first link 1532 is the same as or similar to the first link 2332. The link 2332 may be a telescopic rod, wherein the length of the link 2332 may change during the movement of the link assembly 2330.

[0561] When the lidar cleaning system 2300 is activated, the drive system drives the wiping unit 2310 along the edge 2384 of the viewing window from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2300 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2300 is deactivated.

[0562] In the first state (a), the wiping portion 2310 may be located at the first end 2386 of the edge 2384. When driven by a drive system including the linkage assembly 2330, the lidar cleaning system 2300 may pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping portion 2310 may be located at a point on the edge 2384 between the first end 2386 and the second end 2387, and the length of the linkage 2332 may differ from its length in the first state (a). In the second state (c), the wiping portion 2310 may be located at the second end 2387. In some embodiments, the length of the linkage 2332 may remain unchanged when the outer surface of the window is spherical and the rod joint 2338 is located at the center of the sphere.

[0563] In some embodiments, the drive system includes a first actuator configured to rotate the link 2332 about the rod joint 2338. As the link 2332 rotates about the rod joint 2338 from (a) to (b) to (c), since the end of the link 2332 coupled to the wiping portion 2110 can only move along the edge 2384, the link 2332 correspondingly changes its length between the wiping portion 2310 and the rod joint 2338. Simultaneously, the wiping portion 2310 moves from the first end 2386 of the edge 2384 to the second end 2387. As the connecting rod 2332 rotates about the rod joint 2338 from (c) to (b) to (a), since the end of the connecting rod 2332 coupled to the wiping portion 2110 can only move along the edge 2384, the connecting rod 2332 correspondingly changes its length between the wiping portion 2310 and the rod joint 2338. Simultaneously, the wiping portion 2310 moves from the second end 2387 of the edge 2384 to the first end 2386. Thus, the drive system moves the wiping portion 2310 on the outer surface of the window.

[0564] In some embodiments, as described above, the link 2332 is a telescopic rod, and the length of the link 2332 can be freely changed during rotation about the rod joint 2338. For example, a first portion can move (or slide) into or out of the interior of a second portion, while the end of the wiping portion 2310 can be constrained to move in a guide rail on the edge 2384 of the window. In some embodiments, the drive system includes a second actuator configured to change the length of the link 2332 between the wiping portion 2310 and the connecting joint 2340. When the link 2332 changes its length, since the end of the link 2332 coupled to the wiping portion 2110 can only move along the edge 2384, the link 2332 rotates accordingly about the rod joint 2338. Simultaneously, the wiping portion 2310 is driven to move between the first end 2386 and the second end 2387 of the edge 2384. In this way, the drive system causes the wiping part 2310 to move on the outer surface of the window.

[0565] Figure 23 Springs are not shown (e.g., Figure 18 Spring 1860 or Figure 19 The spring 1960 is used, but it should be understood that in other embodiments, the spring may also be disposed in the linkage assembly 2330. The drive system of the lidar cleaning system 2300 may include a second linkage assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor. The second linkage assembly may have the same or similar configuration as the linkage assembly 2330. Sixth Embodiment

[0566] Figure 24 This is a side view of an example lidar cleaning system 2400 coupled to a channel 2470 mounted on side 2492 of a lidar sensor 2490. In some embodiments, the channel 2470 extends along the edge 2484 of the window of the lidar sensor 2490. The lidar cleaning system 2400 may include a wiping unit 2410 and a drive system. The wiping unit 2410 is movable only along the edge 2484 of the window. The drive system may include a linkage assembly 2430, which may include a link 2432. One end of the link 2432 is coupled to the wiping unit 2410, and the other end is coupled to a connector 2438 (e.g., a slider). The connector 2438 is movable within the channel 2470 between a first end 2472 and a second end 2474 of the channel 2470. The link 2432 may be a telescopic rod (e.g., Figure 15-16 The first link 1532), wherein the length of the link 2432 can be changed during the movement of the link assembly 2430.

[0567] When the lidar cleaning system 2400 is activated, the drive system drives the wiping unit 2410 along the edge 2484 of the window, from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2400 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2400 is deactivated.

[0568] In the first state (a), the wiping part 2410 is located at the first end 2486 of the edge 2484, and the connector 2438 is located at the first end 2472 of the channel 2470. When driven by a drive system including the linkage assembly 2430, the lidar cleaning system 2400 can pass through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping part 2410 is located at a point on the edge 2484 between the first end 2486 and the second end 2487, and the connector 2438 is located in the channel 2470 between the first end 2472 and the second end 2474. In the second state (c), the wiping part 2410 can be located at the second end 2487 of the edge 2484, and the connector 2438 is located at the second end 2474 of the channel 2470.

[0569] In some embodiments, the drive system includes an actuator configured to drive the link 2432 to move along the channel 2470. As the end of the link 2432 coupled to the connector 2438 moves along the channel 2470, the other end of the link 2432 coupled to the wiping portion 2410 moves along the edge 2484, and the length of the link 2432 between the connector 2438 and the wiping portion 2410 can be varied. Thus, the drive system moves the wiping portion 2410 on the outer surface of the window. In some embodiments, the drive system includes a vertical spring that is telescopic along the channel 2470, and the vertical spring can provide a spring force to move the link 2432 along the channel 2470, for example, to retract the link 2432.

[0570] In some implementations, for example, Figure 25As shown, channel 2570 is configured to extend substantially in line with the contour of the edge 2584 of the viewport of lidar sensor 2590, such that the distance between channel 2570 and the edge 2584 along the direction of edge 2596 of side 2592 is equidistant everywhere. Link 2532 is coupled between wiping portion 2510 and connector 2548 movable within channel 2570. As link 2532 moves along channel 2570, its length between wiping portion 2510 and connector 2548 remains constant. In some embodiments, link 2532 is a rigid rod, and its length does not change during movement of link assembly 2530.

[0571] The drive systems of the lidar cleaning systems 2400 and 2500 may each include a second linkage assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor. The second linkage assembly may have the same or similar configuration as the linkage assemblies 2430 and 2530. Seventh Embodiment

[0572] Figure 26 This is a side view of an example lidar cleaning system 2600, projected, for example, from above the side 2692 of the lidar sensor 2690 coupled to the lidar cleaning system 2600. Except that the drive system includes at least one rotating component 2630, the lidar cleaning system 2600 may have... Figure 15-16 It has the same configuration as the 1500 LiDAR cleaning system in China.

[0573] like Figure 26 As shown, the lidar cleaning system 2600 includes a wiping unit 2610 and a drive system. The drive system may include a rotating assembly 2630 and a drive belt 2620. In some embodiments, the rotating assembly 2630 includes a main drive wheel 2632 and two auxiliary drive wheels 2634 and 2636. The main drive wheel 2632 is mounted on the side 2692 of the lidar sensor 2690, and the two auxiliary drive wheels 2634 and 2636 are respectively mounted at both ends 2686 and 2687 of the edge 2684 of the lidar sensor 2690's window. The drive belt 2620 is coupled to the wiping unit 2610 and is movable on the rotating assembly 2630. In some embodiments, any one or more of the drive wheels 2632, 2634, and 2636 may be used as driving wheels, and the remaining drive wheels may be driven wheels. In some embodiments, the rotation of the main drive wheel 2632 (as the driving wheel) drives the movement of the drive belt 2620, which in turn drives the rotation of the auxiliary drive wheels 2634 and 2636 (as driven wheels).

[0574] When the lidar cleaning system 2600 is activated, the drive system drives the wiping unit 2610 along the edge 2684 of the window, from a first state (a) through an intermediate state (b) to a second state (c), and / or from the second state (c) through an intermediate state (b) back to the first state (a). In some embodiments, when activated, the lidar cleaning system 2600 reciprocates between the first state (a) and the second state (c) until the lidar cleaning system 2600 is deactivated.

