Cleaning device and LIDAR

Abstract

A cleaning device and LiDAR for delivering a fluid to a selected area of a surface of a LiDAR housing, the cleaning device comprising: a cleaning device housing having an axis of rotation extending therethrough; an arm configured to rotate about the axis of rotation of the cleaning device housing, the arm fluidly connectable to a first fluid source and having a fluid delivery end having an opening for delivering fluid therethrough; a bourdon tube fluidly connectable to a second fluid source and having a fixed end and a distal end, the fixed end being connected to the second fluid source and the distal end being connected to a gear mechanism for converting movement of the distal end of the bourdon tube into rotational movement of the arm about the axis of rotation. Adjusting fluid pressure in the bourdon tube causes the arm to rotate about the axis of rotation.

Description

Technical Field

[0001] This utility model generally relates to a cleaning device for cleaning LiDAR, and more specifically to a cleaning device for cleaning LiDAR sensors and a method for cleaning LiDAR. Background Technology

[0002] An autonomous vehicle (SDC) is a vehicle capable of autonomously driving itself through private and / or public spaces. Using sensors that detect the SDC's position and / or surrounding environment, logic within or associated with the SDC controls the SDC's speed, propulsion, braking, and steering based on the sensor-detected position and surrounding environment.

[0003] Various sensor systems can be used by the SDC, such as, but not limited to, camera systems, radar systems, and LiDAR systems. Different sensor systems can be employed to capture different information and / or different formats regarding the SDC's location and surrounding environment. For example, a camera system can be used to capture image data about the SDC's surrounding environment. In another example, a LiDAR system can be used to capture point cloud data, which is used not only for object ranging but also for constructing a 3D map representation of the surrounding environment and other potential objects near the SDC. Camera systems and LiDAR systems, etc., are implemented with one or more optical elements for capturing data. Weather factors such as rain and dust may obscure the optical elements of one or more sensor systems, which reduces the quality of the information collected by the sensor systems for the safe operation of the SDC.

[0004] More specifically, LiDAR can be used for localization and navigation in a SDC (Software-Defined Center). LiDAR collects points corresponding to beams of light reflected from objects in the environment and uses these points to create a point cloud that acts as a 3D map of the environment. Different types of detection principles can be used in LiDAR devices, including Time-of-Flight (ToF) LiDAR, Frequency Modulated Continuous Wave (FMCW) LiDAR, and others.

[0005] Typically, LiDAR devices enclosed in a housing include an opening through which the light beam is emitted and received. Sensors mounted externally to the SDC are frequently exposed to elements such as dust and other weather pollutants. Dust may contain chemicals such as de-icing agents and antifreeze.

[0006] U.S. Patent No. 11,590,937B2, published on August 5, 2021, discloses a cleaning apparatus for a vehicle, a cleaning system for a vehicle, and a control method for a cleaning system for a vehicle. The vehicle cleaning apparatus removes foreign matter collected on objects to be cleaned on the vehicle. The vehicle cleaning apparatus includes: a cleaning fluid supply device installed on the vehicle; and a wiping device including a wiper driver and a wiper blade. The wiper driver includes a linear movement portion that generates linear movement based on a supply of cleaning fluid pumped from the cleaning fluid supply device, and a movement converter that converts the linear movement into pivoting movement. The wiper blade is arranged to contact the object to be cleaned. The wiping device is configured to cause the wiper blade to perform a reciprocating wiping operation based on the pivoting movement of the movement converter.

[0007] U.S. Patent No. 10,782,520B2, published January 30, 2020, discloses a cleaning system for vehicle sensors, comprising an actuator and an arm rotatable by the actuator. The actuator includes a housing and a rotatable barrier within the housing, the rotatable barrier defining a first chamber and a second chamber. The rotatable barrier can be rotated by relative pressure between the chambers. The arm includes a first nozzle fluidly connected to the first chamber and a second nozzle fluidly connected to the second chamber.

[0008] U.S. Patent No. 10,183,653B2, published on November 2, 2017, relates to an in-vehicle vision and cleaning system, which includes a sensor unit mounted in the vehicle body, a cleaning fluid source, a cleaning fluid pump, a nozzle carrier, and at least one cleaning fluid nozzle attached to the nozzle carrier, wherein the nozzle carrier is designed as a rotating arm that can be flipped from a tilted position (which is a stationary position) to a raised position (which is an operating position) when actuated.

[0009] U.S. Patent Application Publication No. 2022 / 057509A1, published on February 24, 2022, discloses a sensor device comprising a base, a nozzle positioned within the base and rotatable relative to the base, an extension arm extending from a first portion to a second portion, and a fluid source fluidly connected to the nozzle. The first portion is fixed to the nozzle, and the second portion is spaced apart from the nozzle. Pressurizing the fluid source applies force to the second portion of the extension arm. Utility Model Content

[0010] Therefore, there is a need for systems and methods that avoid, reduce, or overcome the limitations of existing technologies.

