Radar cleaning device, laser radar assembly and vehicle

Abstract

The utility model relates to the field of radar cleaning, in particular to a radar cleaning device, a laser radar assembly and a vehicle. A radar cleaning device is used for cleaning a window of a laser radar, the laser radar is contained in a cavity formed by a housing and a vehicle body metal plate, and the radar cleaning device comprises a nozzle, a fixing clamping base, a driving shaft and a motor. The nozzle is fixed to the fixed clamping base and used for selectively spraying liquid or gas to the set position of the window to achieve cleaning, the driving shaft is fixed to the output end of the motor and fixedly connected with the fixed clamping base, the motor is used for driving the driving shaft to rotate to the set position, and the motor is used for driving the driving shaft to rotate to the set position. Wherein at least part of the motor is fixed outside the cavity and is fixedly connected with the automobile body metal plate, and the driving shaft penetrates through the automobile body metal plate and is fixedly connected with the fixed clamping seat.

Description

Technical Field

[0001] The utility model relates to the field of radar cleaning, in particular to a radar cleaning device, a laser radar component and a vehicle. Background Art

[0002] The first line of defense for autonomous driving perception is actually whether the path for the perception sensors arranged outside the vehicle to obtain environmental sensing signals is interfered by ice, water, unexpected obstructions, mosquitoes, etc. In order to ensure that the autonomous driving system is safe enough, on the one hand, it is necessary to increase the consideration of redundancy solutions, but more importantly, it is necessary to ensure that the sensors can normally obtain environmental information and promptly deal with the interference of ice, water, unexpected obstructions, mosquitoes, etc. to ensure driving safety.

[0003] There are two main ways to clean lidar on the market. One is manual cleaning. For example, May Mobility, an autonomous driving startup, operates a short-distance autonomous driving route, which stops every 15 minutes for manual cleaning. The labor cost is extremely high, and the radar arranged in the middle of the roof is usually not easy to reach, and it is impossible to stop and wipe it during highway driving. The other is to add fixed nozzles for cleaning. For example, Ford's lidar is equipped with nozzles. However, the fixed nozzle can only flush at a fixed angle, and it is impossible to accurately remove stains in a certain area. It can only clean the entire window surface over a large area, and the cleaning efficiency and detergent utilization rate are low.

[0004] Therefore, the existing technology needs to be improved urgently. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a radar cleaning device, a laser radar component and a vehicle, so as to at least solve the problems of low cleaning efficiency and low utilization rate of washing liquid in the existing cleaning laser radar.

[0006] To achieve the above-mentioned purpose, the first aspect of the utility model provides a radar cleaning device for cleaning the window of a laser radar, wherein the laser radar is accommodated in a cavity formed by a cover and a body sheet metal, and the radar cleaning device comprises: a nozzle, a fixed base, a drive shaft and a motor, wherein the nozzle is fixed on the fixed base and used for selectively spraying liquid or gas to a set position of the window for cleaning, the drive shaft is fixed on the output end of the motor and is fixedly connected to the fixed base, and the motor is used for driving the drive shaft to rotate to the set position, wherein

[0007] The motor is at least partially fixed outside the cavity and fixedly connected to the body sheet metal, and the drive shaft passes through the body sheet metal and is fixedly connected to the fixed base.

[0008] As an embodiment of the utility model, the nozzle includes an air nozzle for jetting air and a water nozzle for spraying water, and the radar cleaning device also includes an air nozzle for conveying gas and a water pipe for conveying liquid, the air nozzle is connected to the air nozzle, and the water pipe is connected to the water nozzle, wherein

[0009] The air nozzle and the water pipe are fixedly connected to the fixed base, and the air nozzle and the water nozzle are respectively arranged on the air nozzle and the water pipe; or

[0010] The air nozzle pipe and the water pipe are connected to the fixed base, and the air nozzle and the water nozzle are respectively arranged on the fixed base.

[0011] As an embodiment of the utility model, the air nozzle and the water pipe are connected to the fixed base, the air nozzle and the water nozzle are independent of each other, the base is provided with a first protrusion and a second protrusion arranged toward the window, the air nozzle and the water nozzle are respectively arranged at the ends of the first protrusion and the second protrusion, the first protrusion is connected to the air nozzle, and the second protrusion is connected to the water pipe, wherein

[0012] The first protrusion and the second protrusion gradually approach each other in a direction from the fixed base to the nozzle.