[0575] In the first state (a), the wiping portion 2610 may be located at the first end 2686 of the edge 2684. When driven by the drive system, the wiping portion 2610 may travel with the transmission belt 2620 through the intermediate state (b) and reach the second state (c). In the intermediate state (b), the wiping portion 2610 may be located at a point on the edge 2684 between the first end 2686 and the second end 2687. In the second state (c), the wiping portion 2610 may be located at the second end 2687.

[0576] In some embodiments, the drive system includes a motor configured to rotate the main drive wheel 2632 clockwise and counterclockwise. When the main drive wheel 2632 rotates counterclockwise from (a) to (b) to (c), the drive belt 2620 moves on the rotating assembly 2630 to move the wiping part 2610 from the first end 2686 to the second end 2687. When the main drive wheel 2632 rotates clockwise from (c) to (b) to (a), the drive belt 2620 moves on the rotating assembly 2630 to move the wiping part 2610 from the second end 2687 to the first end 2686. Thus, the drive system moves the wiping part 2610 on the outer surface of the window. In some embodiments, the motor is configured to drive the main drive wheel 2632 to rotate within a certain range, allowing the drive belt 2620 to move within a certain distance. For example, the maximum distance that the drive belt 2620 can move in one direction is less than or equal to the length of the edge 2684, such that the wiping part 2610 moves only between the first end 2686 and the second end 2687 of the edge 2684.

[0577] The drive system of the lidar cleaning system 2600 may include a second linkage assembly mounted on the other side (e.g., the second side 1594) of the lidar sensor 2690. The second linkage assembly may have the same or similar configuration as the linkage assembly 2630. Type III LiDAR Cleaning System

[0578] Figure 27A-31C Different embodiments of a third type of lidar cleaning system are illustrated. In some embodiments, the lidar cleaning system includes a wiping section, a fluid system, and a drive system. The wiping section may contact the outer surface of a lidar sensor. The lidar sensor may have a viewing window having the outer surface. The fluid system may include a fluid nozzle configured to spray fluid onto the outer surface of the lidar sensor when the wiping section wips or scrapes the outer surface. The drive system may linearly move the fluid nozzle between one or more predetermined positions (e.g., a standby position and an operating position). In some examples, the fluid nozzle is located above or beyond the outer surface of the lidar sensor when activated, and below the outer surface of the lidar sensor when not in operation or in standby mode.

[0579] As discussed in further detail below, the lidar cleaning system can be, for example... Figures 27A-28C 2700 LiDAR cleaning system Figures 29A-29C 2900 LiDAR cleaning system Figures 30A-30B The lidar cleaning system 3000, or Figures 31A-31C The lidar cleaning system 3100. The wiping unit can be, for example... Figures 27A-28C Wiping section 2718 Figures 29A-29C Wiping section 2950 Figures 30A-30B Wiping section 3002, or Figures 31A-31C The wiping section 3102. The fluid system may be, for example, a wiping part 3102. Figures 27A-28C Fluid system 2770, or Figure 29A-30B The fluid system 2910. The drive system may be, for example... Figures 27A-28C First drive component 2730 or drive system 2780 Figures 29A-29C The first drive system 2920, or Figures 30A-30B The first drive system 3030. The outer surface may be, for example, Figure 27A-31C The outer surface 2752. The lidar sensor can be, for example, Figure 27A-31C The lidar sensor 2750. The fluid nozzle can be, for example, Figures 27A-28C Fluid nozzle 2720, or Figure 29A-30B The fluid nozzle 2912. The standby position can be, for example, Figures 27A-28C Standby position 2802, or Figure 29B The fluid nozzle in Figure (d) is in standby position 2946. The operating position can be, for example... Figures 27A-28C The protruding position 2804, or Figure 29BThe working position of the fluid nozzle in Figures (a)-(c) is 2945, or Figure 30B The fluid nozzle is positioned at working position 3045 in Figures (a)-(c). In some embodiments, the outer surface 2752 of the lidar sensor 2750 is at least partially transparent.

[0580] Although the embodiments described below show the fluid system and / or the drive system arranged on one side of the lidar sensor 2750 (see...) Figure 27A-31C However, it should be understood that both the fluid system and / or the drive system can be arranged on opposite or adjacent sides (e.g., upper or lower) of the lidar sensor 2750. Alternatively, the fluid system can be arranged on one side of the lidar sensor 2750, while the drive system can be arranged on the opposite side. In some embodiments, the lidar cleaning system, for example... Figure 27A-31C The 2700, 2900, 3000, and 3100 models may have two fluid systems and / or two drive systems arranged in a mirror-symmetric manner, such that each side of the lidar sensor 2750 has a fluid system and / or a drive system. Although the embodiments described below show the lidar cleaning system using only one wiping section (see...),... Figure 27A-31C However, it should also be understood that in some embodiments, the lidar cleaning system may have two or more wiping sections. First Embodiment

[0581] Figures 27A-27D A schematic diagram of an example lidar cleaning system 2700 is shown. Specifically, Figure 27A This is a schematic exploded view of the LiDAR cleaning system 2700. Figure 27B The electrical wiring of the lidar cleaning system 2700 is shown. Figure 27C The integration of the fluid system 2770 and the wiping unit 2718 of the lidar cleaning system 2700 is shown. Figure 27D At least a portion of the drive system 2780 of the lidar cleaning system 2700 is shown.

[0582] In some implementations, for example, Figure 27A , Figure 27C As shown, the fluid system 2770 includes a fluid conduit 2728 and at least one fluid nozzle 2720. In some embodiments, such as... Figure 27A As shown, the drive system 2780 includes a first drive assembly 2730, a second drive assembly 2782, and a telescopic cylinder 2726. In some embodiments, for example as... Figure 27A and Figure 27CAs shown, the second drive assembly 2782, the telescopic cylinder 2726, the wiping part 2718 and at least one fluid nozzle 2720 are assembled into a compact cleaning and wiping module (CCM) 2818.

[0583] In some implementations, such as Figure 27A As shown in Figure (b), the first drive assembly 2730 includes a first motor 2702, a first rotational shaft 2704 coupled to the first motor 2702, one or more CCM rails 2705, a connector 2703, and a base 2706 coupled to the first rotational shaft 2704, wherein the second drive assembly 2782 is mounted on the base 2706 which can be fixed to the connector 2703. The first rotational shaft 2704 is coupled to a first side of the connector 2703 along a first axis, and the first CCM rail 2705 is coupled to a second side of the connector 2703 along a second axis. A second CCM rail may be present, coupled to the second side of the connector 2703 along a third axis. The first axis may be located between the second axis and the third axis, such that the connector 2703 is balanced by the two CCM rails to maintain the balance of the base 2706. The first rotation axis 2704, the CCM track 2705, and the connector 2703 can be configured to allow the base 2706 to move back and forth along the first axis, the second axis, or the third axis. In some embodiments, a wire 2707 (e.g., for connecting a second motor 2708 to a control circuit board (CCB) 2742) is wound around the second CCM track. There may be no coupling between the connector 2703 and the second CCM track. For example, the connector 2703 may include an inner channel for the second CCM track, wherein the wire 2707 can move without obstruction.

[0584] The first motor 2702 can be configured to rotate the first rotating shaft 2704 (or directly drive the shaft 2704 forward or backward), and then the first CCM track 2705 causes the base 2706 to move along the axial direction of the first rotating shaft 2704. For example, the first rotating shaft 2704 may have a lead screw, and the connector 2703 may have a corresponding inner channel whose thread matches the thread on the lead screw. The first CCM track 2705 may have a lead screw whose thread matches the thread of the inner channel of the connector 2703. Thus, when the first rotating shaft 2704 rotates about the central axis of the first rotating shaft 2704, the connector 2703 moves linearly forward or backward on the first CCM track 2705 through the matching thread.