[0011] In some embodiments of this invention, the developers have developed a cleaning system to remove contaminants, such as dust, dirt, and other particulate matter, from the surface of a LiDAR. Removing and maintaining a contaminant-free LiDAR surface improves the detection efficiency of the LiDAR.

[0012] In a first broad aspect of this invention, a cleaning apparatus is provided for delivering fluid to a selected area of ​​a LiDAR housing surface. The cleaning apparatus includes: a cleaning apparatus housing having a rotation axis extending therethrough; an arm configured to rotate about the rotation axis of the cleaning apparatus housing, the arm being fluidly connected to a first fluid source and having a fluid delivery end having an opening for delivering fluid therethrough; and a Bourdon tube fluidly connected to a second fluid source and having a fixed end and a distal end, the fixed end being connected to the second fluid source and the distal end being connected to a gear mechanism for translating movement of the distal end of the Bourdon tube into rotational movement of the arm about the rotation axis. Adjusting the fluid pressure in the Bourdon tube causes the arm to rotate about the rotation axis.

[0013] In some embodiments, the cleaning device includes a shaft at the axis of rotation, and the proximal end of the arm is connected to the shaft via a bearing.

[0014] In some embodiments, the gear mechanism includes a meshable gear assembly between the distal end of the Bourdon tube and the proximal end of the arm.

[0015] In some embodiments, the cleaning device includes a nozzle at the fluid delivery end of the arm.

[0016] In some embodiments, the nozzle is provided at an adjustable angle relative to the arm.

[0017] In some embodiments, an elongated axis of the arm is provided that is perpendicular to the axis of rotation of the cleaning device housing.

[0018] In some embodiments, the arm extends radially from the axis of rotation, and the fluid delivery end of the arm is disposed outside the housing of the cleaning device.

[0019] In some embodiments, the arm is positioned below the bottom end of the cleaning device housing.

[0020] In some embodiments, the movement of the arm is controlled solely by adjusting the fluid pressure in the Bourdon tube.

[0021] In some embodiments, the cleaning device further includes a support for supporting the cleaning device relative to the LiDAR housing.

[0022] In some embodiments, the first fluid source and the second fluid source are the same fluid source.

[0023] In some embodiments, the cleaning device further includes the first fluid source and / or the second fluid source.

[0024] In some embodiments, the first fluid source and the second fluid source include a single reservoir, and the cleaning device further includes one or more of at least one reservoir valve, at least one Bourdon valve, and at least one arm valve to control fluid flow.

[0025] In some embodiments, the cleaning device further includes a compressor for pressurizing the fluid.

[0026] In some embodiments, a LiDAR having a LiDAR housing includes the cleaning device, wherein the cleaning device is positioned relative to the LiDAR housing such that the cleaning device can deliver fluid to the surface of the LiDAR housing.

[0027] In the context of this invention, the term "light source" broadly refers to any device configured to emit radiation (e.g., a radiated signal in the form of a beam, such as, but not limited to, a beam containing radiation of one or more corresponding wavelengths within the electromagnetic spectrum). In one instance, the light source may be a "laser source." Therefore, a light source may include lasers, such as solid-state lasers, laser diodes, high-power lasers, or alternative light sources, such as light-emitting diode (LED) based sources. Some (non-limiting) examples of laser sources include: Fabry-Perot laser diodes, quantum well lasers, distributed Bragg reflector (DBR) lasers, distributed feedback (DFB) lasers, fiber lasers, or vertical-cavity surface-emitting lasers (VCSELs). Additionally, laser sources may emit beams of different formats, such as light pulses, continuous wave (CW), quasi-CW, etc. In some non-limiting examples, a laser source may include a laser diode configured to emit light at wavelengths between approximately 650 nm and 1150 nm. Alternatively, the light source may comprise a laser diode configured to emit a beam of light at a wavelength between about 800 nm and about 1000 nm, between about 850 nm and about 950 nm, between about 1300 nm and about 1600 nm, or any other suitable range. Unless otherwise indicated, the term "about" with respect to numerical values ​​is defined as a variance of up to 10% of the stated value.

[0028] In the context of this invention, "output beam" may also be referred to as a radiation beam, such as a light beam, which is generated by a radiation source and directed toward the region of interest in the direction of emission. The output beam may have one or more parameters, such as: beam duration, beam angular dispersion, wavelength, instantaneous power, photon density at different distances from the light source, average power, beam power intensity, beamwidth, beam repetition rate, beam sequence, pulse duty cycle, wavelength, or phase. The output beam may be unpolarized or randomly polarized, may not have a specific or fixed polarization (e.g., polarization may vary over time), or may have a specific polarization (e.g., linear, elliptically, or circularly polarized).