[0013] As an embodiment of the utility model, the aperture size of the air nozzle and the first protrusion continuously decreases in the direction toward the nozzle, and the aperture size of the water pipe and the second protrusion continuously decreases in the direction toward the nozzle, so as to increase the pressure of the liquid or gas.

[0014] As an embodiment of the utility model, the air nozzle and the water pipe are connected to the fixed card seat, and the fixed card seat is provided with a receiving cavity for receiving the gas or liquid, wherein

[0015] The air nozzle is the same as the water nozzle, and the air nozzle pipe and the water pipe are respectively connected to the accommodating cavity of the fixed base in one-way communication.

[0016] As an implementation mode of the utility model, the fixed base is parallel to the bottom surface of the laser radar, the air nozzle and the water pipe are arranged between the fixed base and the body sheet metal, wherein

[0017] The driving shaft is fixedly connected to a side of the fixed base close to the viewing window, the air nozzle and the water pipe are connected to a side of the fixed base away from the viewing window, and the driving shaft is arranged between the air nozzle and the water pipe.

[0018] As an embodiment of the utility model, the water pipe and the air nozzle are connected to the fixed base in a roughly "L" shape, and the radar cleaning device also includes a fixed column, which is fixed on the motor and fixedly connected to the body sheet metal, and the drive shaft is rigidly connected to the fixed base by a spline.

[0019] As an embodiment of the utility model, the radar cleaning device also includes a controller, a detector, an air pump, a water pump, an air tank and a liquid tank, wherein the air pump is used to connect the air tank and the nozzle, the water pump is used to connect the liquid tank and the nozzle, and the detector is used to detect the position of the stain on the window, wherein

[0020] The controller is connected to the air pump, the water pump, the motor and the detector, so that the controller drives the motor to move the nozzle to a set position based on the detection information of the detector, and selectively controls the air pump and the water pump to spray liquid or gas through the nozzle.

[0021] A second aspect of the present invention provides a laser radar assembly, including a laser radar and a radar cleaning device for cleaning the laser radar window mentioned in the first aspect of the present application.

[0022] A third aspect of the present invention provides a vehicle, comprising the radar cleaning device provided by the first aspect, or comprising the laser radar assembly provided by the second aspect.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] By providing a drive shaft, a motor, a fixed holder and a nozzle, the rotation of the nozzle can be well realized, and then the cleaning of the laser radar window can be more targeted, thereby improving the cleaning efficiency; at the same time, by providing a nozzle that can selectively spray gas and liquid, it is possible to save detergent and improve the utilization efficiency of the detergent; at the same time, by making the motor at least partially fixed outside the cavity and fixedly connected to the body sheet metal, the drive shaft passes through the body sheet metal and is fixedly connected to the fixed holder, which can well realize the installation and fixation of the radar cleaning device, facilitate adaptation to existing laser radar products, and facilitate installation by operators, thereby improving installation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the position of a radar cleaning device and a laser radar provided by the utility model;

[0027] Figure 2 It is a structural schematic diagram of a radar cleaning device provided by the utility model;

[0028] Figure 3 The utility model discloses a control logic diagram of a radar cleaning device.

[0029] Description of reference numerals:

[0030] 100, cover;

[0031] 200, laser radar; 210, window;

[0032] 300, radar cleaning device; 301, air nozzle; 302, fixed base; 303, driving shaft; 304, air nozzle; 305, air nozzle joint; 306, motor; 307, water joint; 308, fixed column; 309, water pipe; 310, water nozzle; 311, first protrusion; 312, second protrusion. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise stated, the directional words used, such as "upper", "lower", "left", "right", "front", and "back", generally refer to the upper, lower, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0034] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present utility model. In addition, in the following embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in one embodiment, please refer to the relevant description of other embodiments.

[0035] See also Figure 1-2The figure shows a laser radar component, including a cover 100, a laser radar 200 and a radar cleaning device 300. The cover 100 is arranged on the body sheet metal of the vehicle and forms a cavity with the body sheet metal for accommodating at least the laser radar 200. The cover 100 is provided with a window on the area corresponding to the interaction between the laser radar 200 and the environment to facilitate the laser radar 200 to directly interact with the environment.