[0585] In some embodiments, the base 2706 may be coupled to the first rotating shaft 2704, for example, via one or more lead screw nuts. The threads on the inner surface of the lead screw nut engage with matching threads on the lead screw, such that when the lead screw is rotated by the first motor 2702, the lead screw nut can move forward and / or backward in the axial direction of the lead screw. The base 2706 may be mounted on the outer surface of the lead screw nut. Therefore, the base 2706 can move with the lead screw nut, and the second drive assembly 2782 mounted on the base 2706 can also move accordingly (e.g., as shown in the image). Figure 28A (As shown in Figure (b)). In some embodiments, the lead screw may include, but is not limited to: ball screw, trapezoidal screw, square thread screw, sawtooth screw, round thread screw, multi-thread screw, precision screw, micro screw, self-locking screw, non-rotating screw, etc. In some embodiments, the coupling methods for connecting the lead screw nut and the base 2706, or connecting the lead screw and the first motor 2702, include, but are not limited to: welding, riveting, bonding, snap-fit, press-fit, clamping or fasteners, keyways and key shafts, magnetic connections, tenon and groove connections, threaded inserts, soldering, adhesives or quick-release couplings, etc.

[0586] In some embodiments, the second drive assembly 2782 includes a series of extension members coupled to each other. The series of extension members may form a telescopic cylinder (or telescopic rod) 2726. For example, as... Figure 27A , Figure 27D As shown, the telescopic cylinder 2726 includes three extension components, such as a first extension component 2712 (e.g., a first push rod), a second extension component 2714 (e.g., a second push rod), and a third extension component 2716 (e.g., a third push rod). Each component can be a hollow cylinder with a different diameter. The first extension component 2712 can have the largest diameter, while the third extension component 2716 can have the smallest diameter among the three components.

[0587] The telescopic cylinder 2726 can have two states: a folded state and an unfolded state. Figure 28A Figure (b) shows the folded state of the telescopic cylinder 2726 when the lidar cleaning system 2700 is not in operation. In its folded state, the third extension member 2716 and the second extension member 2714 can be at least partially nested inside the first extension member 2712, and the third extension member 2716 is at least partially nested inside the second extension member 2714. Figure 28C Figure (b) and Figure 27DThe diagram shows the extended state of the telescopic cylinder 2726 when the lidar cleaning system 2700 is activated or in operating mode. In its extended state, both the second extension member 2714 and the third extension member 2716 extend from the first extension member 2712, therefore the total axial length of the telescopic cylinder 2726 in its extended state is greater than its total length in its folded state.

[0588] In some embodiments, the telescopic cylinder 2726 can be operated using a gear system, such as... Figure 27D Figure (b) and Figure 27A As shown. In the gear-based telescopic cylinder 2726, each component has a set of gears or racks attached thereto, such as a first gear system 2762, a second gear system 2764, and a third gear system 2766. These gears are designed to mesh or interlock with each other. As part of the first gear system 2762, the second rotating shaft 2710 may have external threads. When the second drive assembly 2782 drives the telescopic cylinder 2726 to extend, the second rotating shaft 2710 rotates first, and as it rotates, it interlocks and engages the first gear system 2762 with the second gear system 2764, driving the second extension member 2714 to move outward. As the second extension member 2714 moves outward, the second gear system 2764 further engages with the third gear system 2766 to extend the third extension member 2716 outward. To retract the telescopic cylinder 2726, the second drive assembly 2782 may reverse the rotation of the second rotating shaft 2710. This disengages the gear, allowing the component to retract as the second rotating shaft 2710 rotates in the opposite direction. In some embodiments, the telescopic cylinder 2726 utilizes, but is not limited to, a combination of a motor and a lead screw, a linkage mechanism, a pneumatic cylinder, or a hydraulic cylinder.

[0589] In some embodiments, the second drive assembly 2782 is configured to gradually extend from a series of extension members of the telescopic cylinder 2726 along the axial direction of the telescopic cylinder 2726, such that the total extension length of the series of extension members is not less than the length of the outer surface 2752 of the lidar sensor 2750 along the axial direction of the telescopic cylinder 2726. For example, refer to... Figure 28CFigure (a) illustrates the working or active state of the lidar cleaning system 2700. The length of the outer surface 2752 of the lidar sensor 2750 along the axial direction of the telescopic cylinder 2726 can be the lidar length 2732, while the total extension length of the series of extension components can be the length 2734 of the telescopic cylinder 2726. The second drive assembly 2782 can be configured such that the length 2734 of the telescopic cylinder 2726 is equal to or longer than the lidar length 2732, so that the wiping part 2718 provides good coverage of the lidar surface during cleaning.

[0590] In some embodiments, the first drive component 2730 is configured to move the second drive component 2782 along a first direction between a first position and a second position. For example, the first position may be when the lidar cleaning system is in an intermediate state 2794 or an operating state 2796 (see [link]). Figures 28B-28C The second position can be the extended position 2804 when the lidar cleaning system 2700 is not working or in standby mode 2792 (see [link]). Figure 28A The standby position 2802 is when the first direction is the axial direction of the first rotating shaft 2704, for example... Figure 28C The X-axis in Figure (b). The first drive assembly 2730 can drive the second drive assembly 2782 to move from one position to another, i.e., from the standby position 2802 to the extended position 2804, and / or from the extended position 2804 to the standby position 2802. After the second drive assembly 2782 moves to the first position (e.g., the extended position 2804), the fluid nozzle 2720 and / or the wiping portion 2718 move along the axial direction of the telescopic cylinder 2726 (e.g., the axial direction of the telescopic cylinder 2726). Figure 28C The Y-axis in Figure (b), which is perpendicular to the X-axis, moves on the outer surface 2752 of the lidar sensor 2750.

[0591] In some implementations, such as Figure 27C As shown, the wiping portion 2718 and the fluid nozzle 2720 are arranged together on the second drive assembly 2782 by being coupled to the ends of the series of extension components (see Figure 2782). Figure 27C and Figure 27DThe drive system 2780 is configured to move the wiping portion 2718 and the fluid nozzle 2720 together. For example, as described above, the second drive assembly 2782 can gradually extend the series of extension components, such as the telescopic cylinder 2726, along the axial direction of the telescopic cylinder 2726. During this process, both the wiping portion 2718 and the fluid nozzle 2720 move linearly together with the third extension component 2716 (see...). Figure 28C ).

[0592] In some implementations, such as Figure 27C As shown, the fluid nozzle 2720 includes a nozzle body 2812 and one or more openings 2814, wherein the wiping part 2718 is mounted on the nozzle body 2812, and the one or more openings 2814 are distributed on the nozzle body 2812. During the cleaning process, liquid is ejected from these openings 2814.

[0593] In some implementations, such as Figure 27C As shown, the fluid nozzle 2720 includes an inlet 2816 and one or more openings 2814 serving as the outlet of the fluid nozzle 2720. Figure 27A and Figure 28C As shown in Figure (b), the fluid conduit 2728 has two ends. The first end is coupled to the inlet 2816 of the fluid nozzle 2720 to spray liquid onto the outer surface 2752 of the lidar sensor 2750, while the second end can be connected to a liquid supply source. The liquid flows from the liquid supply source to the fluid nozzle 2720 through the fluid conduit 2728. In some embodiments, the fluid conduit 2728 may be L-shaped (see Figure 2728). Figure 28C (See Figure (b)) or “Ω” shape (see Figure (b)) Figure 27A (See Figure (b)). The fluid conduit 2728 may include a flexible material, such that its shape can be changed between the standby state 2792 and the operating state 2796 of the lidar cleaning system 2700. The flexible material may be a plastic material or a rubber material.

[0594] In some embodiments, the lidar cleaning system 2700 further includes a controller coupled to the first drive assembly 2730 and the second drive assembly 2782. For example, the controller may include control circuitry, such as a CCB2742. In some embodiments, the controller may control the first drive assembly 2730 to move the second drive assembly 2782 from the standby position 2802 (see [link to documentation]). Figure 28A Move to the extended position 2804 (see Figure 28B and Figure 28CThe controller can also control the second drive assembly 2782 to cause the wiping part 2718 to reciprocate on the outer surface 2752 of the lidar sensor 2750 to clean the surface, while controlling the fluid nozzle 2720 to spray liquid onto the outer surface 2752 of the lidar sensor 2750. For example, the reciprocating motion of the wiping part 2718 can be as follows: Figure 28C The linear motion along the Y-axis is shown in Figure (b). When the wiping part 2718 performs such a reciprocating motion, the wiping part 2718 wipes and cleans the outer surface 2752 of the lidar sensor 2750.

[0595] In some embodiments, the lidar cleaning system 2700 further includes a second drive system coupled to the wiping portion 2718 and configured to control the movement of the wiping portion 2718 on the outer surface 2752 of the lidar sensor 2750. In other words, the wiping portion 2718 can be driven by a system different from the second drive assembly 2782. Thus, the first drive system 2780 controls the first drive assembly 2730 and the second drive assembly 2782, while the second drive system controls the movement of the wiping portion 2718. In some embodiments, the second drive system is configured to control the wiping portion 2718 independently of the drive system controlling the fluid nozzle 2720.

[0596] In some implementations, such as Figure 27A As shown, the lidar cleaning system 2700 (including the wiping unit 2718, the fluid system 2770, and the drive system 2780) is assembled within a compact space enclosed by a top shell 2736, a front cover 2738, and a bottom shell 2742. The lidar cleaning system 2700 in its standby state (e.g., as shown) Figure 28A As shown, the lidar sensor 2750 can be nested on one side of the lidar system. In some embodiments, the lidar cleaning system 2700 includes a connector 2744 for communication with external systems (e.g., such as...). Figure 27A (As shown). The connector 2744 can also be a power connector.

[0597] In some embodiments, the cable chain 2832 is used for electrical wiring in the lidar cleaning system 2700, for example... Figure 27B As shown. The cable chain 2832 can also be used for fluid piping. Using the cable chain 2832 for electrical wiring involves the combination of flexible tracks. The flexible design of the cable chain 2832 allows for easy routing of wires along complex paths. This flexibility can be valuable in applications where wires need to follow the movement of system components.

[0598] In some embodiments, the lidar cleaning system 2700 includes a controller that can receive detection signals indicative of the condition of the outer surface 2752 of the lidar sensor 2750, for example from a lidar detection system (such as...). Figure 3 (306). If the detection signal indicates that a cleaning process is required, the controller controls the first drive assembly 2730 and the second drive assembly 2782 to move the wiping part 2718 on the outer surface 2752 of the lidar sensor 2750, and controls the fluid system 2770 to spray the liquid onto the outer surface 2752 of the lidar sensor 2750.

[0599] Figures 28A-28C A schematic diagram of each stage of the cleaning process performed by the lidar cleaning system 2700 is shown as an example.

[0600] Figure 28A The standby (non-operating) state 2792 of the lidar cleaning system 2700 is shown. In this state, the telescopic cylinder 2726 is in its folded state, with different components nested together, and the telescopic cylinder 2726, together with the wiping part 2718 and the fluid nozzle 2720, is located below the outer surface 2752 of the lidar sensor 2750 (see [reference]). Figure 28A Figure (b)).

[0601] Figure 28B Intermediate state 2794 is shown, in which the first drive assembly 2730 moves the cleaning and wiping module (CCM) 2818 from the standby position 2802 to the extended position 2804. As described above, the CCM 2818 may include the second drive assembly 2782, the telescopic cylinder 2726, the wiping section 2718, and one or more fluid nozzles 2720. In this intermediate state 2794, the telescopic cylinder 2726 remains in its folded state and has not yet extended outward along the axial direction of the telescopic cylinder 2726.

[0602] Figure 28C The working state 2796 is shown. After the second drive assembly 2782 moves to another extended position 2804, it drives the series of extension components (e.g., telescopic cylinder 2726) along the axial direction of the telescopic cylinder 2726 (e.g., Figure 28C The Y-axis in Figure (b) gradually extends and / or retracts. The wiping portion 2718 and the fluid nozzle 2720, along with the third extension member 2716 (see Figure 2716), gradually extend and / or retract. Figure 27C-27DTogether, they reciprocate on the outer surface 2752 of the lidar sensor 2750 for cleaning. During this reciprocating motion, the fluid nozzle 2720 sprays the liquid onto the outer surface 2752. The reciprocating motion can be driven by the second drive assembly 2782 through different extensions of the telescopic cylinder 2726 extending or retracting. Figure 28C Figure (c) shows the wiping part 2718 in its intermediate position during its reciprocating motion. Second Embodiment

[0603] Figures 29A-29C A schematic diagram of an example lidar cleaning system 2900 is shown, in which... Figure 29A A schematic exploded view of the lidar cleaning system 2900 is shown. Figure 29B An example state of the lidar cleaning system 2900 is shown. Figure 29C An example wiping section configuration is shown.

[0604] In the lidar cleaning system 2900, the fluid nozzle 2912 is movable between one or more predetermined positions, such as working position 2945 (see...). Figure 29B Figures (a)-(c)) and standby position 2946 (see Figures (a)-(c)) and standby position 2946) Figure 29B Figure (d)). When the lidar cleaning system 2900 is activated, the first drive system 2920 drives the fluid nozzle 2912 from its standby position to its working position, so that the fluid nozzle 2912 can spray liquid onto the outer surface 2752 of the lidar sensor 2750 during the cleaning process. In some embodiments, the fluid system 2910 includes the fluid nozzle 2912, one or more nozzle bases 2914a, 2914b mounted on the inner surface of the housing 2938, and a valve 2942 connected to an external water source, wherein the nozzle bases 2914a, 2914b and the valve 2942 are immovable relative to the housing 2938.

[0605] In some embodiments, the lidar cleaning system 2900 includes a second drive system 2930 coupled to the wiping part 2950 and used to control the movement of the wiping part 2950 on the outer surface 2752 of the lidar sensor 2750. In some embodiments, the second drive system 2930 may be mounted on the inner surface of the housing 2938 (see [link to relevant documentation]). Figure 29BThus, the second drive system 2930 is immovable relative to the housing 2938 and remains below the outer surface 2752 of the lidar sensor 2750. In some embodiments, when the lidar cleaning system 2900 is not in operation, the wiping portion 2950 remains adjacent to the bottom edge 2924, as... Figure 29B As shown in Figure (d).

[0606] In some embodiments, the wiping unit 2950 includes a wiper blade 2952 and a wiper arm 2954, the wiper arm 2954 having a first end coupled to the wiper blade 2952 and a second end coupled to the second drive system 2930. The first drive system 2920 and / or the second drive system 2930 can be coupled to a controller (e.g., via a connector 2923). Figure 5 (Controller 510). For example... Figure 29B As shown, the wiper arm 2954 has a first end connected to a point (e.g., the midpoint) on the wiper blade 2952 and a second end connected to the second drive system 2930. The second drive system 2930 is configured to control the reciprocating rotational movement of the wiper arm 2954. In some embodiments, the wiper arm 2954 is connected to the wiper blade 2952 via a bearing and / or spring, such that the relative angle between the wiper arm 2954 and the wiper blade 2952 changes during cleaning. In some embodiments, the wiper arm 2954 has an L-shaped form, and the wiper blade 2952 has a straight shape (see [link to documentation]). Figures 29A-29B This can prevent the wiping part 2950 from blocking the field of view of the lidar when it is not in operation.