[0036] The radar cleaning device 300 includes a nozzle, a fixed base 302, an air nozzle 304, a water pipe 309, a drive shaft 303 and a motor 306. One end of the drive shaft 303 is fixed to the motor 306, and the other end is fixedly connected to the fixed base 302. The nozzle is fixed in the middle position above the fixed base 302. The nozzle is arranged in the middle of the fixed base 302 and faces the direction of the laser radar 200 and is connected to at least one of the air nozzle 304 or the water pipe 309. The angle and position of the nozzle relative to the fixed base 302 are preferably a position that can cover the laser radar 200 area to the greatest extent.

[0037] For example, in a preferred embodiment, see Figure 1 The fixed base 302 is flush with the base of the laser radar 200, and the nozzle is set in the middle of the Y direction of the fixed base 302 so that the nozzle is exactly set in the middle of the laser radar 200, so that the areas on both sides of the laser radar 200 can be evenly cleaned. The angle between the straight line where the nozzle and the vertex of the laser radar 200 are located and the horizontal plane where the fixed base 302 is located is preferably 45°-70°, which can well achieve the cleaning of the surface of the laser radar 200, that is, the cleaning of a larger area of ​​the radar window 210.

[0038] Please continue reading Figure 2 The air nozzle 304 and the water pipe 309 are respectively arranged on both sides of the driving shaft 303 and are connected to the fixed base 302. The air nozzle 304 can selectively deliver gas, and then spray the gas to the area to be cleaned on the surface of the laser radar 200 through the nozzle, so as to clean the laser radar 200. Similarly, the water pipe 309 can selectively deliver liquid, and then spray the liquid to the area to be cleaned on the surface of the laser radar 200 through the nozzle, so as to clean the laser radar 200.

[0039] It can be understood that there are many ways to select liquid and gas, as long as the surface of the laser radar 200 can be cleaned. For example, the liquid can be water, or a cleaning agent formed by a specific liquid combination, or a liquid with a cleaning function. There are many ways to do this in the prior art, and the details will not be repeated here. Similarly, the gas can be air, or other specific types of gases, or a gas with a cleaning function. There are many ways to do this in the prior art, and the details will not be repeated here.

[0040] Please continue reading Figure 2 , the motor 306 is arranged below the drive shaft 303, the output end of the motor 306 is fixedly connected to the drive shaft 303, the motor 306 is arranged below the body sheet metal, and the drive shaft 303 penetrates the body sheet metal and is rigidly connected to the fixed base 302 through a spline. The motor 306 is used to drive the drive shaft 303 to rotate to a set position, thereby driving the nozzle to rotate relative to the window 210 of the laser radar 200, so as to achieve the removal of stains in a specific area. The radar cleaning device 300 also includes a fixed column 308, which is fixed on the motor 306 and can be detachably fixedly connected to the body sheet metal. Preferably, the fixed column 308 can be connected to the body by mortise and tenon, or by snap-fit ​​connection, or by bolt connection. Of course, the utility model does not limit the detachable connection method. Similarly, the fixed column 308 can also be fixedly connected to the body sheet metal, such as riveting, welding, or gluing. Similarly, the utility model does not limit the detachable connection method.

[0041] When it is necessary to clean the window 210 of the laser radar 200, the radar cleaning device selectively controls the gas or liquid to be sprayed to the designated position of the laser radar window 210 through the nozzle, thereby cleaning the designated position of the window 210 of the laser radar 200. In particular, when it is necessary to clean the window 210 at a specific position of the laser radar 200, the motor 306 can drive the drive shaft 303 to rotate to the designated position, and then spray gas or liquid through the nozzle to clean the specific position.

[0042] It can be understood that in the prior art, the cleaning of the laser radar 200 is either performed manually or by installing a fixed nozzle. The window 210 of the laser radar 200 is cleaned as a whole, and it is impossible to perform specified cleaning on partial areas of the laser radar 200. Only the surface of the entire window 210 can be cleaned over a large area, resulting in very low cleaning efficiency and utilization of the washing liquid.

[0043] The solution of the utility model can reduce the dependence on the cleaning liquid by enabling the nozzle to selectively spray gas or liquid. At the same time, by enabling the driving shaft 303 to drive the fixed base 302 to rotate relative to the window 210, and then driving the nozzle to rotate relative to the window 210, it is possible to achieve good cleaning of a specific area of ​​the window 210 and improve the utilization efficiency of the cleaning liquid.

[0044] It should be noted that, for the nozzle, the air nozzle 304 and the water pipe 309 may share one nozzle, or the air nozzle 304 and the water pipe 309 may be used independently, and the present invention does not limit this.