[0607] In some embodiments, the second drive system 2930 rotates the wiper arm 2954 within an angular range to drive the wiper blade 2952 to move on the outer surface 2752 from a first edge of the region of the outer surface 2752 to a second edge of the region of the outer surface 2752. For example, see reference... Figure 29B The outer surface 2752 has a top edge 2922 and a bottom edge 2924 extending along the Y-axis. The second drive system 2930 drives the wiper arm 2954 to reciprocate about the X-axis within an angular range (e.g., between θ1 and θ2). θ1 is the angular position of the wiper arm 2954 relative to the Z-axis when the wiper blade 2952 reaches the bottom edge 2924 of the outer surface 2752 of the lidar sensor 2750 (see [reference]). Figure 29B (See Figure (a)), where θ2 is the angular position of the wiper arm 2954 relative to the Z-axis when the wiper blade 2952 reaches the top edge 2922 of the outer surface 2752 of the lidar sensor 2750 (see Figure (a)). Figure 29B (See Figure (c)). In other words, the wiper arm 2954 rotates back and forth about the X-axis between θ1 and θ2 to drive the wiper blade 2952 to move up and down along the Z-axis during cleaning. Although Figure 29B As not shown, but it should be understood that the wiper blade 2952 may not remain parallel to the top edge 2922 or the bottom edge 2924 of the outer surface 2752 during cleaning.

[0608] In some embodiments, the length of the wiper blade 2952 along the second direction is greater than the width of the area of ​​the outer surface 2752 of the lidar sensor 2750 along the second direction. (See also...) Figure 29B The second direction can be the Y-axis. The Y-axis dimension of the wiper blade 2952 can be longer than the top edge 2922 and / or the bottom edge 2924 of the outer surface 2752, such that the wiper blade 2952 extends beyond the left edge 2926 and / or the right edge 2928 of the outer surface 2752 of the lidar sensor 2750. A longer wiper blade 2952 can improve cleaning efficiency by covering a larger area of ​​the outer surface 2752.

[0609] In some embodiments, the region of the outer surface 2752 has a height along a third direction different from (e.g., perpendicular to) the second direction, and the height is less than the width. For example, returning to... Figure 29B The second direction can be the Y-axis, and the third direction can be the Z-axis. The region of the outer surface 2752 has a height along the Z-axis, for example, the length of the left edge 2926 and / or the right edge 2928, and such height is less than the length of the top edge 2922 and / or the bottom edge 2924 along the Y-axis. In other words, the region of the outer surface 2752 can have a rectangular shape, with its Y-direction dimension being greater than its Z-direction dimension. Therefore, the wiper blade 2952 travels a distance along the Z-axis when passing through the outer surface 2752 in a single pass, and this travel distance can be less than the travel distance in the lidar cleaning system 2700, in which the wiping part 2718 moves along the Y-axis in a single pass (e.g., as shown in the image). Figure 28C (As shown). A shorter travel distance in a single movement can improve the cleaning efficiency of a lidar cleaning system.

[0610] In some embodiments, the lidar sensor 2750 has at least one limiting member 2906 adjacent to the top edge 2922 and / or the bottom edge 2924. For example, Figure 29CFigure (b) shows two limiting members 2906 adjacent to the top edge 2922 and two limiting members 2906 adjacent to the bottom edge 2924. The limiting members 2906 can be used to constrain the movement of the wiper blade 2952 when it is pushed against the limiting members 2906. In some embodiments, the limiting members 2906 comprise the same material as the housing 2938. In some embodiments, the limiting members 2906 are distributed near the midpoints of the top edge 2922 and / or the bottom edge 2924.

[0611] In some embodiments, the wiper blade 2952 has an arcuate shape and / or a tapered end. For example, as... Figure 29C Figure (a) shows a top view of the lidar sensor 2750 and the wiper blade 2952 in the XY plane. If the outer surface 2752 of the lidar sensor 2750 is curved, the wiper blade 2952 can be configured to also have an arcuate shape to adapt to the outer contour of the curved outer surface 2752 of the lidar sensor 2750. In this way, the wiper blade 2952 at least partially contacts the curved outer surface 2752 of the lidar sensor 2750 during cleaning. In some embodiments, the tapered end refers to the portion of the wiper blade 2952 near its end, for example... Figure 29C The tapered end 2955 in Figure (a). In some embodiments, the tapered end is an additional portion of the wiper blade 2952, for example... Figure 29C The tapered end 2956 in Figure (c) is movable or rotatable about its connector 2957. Figure 29C Figure (d) shows a side view of the lidar sensor 2750 and the wiper blade 2952 in the XZ plane. When the wiper blade 2952 wipes the curved outer surface 2752 of the lidar sensor 2750, the tapered end 2956 can reach curved portions that the wiper blade 2952 may have difficulty reaching.

[0612] In some embodiments, the second drive system 2930 is configured to drive the wiper arm 2954 to push the wiper blade 2952 toward at least one stop 2906 along the second direction (e.g., Figure 29C The wiper blade 2952 moves along the Y-axis in Figure (b) such that it reaches a portion of the area adjacent to the first edge (e.g., the top edge 2922) or the second edge (e.g., the bottom edge 2924). For example, refer to... Figure 29CAs shown in Figure (b), when the wiper blade 2952 moves upward and approaches the top edge 2922, it is pushed against one or more retaining members 2906 adjacent to the top edge 2922. Similarly, when the wiping portion 2950 moves downward and approaches the bottom edge 2924, it is pushed against one or more retaining members 2906 adjacent to the bottom edge 2924 of the outer surface 2752. In some embodiments, the wiper blade 2952 can remain parallel to the top edge 2922 during cleaning. Therefore, when the wiper blade 2952 contacts one or more retaining members 2906 adjacent to the top edge 2922, it can no longer move in the positive Z-axis direction. For example, when the wiper blade 2952 is in the position of... Figure 29C In the second position 2934 shown in Figure (b), both the left and right portions of the wiper blade 2952 are in contact with the limiting member 2906, thus constraining its movement along the positive Z-axis. In some embodiments, as described above, the wiper blade 2952 may not remain parallel to the top edge 2922 during cleaning. For example, refer to... Figure 29C As shown in Figure (b), at the first position 2932 of the wiper blade 2952, when one end of the wiper blade 2952 contacts one of the limiting members 2906, the other end of the wiper blade 2952 is still some distance from the top edge 2922. At this time, the left portion of the wiper blade end (e.g., the portion along the negative Y-axis) may not be able to continue moving upward along the Z-axis due to being pushed towards the limiting member 2906. However, since the wiper blade 2952 is coupled to the wiper arm 2954, the wiper arm 2954 continues to apply force to the wiper blade 2952, and this force drives the rotational movement of the wiper blade 2952 to bring the right portion of the wiper blade 2952 closer to the top edge 2922. In other words, when the wiper blade 2952 moves from the first position 2932 to the second position 2934 (see Figure 2934), the wiper blade 2952 continues to move upward along the Z-axis. Figure 29C During the process shown in Figure (b), the wiper blade 2952 thereby wipes and cleans the upper right region of the outer surface 2752. In some embodiments, as the wiper blade 2952 moves from the first position 2932 to the second position 2934, the wiper blade 2952 can slide to the left along the negative Y-axis, such that the wiper blade 2952 extends further beyond the left edge 2926 of the outer surface 2752 at its second position 2934. This leftward sliding can further facilitate the cleaning of the top edge 2922 and / or the upper right region of the outer surface 2752.