[0045] It is also necessary to note that, please refer to Figure 2The connection position of the fixed clamp 302 and the air nozzle 304 can be at any position, and the utility model does not limit this. In a specific embodiment, the boundary line between the fixed clamp 302 and the air nozzle 304 is located on the horizontal plane where the air nozzle 304 is located. In another specific embodiment, the boundary line between the fixed clamp 302 and the air nozzle 304 is located at the bend. Similarly, the connection position of the fixed clamp 302 and the water pipe 309 can be at any position, and the utility model does not limit this, and the specific details will not be repeated.

[0046] In a specific embodiment, the air nozzle 304 and the water pipe 309 each use a nozzle independently, that is, the nozzle includes an air nozzle 301 and a water nozzle 310. Figure 2 The fixed base 302 is provided with two protrusions, namely, a hollow first protrusion 311 and a second protrusion 312, which gradually approach the middle of the fixed base 302 along the direction of the air nozzle 301 and the water nozzle 310, that is, the first protrusion 311 and the second protrusion 312 gradually approach each other in the direction from the fixed base 302 to the nozzle, so that the distance between the air nozzle 301 and the water nozzle 310 is smaller than the distance from the connection between the first protrusion 311 and the fixed base 302 to the connection between the second protrusion 312 and the fixed base 302. The first protrusion 311 is connected to the air nozzle 304, and the second protrusion 312 is connected to the water pipe 309. The gas nozzle 301 and the water nozzle 310 are respectively arranged at the ends of the first protrusion 311 and the second protrusion 312, so that the gas nozzle 304 and the water pipe 309 spray gas and liquid to the designated position through the gas nozzle 301 and the water nozzle 310 on the first protrusion 311 and the second protrusion 312 respectively.

[0047] For further information, please refer to Figure 2 The sizes of the water pipe 309, the air nozzle 304, the first protrusion 311 and the second protrusion 312 decrease as they approach the nozzle. When the water pipe 309, the air nozzle 304, the first protrusion 311 and the second protrusion 312 are annular pipes, the diameters of the water pipe 309, the air nozzle 304, the first protrusion 311 and the second protrusion 312 decrease as they approach the nozzle. In this way, it is possible to well realize the pressurization of gas and liquid while conveying liquid and gas, thereby ensuring the ejection pressure of gas and liquid, and thus ensuring the cleaning effect.

[0048] In an alternative embodiment, the air nozzle 304 and the water pipe 309 share a nozzle. In this case, the fixed base 302 is a hollow receiving chamber for receiving a fluid, such as a gas or a liquid, that can clean the surface of the laser radar 200. The air nozzle 304 and the water pipe 309 are respectively connected to the receiving chamber of the fixed base 302 in one direction through a one-way valve, which is used to inject gas or liquid into the cavity of the fixed base 302 in one direction while preventing the gas or liquid from entering another pipeline, thereby reducing the cleaning efficiency.

[0049] Furthermore, the fixed holder 302 is a conical structure near the nozzle, and the ejection pressure when ejected through the nozzle is continuously increased by gradually reducing the volume near the nozzle.

[0050] Please continue reading Figure 2 The fixed base 302 is a triangular structure arranged toward the viewing window 210 of the laser radar 200. The nozzle is arranged on the side of the fixed base 302 close to the viewing window 210 of the laser radar 200. The connection between the water pipe 309 and the air nozzle 304 and the fixed base 302 is arranged on the side as far away from the viewing window 210 of the laser radar 200 as possible. The driving shaft 303 is arranged between the air nozzle 304 and the water pipe 309, and the water pipe 309 and the air nozzle 304 are connected to the fixed base 302 in an "L" shape, that is, the water pipe 309 and the air nozzle 304 are a certain distance away from the fixed base 302 in the Z direction. After the water pipe 309 and the air nozzle 304 reach the corresponding connection position at the fixed base 302, the water pipe 309 and the air nozzle 304 are bent at the end side away from the viewing window 210 of the laser radar 200 to achieve the connection between the water pipe 309 and the air nozzle 304 and the fixed base 302.

[0051] The advantage of this arrangement is that by making the water pipe 309 and the air nozzle 304 have a certain distance from the fixed card holder 302 in the Z direction, it is possible to avoid the laser radar 200. Figure 1 In the figure, since the fixed base 302 is parallel to the bottom surface of the laser radar 200, there are some protrusions on the bottom surface of the laser radar 200. By setting the water pipe 309 and the air nozzle 304 at a certain distance from the fixed base 302 in the Z direction, it is possible to adapt well to the installation area of ​​the laser radar 200 and complete the installation.