[0613] In some embodiments, the lidar cleaning system 2900 includes a controller (e.g., Figure 5The controller 510 can receive detection signals indicating the condition of the outer surface 2752 of the lidar sensor 2750, for example from a lidar detection system (such as...). Figure 3 (306). The controller may include control circuitry 2921. If the detection signal indicates that a cleaning process is required, the controller controls the second drive system 2930 to move the wiping part 2950 on the outer surface 2752 of the lidar sensor 2750, and controls the fluid system 2910 to spray the liquid onto the outer surface 2752 of the lidar sensor 2750. Third Embodiment

[0614] Figures 30A-30B A schematic diagram of an example lidar cleaning system 3000 is shown. Specifically, Figure 30A Figure (b) is a schematic exploded view of the lidar cleaning system 3000. The lidar cleaning system 3000 can be similar to... Figures 29A-29C The LiDAR cleaning system 2900 differs in that it has a different wiping configuration and drive components.

[0615] In some embodiments, the lidar cleaning system 3000 includes a wiping unit 3002, for example having such as Figure 30A The wiping part 3002 is an “Ω” shape as shown in Figures (b) and (c). It may include two wiping part legs 3012 and a wiping part body 3010. The wiping part legs 3012 may be perpendicular to the wiping part body 3010, and may be shorter than the wiping part body 3010. The wiping part legs 3012 are coupled to two parallel tracks 3004 in such a way that the wiping part 3002 can slide or move along the tracks 3004.

[0616] In some embodiments, the lidar cleaning system 3000 includes a fluid system 2910 (e.g., as shown in the image). Figures 29A-29C As shown), it has a fluid nozzle 2912, which is configured to be positioned by a first drive system 3030, which may include a motor, at a predetermined position (e.g., Figure 29B It moves between the working position 2945 and the standby position 2946.

[0617] In some embodiments, the lidar cleaning system 3000 includes a second drive system 3020 coupled to the wiping part 3002, and the second drive system 3020 is configured to control the wiping part 3002 to move on the outer surface 2752 of the lidar sensor 2750.

[0618] In some embodiments, the region of the outer surface 2752 is along a second direction (e.g., Figure 30B The Y-axis in the diagram has a width and is along a third direction (e.g., different from (e.g., perpendicular to) the second direction) Figure 30B The second drive system 3020 is configured to control the wiping part 3002 to move along at least one track 3004 on the outer surface 2752 of the lidar sensor 2750. The track 3004 can be along the second direction (e.g., the Z-axis). Figure 30B (Y-axis in the text) or the third direction (e.g.) Figure 30B Extending from the Z-axis. For example, as... Figure 30B As shown, two parallel tracks 3004 extend along the Y direction. The upper track 3004 is disposed adjacent to the top edge 2922 of the outer surface 2752, and the lower track 3004 is disposed adjacent to the bottom edge 2924 of the outer surface 2752. One of the wiping leg portions 3012 is coupled to the upper track 3004, and the other wiping leg portion is coupled to the lower track 3004. The wiping body 3010 is positioned above the outer surface 2752 along the positive X direction (see [reference]). Figure 30B The wiping part 3002 is at least partially in contact with the outer surface 2752. The second drive system 3020 is coupled to the wiping part 3002 such that the second drive system 3020 can drive the wiping part 3002 to reciprocate along the track 3004. In other words, the wiping part 3002 can move back and forth along the track 3004 during the cleaning process. Although Figure 30B Although not shown, it should be understood that both parallel tracks 3004 can extend along the Z direction, and the wiping part body 3010 can move up and down along the Z axis via two wiping part legs 3012 coupled to the tracks 3004.

[0619] In some embodiments, the width of the outer surface 2752 is greater than its height, and the track 3004 extends along the width direction. For example, as Figure 30B As shown in Figure (a), the outer surface 2752 has a top edge 2922, a bottom edge 2924, a left edge 2926, and a right edge 2928, which enclose a region. The width of the outer surface 2752 can be its Y-direction dimension, such as the length of the top edge 2922 and / or the bottom edge 2924. The height of the outer surface 2752 can be its Z-direction dimension, such as the length of the left edge 2926 and / or the right edge 2928. The Y-direction dimension of the outer surface 2752 can be longer than the Z-direction dimension of the outer surface 2752 (see Figure 2). Figure 30B Furthermore, at least one track can extend along the Y-axis, so the wiping part can move along the track along the Y-axis.

[0620] In some embodiments, one of the rails 3004 includes a lead screw with external threads. For example... Figure 30A As shown in Figure (b), the second drive system 3020 includes a motor 3006 coupled to the lead screw via one or more transmission gears 3008, and the motor 3008 can rotate the lead screw to drive the wiping part 3002 to move linearly along the Y-axis or Z-axis. In other words, when the motor 3006 rotates, it drives the lead screw to rotate via the transmission gears 3008. One of the wiping part legs 3012 can be coupled to the lead screw via a lead screw nut. The threads on the inner surface of the lead screw nut engage with the matching threads on the lead screw, such that when the lead screw rotates, the lead screw nut can move back and forth in the axial direction of the lead screw. One of the wiping part legs 3012 is further mounted on the outer surface of the lead screw nut. Thus, the wiping part can move with the lead screw nut in the axial direction of the lead screw (e.g., along the Y-axis or Z-axis). Figure 30B The upper track 3004 moves back and forth along the Y-axis. In some embodiments, the lower track 3004 may be a rigid rod with a smooth outer surface to guide the movement of the wiping part 3002. One of the wiping part legs 3012 is fitted onto the lower track 3004. The wiping part leg 3012 may move back and forth along the lower track 3004 with the wiping part body 3010, wherein the lower track 3004 is used to guide the linear movement of the wiping part 3002 along the track 3004 to reduce oscillation or lateral movement. Although not shown, it should be understood that the lower track 3004 may be a lead screw, while the upper track 3004 is a rod with a smooth outer surface, or both tracks 3004 may be lead screws. In some embodiments, the lead screw may include, but is not limited to: ball screw, trapezoidal lead screw, square thread lead screw, sawtooth lead screw, round thread lead screw, multi-thread lead screw, precision lead screw, micro lead screw, self-locking lead screw, non-rotating lead screw, etc. In some embodiments, the “Ω”-shaped wiping part 3002 can be easily detached from the track 3004 by means of a connecting mechanism (including but not limited to bushings and guide rods, lead screws and lead screw nut assemblies, etc.).

[0621] In some embodiments, the wiping portion 3002 is moved on the track 3004 using any other suitable method, including but not limited to linear actuators, rack and pinion systems involving linear gears (racks) and rotary gears (pinions), hydraulic cylinders, magnetic actuators, etc. In some embodiments, if the outer surface 2752 of the lidar sensor 2750 is curved, the wiping portion 3002 and / or the track 3004 may be configured to have an arcuate or non-linear shape to adapt to the curved outer surface 2752, such that the wiping portion body 3010 can at least partially contact the curved outer surface 2752 during cleaning.

[0622] Figure 30B Figures (a)-(c) illustrate schematic diagrams of the various stages of the cleaning process performed by the lidar cleaning system 3000 after the fluid nozzle 2912 moves to its working position (e.g., extending over the outer surface 2752 of the lidar sensor 2750). For example, Figure 30B Figure (a) shows the initial stage of the wiping portion 3002, at which point it is positioned adjacent to the right edge 2928 of the outer surface 2752. When the second drive system 3020 drives the rotational movement of the upper track 3004 (e.g., a lead screw), the wiping portion 3002 moves along the track 3004 in the negative Y-axis direction. Figure 30B Figure (b) shows the stage when the wiping part 3002 has moved approximately halfway along the Y-axis to the outer surface 2752. As the upper track 3004 continues to rotate, the wiping part 3002 moves further along the negative Y-axis and reaches the left edge 2926 of the outer surface 2752, as... Figure 30B As shown in Figure (c). At this time, the second drive system 3020 can reverse the rotation of the upper track 3004 to move the wiping part 3002 back along the positive Y-axis until the wiping part 3002 reaches the right edge 2928 of the outer surface 2752. This movement can be repeated once or multiple times, resulting in the reciprocating motion of the wiping part 3002. This reciprocating motion of the wiping part 3002 cleans the outer surface 2752 of the lidar sensor 2750 until the lidar cleaning system 3000 is deactivated. During the cleaning process, the fluid nozzle 2912 can spray fluid (e.g., water, gas) onto the outer surface 2752 to facilitate the cleaning process. In some embodiments, the liquid can be sprayed continuously or intermittently until the cleaning process is over. Alternatively, the liquid can be sprayed only once before the wiping part 3002 reciprocates. After the cleaning process is over, the fluid nozzle 2912 retracts to its standby position, similar to the standby position shown in Embodiment 2 (see Figure 29B (Figure d)

[0623] In some embodiments, the lidar cleaning system 3000 includes a controller (e.g., Figure 5 The controller 510 may include a control circuit board 2921. The controller may receive a detection signal indicating the condition of the outer surface 2752 of the lidar sensor 2750. If the detection signal indicates a cleaning process is required, the controller controls the second drive system 3020 to move the wiping part 3002 on the outer surface 2752 of the lidar sensor 2750, and controls the fluid system 2910 to spray liquid onto the outer surface 2752 of the lidar sensor 2750. Fourth embodiment

[0624] Figures 31A-31C A schematic diagram of an example lidar cleaning system 3100 is shown. Specifically, Figure 31A This is a schematic front view of the example lidar cleaning system 3100 described in the YZ plane. Figure 31B A schematic side view of the example lidar cleaning system 3100 described above is shown in the XZ plane. Figure 31C A schematic side view of another example lidar cleaning system 3100 in the XZ plane is shown. The lidar cleaning system 3100 may be similar to... Figure 24 LiDAR cleaning system 2400 or Figure 25 The 2500 LiDAR cleaning system.

[0625] In some embodiments, although not shown, the lidar cleaning system 3100 includes a fluid system (e.g., Figures 29A-29C The fluid system 2910) and the first drive system (e.g. Figures 29A-29C The first drive system 2930 is configured to control the fluid system. The first drive system can control the fluid nozzle 2912 at a predetermined position (e.g., ...). Figure 29B It moves between the working position 2945 and the standby position 2946.

[0626] In some embodiments, the lidar cleaning system 3100 includes a second drive system 3110 coupled to the wiping part 3102, and the second drive system 3110 controls the wiping part 3102 to move on the outer surface 2752 of the lidar sensor 2750.

[0627] In some embodiments, the second drive system 3110 includes a pair of arms 3130, which are coupled to the two ends of the wiping portion 3102 via corresponding connectors 3124 (see [link to relevant documentation]). Figure 31A The second drive system 3110 is configured to rotate the pair of arms 3130 to cause the wiping portion 3102 to move linearly on the outer surface 2752 of the lidar sensor 2750. Figure 31B As shown in Figures (a)-(c), the arm 3130 can be rotated around the connector 3112 within an angular range by the second drive system 3110.

[0628] In some embodiments, the lidar sensor 2750 includes a first side 3114 and a second opposite side, for example, the first side 3114 in the XZ plane (see...). Figure 31B), and the outer surface 2752 is located between the first side and the second opposite side, for example, the outer surface 2752 in the YZ plane (see Figure 31A Each side of the XZ plane has a connector 3112, and each arm 3130 is rotatable about a corresponding connector 3112 mounted on the corresponding side. For example, side 3114 has a connector 3112, as... Figure 31B As shown, the arm 3130 is rotatable about the connector 3112.

[0629] In some embodiments, the region of the outer surface 2752 includes a top edge 2922, a bottom edge 2924, a left edge 2926, and a right edge 2928, such as Figure 31A As shown in Figure (b). The second drive system 3110 is configured to rotate the pair of arms 3130 so that the wiping part 3102 moves linearly from the top edge 2922 to the bottom edge 2924 on the outer surface 2752, and / or from the bottom edge 2924 to the top edge 2922, thereby realizing the reciprocating motion of the wiping part 3102 along the Z-axis.

[0630] In some embodiments, the second drive system 3110 is configured such that, when the arm 3130 rotates about the corresponding connector 3112, the arm 3130 can move linearly through the corresponding connector 3112 to change the length of the portion of the arm 3130 between the outer surface 2752 and the corresponding connector 3112, thereby causing the wiping portion 3102 to contact the outer surface 2752. For example, as Figure 31B As shown in Figures (a)-(c), the length of the portion of the arm 3130 between the connector 3112 and the arm end 3124 is denoted as length L. The connector 3112 is fixed to the side 3114. The arm end 3124 is coupled to the wiping part 3102 (see Figure 3114). Figure 31A The arm 3130 and the connector 3112 can be coupled in such a way that the arm 3130 can both rotate about the fixed connector 3112 and move along its own axial direction. Thus, when the arm 3130 rotates, the length L changes. For example, when the arm 3130 is in such a position... Figure 31B When the arm 3130 is in the position shown in Figure (b), the length L can be the shortest, while when the arm 3130 is in the position shown in Figure (b), the length L can be the shortest. Figure 31BWhen the position shown in Figure (a) or Figure (c) is reached, the length L increases. The second drive system 3110 can control the rotation and / or linear movement of the arm 3130, causing the wiping part 3102 to contact the outer surface 2752 during cleaning. In some embodiments, the coupling between the arm 3130 and the connector 3112 may include, but is not limited to, bearings or bushings, universal joints, balance ring connectors, hinge joints, etc.

[0631] In some implementations, such as those similar to Figure 24 The linkage 2432, at least one arm 3130 includes a telescopic rod, and the second drive system 3110 is configured to change the length of the telescopic rod between the outer surface 2752 and the corresponding connector, so that the wiping part 3102 contacts the outer surface 2752. Figure 31C As shown in Figures (a) and (b), point D is the fixed connector 3126 on the side, and point F is the arm end 3132 coupled to the wiping part 3102. The rod between points D and F is the arm 3128. The arm 3128 may include a telescopic rod. The telescopic rod can provide adjustable extension and retraction driven by the second drive system 3110, thereby allowing for changes in the length of the rod. Thus, when the arm 3128 rotates about the fixed connector 3126, for example from... Figure 31C The angular position shown in Figure (a) to Figure 31C As shown in Figure (b), at the...

Claims

1. A lidar cleaning system, comprising: The wiping section is configured to contact the outer surface of the lidar sensor; as well as A drive system, coupled to the wiping unit and configured to drive the wiping unit into an operational state to move on the outer surface of the lidar sensor. The wiping unit can be detached from the lidar cleaning system.

2. The lidar cleaning system according to claim 1, wherein, The lidar sensor includes a window having the outer surface, and The shape of the wiping part is configured to adapt to the shape of the window, so that when the wiping part moves on the outer surface of the lidar sensor, it maintains contact with the corresponding part of the outer surface.

3. The lidar cleaning system according to any one of the preceding claims, wherein, The wiping section includes: Support frame; and A wiper blade, coupled to the support frame and configured to contact the outer surface of the lidar sensor.

4. The lidar cleaning system according to claim 3, wherein, The support frame comprises flexible metal.

5. The lidar cleaning system according to claim 3 or 4, wherein, The wiper blades may be made of flexible rubber or silicone.