[0052] It should be noted that at this time, the connection between the water pipe 309 and the air nozzle 304 and the fixed base 302 can be that the water pipe 309 and the air nozzle 304 are connected to the fixed base 302, that is, the water pipe 309 and the air nozzle 304 are connected to the cavity corresponding to the fixed base 302 (such as the first protrusion 311 and the second protrusion 312 of the above embodiment, or the accommodating cavity). Alternatively, the air nozzle 304 and the water pipe 309 are fixedly connected to the fixed base 302, and the air nozzle 301 and the water nozzle 310 are respectively arranged on the air nozzle 304 and the water pipe 309, that is, the air nozzle 304 and the water pipe 309 are fixed to the fixed base 302 and partially pass through the fixed base 302 and are arranged in the direction where the window 210 is located.

[0053] Please continue reading Figure 2 The radar cleaning device 300 includes an air pump (not shown in the figure) and an air tank (not shown in the figure). One side of the air pump is connected to the air tank, and the other side is connected to the air nozzle 304. The air pump is used to increase the gas pressure output by the air tank, and the air tank is used to store gas. Similarly, the radar cleaning device 300 also includes a water pump (not shown in the figure) and a liquid tank (not shown in the figure). One side of the water pump is connected to the liquid tank, and the other side is connected to the water pipe 309. The water pump is used to increase the liquid pressure output by the liquid tank, and the liquid tank is used to store liquid.

[0054] Furthermore, the radar cleaning device 300 further includes an air spray joint 305 and a water joint 307. The air spray joint 305 is used to connect the air nozzle 304 and the air pump, and the water joint 307 is used to connect the water pipe 309 and the water pump. The air spray joint 305 and the water joint 307 are used to improve the connection stability between the air pump and the air nozzle, and between the water pump and the water pipe.

[0055] Please continue reading Figure 1-3 The radar cleaning device 300 further includes a detector and a controller. The detector is used to detect the location of the stain on the window 210 of the laser radar 200. The controller is electrically connected to the detector, the motor 306, the water pump and the air pump. The controller can drive the motor 306 to rotate based on the detection information of the detector, and selectively control the water pump and the air pump, so that the radar cleaning device 300 selectively sprays gas or liquid.

[0056] It can be understood that there are multiple solutions in the prior art for the detection method of the detector, which will not be described in detail; similarly, there are also multiple solutions in the prior art for the solution of the controller controlling the motor 306 based on the control information, which will not be described in detail. The present invention does not limit the way in which the controller controls the water pump and the air pump. It can be to first control the movement of the air pump so that the radar cleaning device 300 first performs gas cleaning on the window 210 of the laser radar 200, and then control the movement of the water pump so that the laser radar 200 cleaning device performs liquid cleaning on the window 210 of the laser radar 200, or vice versa. It can also be to control the movement of the air pump and the water pump at the same time so that the laser radar 200 cleaning device sprays gas and liquid at the same time. At this time, it is preferred that the nozzle includes a gas nozzle 301 and a water nozzle 310 that are independent of each other.

[0057] Similarly, the present invention does not limit the control logic of the controller controlling the air pump and the water pump. Figure 3 After the detector detects dirt, the air pump is first started by the controller, so that the radar cleaning device 300 performs high-pressure gas cleaning on the window 210. The cleaning time is preferably 3 seconds. Then the controller controls the detector to perform a secondary detection to determine whether there is dirt. If not, the cleaning is terminated.

[0058] If it exists, the controller starts the water pump for liquid cleaning, and the cleaning time is preferably 2s. Then the controller controls the detector to perform three tests to determine whether there is dirt. If not, the cleaning is terminated. If it exists, the water pump is started again for high-pressure liquid cleaning. The cleaning time is preferably 1s. At this time, the controller controls the detector to perform four tests to determine whether there is dirt. If not, the cleaning is terminated. If it exists, manual cleaning is prompted.

[0059] The utility model also provides a laser radar component, comprising the aforementioned laser radar and a radar cleaning device.

[0060] The utility model also provides a vehicle, comprising the laser radar component, or a radar cleaning device.