6. The lidar cleaning system according to any one of claims 3 to 5, wherein, The wiping unit also includes: A first wiper shaft, coupled to a first end of the support frame; and The second wiper shaft is coupled to the second end of the support frame. The second end of the support frame is opposite to the first end of the support frame along the first axis, and the wiping part reciprocates around the first axis.

7. The lidar cleaning system according to claim 6, wherein, The first wiper shaft and the second wiper shaft are coupled to the support frame by riveting or welding.

8. The lidar cleaning system according to claim 6 or 7, further comprising: A wiper drive assembly coupled to the first wiper shaft and configured to connect the wiping section and the drive system.

9. The lidar cleaning system according to claim 8, wherein, The wiper drive assembly includes: A connecting bushing, coupled to the power output shaft of the drive system; and A connecting assembly configured to connect the connecting bushing and the first wiper shaft of the wiping portion. The drive system is configured to drive the power output shaft to rotate the connecting bushing around the first axis, so as to cause the wiping part to perform the reciprocating rotational motion via the first wiper shaft of the wiping part.

10. The lidar cleaning system according to claim 9, wherein, The connecting bushing is coupled to the power output shaft by welding.

11. The lidar cleaning system according to claim 9 or 10, wherein, The power output shaft has a D-shaped, square, or polygonal shape.

12. The lidar cleaning system according to any one of claims 6 to 11, further comprising: A wiper support assembly, coupled to the second wiper shaft and configured to support the reciprocating rotational motion of the wiping portion.

13. The lidar cleaning system according to claim 12, wherein, The wiper support assembly includes: A rotating bushing, coupled to the second wiper shaft of the wiping portion and configured to rotate about the first axis under the rotational drive of the second wiper shaft of the wiping portion; A connecting assembly configured to connect the second wiper shaft of the wiping portion and the first end of the rotating bushing; and A bearing, which is coupled to the second end of the rotating bushing and configured to support the rotation of the rotating bushing.

14. The lidar cleaning system according to claim 13, wherein, The wiper support assembly also includes: A bearing housing coupled to the bearing and configured to restrict movement of the bearing along a first axis, a second axis, and a third axis, wherein the first axis, the second axis, and the third axis are perpendicular to each other; and A bearing end cap, which is coupled to the bearing housing and configured to support the bearing.

15. The lidar cleaning system according to claim 14, wherein, The wiper support assembly also includes: A sealing ring, which is coupled to the bearing end cap and configured to at least protect the bearing from liquids or dust.

16. The lidar cleaning system according to claim 15, wherein, The sealing ring is located inside the groove of the bearing end cap and is at least partially in contact with the rotating bushing.

17. The lidar cleaning system according to claim 16, wherein, The sealing ring is positioned inside the groove of the bearing end cap by means of adhesive bonding.

18. The lidar cleaning system according to any one of claims 2 to 17, wherein, The wiper blade can be detached from the support frame.

19. The lidar cleaning system according to any one of the preceding claims, wherein, The radial flexibility of the wiping part is greater than the axial flexibility of the wiping part.

20. The lidar cleaning system according to any one of the preceding claims, wherein, The drive system includes: Electric motor; A speed reducer coupled to the motor; and A power output shaft, which is coupled to the reducer and the wiping section. The reducer is configured to change the speed of the motor for the power output shaft.

21. The lidar cleaning system according to claim 20, wherein, The reducer includes multiple gearboxes, the multiple gearboxes including: A first transmission for changing the rotational speed of the motor to a first speed; and A second transmission is used to change the first speed to a second speed for use on the power output shaft.

22. The lidar cleaning system according to claim 21, wherein, The first speed is less than the rotational speed, and the second speed is less than the first speed.

23. The lidar cleaning system according to claim 21 or 22, wherein, The first speed is less than the rotational speed, the second speed is greater than the first speed, and the second speed is less than the rotational speed.

24. The lidar cleaning system according to any one of claims 20 to 23, wherein, The speed reducer includes: A worm gear, coupled to the output shaft of the motor and configured to rotate about a first axis under the drive of the motor; and A worm gear, coupled to the worm and configured to rotate about a second axis perpendicular to the first axis, under the rotational drive of the worm.

25. The lidar cleaning system according to claim 24, wherein, The number of teeth on the worm gear is greater than the number of screw threads on the worm.

26. The lidar cleaning system according to claim 24 or 25, wherein, The reducer also includes: An intermediate shaft, coupled to the worm gear and configured to rotate about the second axis under the rotational drive of the worm gear; An input gear, coupled to the intermediate shaft and configured to rotate about the first axis under the rotational drive of the intermediate shaft; and An output gear, coupled to the input gear and configured to rotate about the first axis under the rotational drive of the input gear, The power output shaft is coupled to the output gear and configured to rotate about the second axis under the rotational drive of the output gear.

27. The lidar cleaning system according to claim 26, wherein, The number of teeth on the output gear is less than the number of teeth on the input gear.

28. The lidar cleaning system according to claim 26 or 27, wherein, The worm gear is coupled to the intermediate shaft through its irregularly shaped inner hole.

29. The lidar cleaning system according to any one of claims 26 to 28, wherein, The reducer also includes: A first bearing, coupled to a first end of the intermediate shaft; and The second bearing is coupled to the second end of the intermediate shaft. The first bearing and the second bearing are mounted on the housing of the reducer along the second axis.

30. The lidar cleaning system according to any one of the preceding claims, wherein, The drive system includes: Electric motor; A drive belt coupled to the motor and extending along a first axis, wherein the drive belt is configured to be movable along the first axis under the drive of the motor; and A power output shaft is coupled to the drive belt and the wiping part, wherein the power output shaft is configured to rotate about a second axis, and the rotation of the power output shaft drives the wiping part to perform the reciprocating rotational motion about the second axis.

31. The lidar cleaning system according to claim 30, wherein, The drive belt includes a closed belt made of a flexible material.

32. The lidar cleaning system according to claim 30 or 31, wherein, The second axis is perpendicular to the first axis.

33. The lidar cleaning system according to any one of the preceding claims further includes a fluid system configured to spray fluid onto the outer surface of the lidar sensor.

34. The lidar cleaning system according to claim 33, wherein, The fluid system includes: Fluid conduits; and At least one fluid nozzle is coupled to the fluid conduit and configured to spray the fluid from the fluid conduit onto the outer surface of the lidar sensor.

35. The lidar cleaning system according to claim 34, wherein, The fluid system also includes: A valve, configured to control the flow of the fluid into the fluid conduit. The valve is configured to be opened or closed by an electromagnetic switch, which can be controlled by a control circuit.

36. The lidar cleaning system according to any one of claims 33 to 35, wherein, The lidar sensor has a window with the outer surface, and the at least one fluid nozzle is configured to spray the fluid onto the window.

37. The lidar cleaning system according to claim 36, wherein, When the lidar sensor is in the first position, the at least one fluid nozzle includes a plurality of fluid nozzles arranged around the viewing window.

38. The lidar cleaning system according to any one of claims 33 to 37, wherein, The at least one fluid nozzle is configured to spray no more than 5 grams of liquid at a time.

39. The lidar cleaning system according to any one of claims 33 to 38, wherein, The fluid system is configured to inject the fluid at time intervals between adjacent injections.

40. The lidar cleaning system according to any one of the preceding claims further includes a heating device configured to heat the fluid in the fluid system.

41. The lidar cleaning system according to claim 40, wherein, The heating device includes a heating element made of wires.

42. The lidar cleaning system according to claim 41, wherein, The wire is wound around at least a portion of the fluid conduit.

43. The lidar cleaning system according to any one of claims 40 to 42, wherein, The heating device is coupled to and configured to be controlled by the control circuit.

44. A method for cleaning the outer surface of a lidar sensor using the lidar cleaning system according to any one of claims 1 to 43.

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