[0061] The above is a detailed introduction to the scheme of the utility model. Specific examples are used in this article to illustrate the principle and implementation method of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. At the same time, for general technicians in this field, according to the idea of ​​the utility model, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the utility model.

[0062] References throughout the specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the present invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the present invention.

[0063] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0064] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

Claims

1. A radar cleaning device for cleaning the window of a laser radar, wherein the laser radar is accommodated in a cavity formed by a housing and a body sheet metal, characterized in that: The radar cleaning device comprises: a nozzle, a fixed card seat, a driving shaft and a motor, wherein the nozzle is fixed on the fixed card seat and is used to selectively spray liquid or gas to a set position of the window to achieve cleaning, the driving shaft is fixed on the output end of the motor and is fixedly connected to the fixed card seat, and the motor is used to drive the driving shaft to rotate to the set position, wherein The motor is at least partially fixed outside the cavity and fixedly connected to the body sheet metal, and the drive shaft passes through the body sheet metal and is fixedly connected to the fixed base.

2. The radar cleaning device according to claim 1, characterized in that: The nozzle includes an air nozzle for spraying air and a water nozzle for spraying liquid. The radar cleaning device also includes an air nozzle pipe for conveying gas and a water pipe for conveying liquid. The air nozzle pipe is connected to the air nozzle, and the water pipe is connected to the water nozzle. The air nozzle and the water pipe are fixedly connected to the fixed base, and the air nozzle and the water nozzle are respectively arranged on the air nozzle and the water pipe; or The air nozzle pipe and the water pipe are connected to the fixed base, and the air nozzle and the water nozzle are respectively arranged on the fixed base.

3. The radar cleaning device according to claim 2, characterized in that: The air nozzle and the water pipe are connected to the fixed base, the air nozzle and the water nozzle are independent of each other, the base is provided with a first protrusion and a second protrusion arranged toward the window, the air nozzle and the water nozzle are respectively arranged at the ends of the first protrusion and the second protrusion, the first protrusion is connected to the air nozzle, and the second protrusion is connected to the water pipe, wherein The first protrusion and the second protrusion gradually approach each other in a direction from the fixed base to the nozzle.

4. The radar cleaning device according to claim 3, characterized in that: The aperture sizes of the air nozzle and the first protrusion continuously decrease in the direction toward the nozzle, and the aperture sizes of the water pipe and the second protrusion continuously decrease in the direction toward the nozzle, so as to increase the pressure of the liquid or gas.

5. The radar cleaning device according to claim 2, characterized in that: The air nozzle and the water pipe are connected to the fixed card seat, and the fixed card seat is provided with a receiving cavity for receiving the gas or liquid, wherein The air nozzle is the same as the water nozzle, and the air nozzle pipe and the water pipe are respectively connected to the accommodating cavity of the fixed base in one-way communication.

6. The radar cleaning device according to any one of claims 2 to 5, characterized in that: The fixed base is parallel to the bottom surface of the laser radar, and the air nozzle and the water pipe are arranged between the fixed base and the body sheet metal. The driving shaft is fixedly connected to a side of the fixed base close to the viewing window, the air nozzle and the water pipe are connected to a side of the fixed base away from the viewing window, and the driving shaft is arranged between the air nozzle and the water pipe.

7. The radar cleaning device according to claim 6, characterized in that: The water pipe and the air nozzle are connected to the fixed base in a roughly "L" shape. The radar cleaning device also includes a fixing column, which is fixed to the motor and fixedly connected to the body sheet metal. The drive shaft is rigidly connected to the fixed base by a spline.

8. The radar cleaning device according to claim 1 or 2, characterized in that: The radar cleaning device also includes a controller, a detector, an air pump, a water pump, an air tank and a liquid tank, wherein the air pump is used to connect the air tank and the nozzle, the water pump is used to connect the liquid tank and the nozzle, and the detector is used to detect the location of the stain on the window. The controller is connected to the air pump, the water pump, the motor and the detector, so that the controller drives the motor to move the nozzle to a set position based on the detection information of the detector, and selectively controls the air pump and the water pump to spray liquid or gas through the nozzle.

9. A laser radar component, characterized in that: It comprises a laser radar and a radar cleaning device for cleaning a laser radar window as described in any one of claims 1 to 8.

10. A vehicle, characterized in that: The radar cleaning device comprises any one of claims 1 to 8, or the laser radar assembly comprises the laser radar assembly according to claim 9.

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