[0029] In the context of this invention, an "input beam" is generally radiation or light that enters the system after being reflected from one or more objects in the ROI. An "input beam" may also be referred to as a radiation beam or a light beam. Reflection means that at least a portion of the output beam incident on one or more objects in the ROI bounces off those objects. The input beam may have one or more parameters, such as: time of flight (i.e., the time from emission to detection), instantaneous power (e.g., power characteristics), average power across the entire return pulse, and photon distribution / signal during the return pulse period, etc. Depending on the specific application, some of the radiation or light collected in the input beam may originate from sources other than the reflected output beam. For example, at least some portions of the input beam may contain optical noise from the surrounding environment (including scattered sunlight) or other light sources outside the system.

[0030] In the context of this invention, the term “surrounding environment” for a given vehicle refers to the area or volume around the given vehicle, comprising a portion of its current environment accessible for scanning using one or more sensors mounted on the given vehicle, for example, to generate a 3D map of such surrounding environment or to detect objects therein.

[0031] In the context of this invention, the "region of interest" can broadly encompass a portion of the observable environment of a LiDAR system, in which one or more objects can be detected. It should be noted that the region of interest of a LiDAR system can be affected by various conditions, such as, but not limited to: the orientation of the LiDAR system (e.g., the direction of the LiDAR system's optical axis); the location of the LiDAR system relative to the environment (e.g., above the ground and at distances to adjacent terrain and obstacles); and the operating parameters of the LiDAR system (e.g., transmit power, computational settings, defined operating angles). The ROI of a LiDAR system can be defined, for example, by a planar angle or a solid angle. In one instance, the ROI can also be defined over a certain distance range (e.g., up to approximately 200 meters).

[0032] In the context of this invention, a "server" is a computer program running on suitable hardware and capable of receiving and executing requests, or causing those requests to be executed, via a network (e.g., from an electronic device). The hardware may be implemented as a physical computer or a physical computer system, but for the purposes of this invention, neither is necessarily the case. In this context, the use of the term "server" is not intended to imply that every task (e.g., received instructions or requests) or any particular task will be received, executed, or caused to be executed by the same server (i.e., the same software and / or hardware); it is intended to imply that any number of software elements or hardware devices may be involved in receiving / sending, executing, or causing to be executed any task or request, or the result of any task or request; and all such software and hardware may be one server or multiple servers, both of which are included within the expression "at least one server".

[0033] In the context of this invention, "electronic device" refers to any computer hardware capable of running software suitable for the relevant task at hand. In the context of this invention, the term "electronic device" implies that the device can be used as a server for other electronic devices; however, this is not necessarily the case for the purposes of this invention. Therefore, some (non-limiting) examples of electronic devices include autonomous driving units, personal computers (desktop computers, laptop computers, netbooks, etc.), smartphones and tablet computers, and network devices such as routers, switches, and gateways. It should be understood that the fact that a device is used as an electronic device in this context does not imply that it cannot be used as a server for other electronic devices.

[0034] In the context of this invention, the term "information" encompasses information of any nature or kind that can be stored in a database. Therefore, information includes, but is not limited to, visual works (e.g., maps), audiovisual works (e.g., images, films, sound recordings, presentations, etc.), data (e.g., location data, weather data, traffic data, digital data, etc.), text (e.g., opinions, comments, questions, messages, etc.), documents, spreadsheets, etc.

[0035] In the context of this invention, the terms “first,” “second,” “third,” etc., are used as adjectives only for the purpose of distinguishing the nouns they modify from one another, and not for the purpose of describing any particular relationship between those nouns. Furthermore, as discussed in other contexts herein, references to the “first” and “second” elements do not preclude the two elements from being the same actual real-world element.

[0036] Each embodiment of this utility model has at least one of the objectives and / or aspects mentioned above, but not necessarily all of them. It should be understood that some aspects of this utility model that have arisen in an attempt to achieve the objectives mentioned above may not satisfy these objectives and / or may satisfy other objectives not expressly cited herein.

[0037] Additional and / or alternative features, aspects and advantages of embodiments of the present invention will become apparent from the following description, drawings and appended claims. Attached Figure Description

[0038] These and other features, aspects, and advantages of the present invention will become better understood with reference to the following description, the appended claims, and the accompanying drawings, wherein:

[0039] Figure 1 A schematic diagram of an example computer system depicting certain embodiments of the system and / or method for implementing the present invention;

[0040] Figure 2 Depicts a networked computing environment for an autonomous vehicle including a LiDAR system according to an embodiment of the present invention;

[0041] Figure 3 Depicting the arrangement according to certain embodiments of the present invention in Figure 2 A perspective view of the cleaning unit on a LiDAR system.

[0042] Figure 4 Depicting certain embodiments of the present invention Figure 3 Methods for cleaning devices. Detailed Implementation

[0043] The examples and conditions cited herein are intended primarily to help readers understand the principles of this invention, and not to limit its scope to such explicitly cited examples and conditions. It should be understood that those skilled in the art can design various arrangements, which, although not explicitly described or shown herein, embody the principles of this invention and are included within its spirit and scope.

[0044] Furthermore, to aid understanding, the following description illustrates a relatively simplified embodiment of the present invention. As will be understood by those skilled in the art, various embodiments of the present invention may be more complex.

[0045] In some cases, examples believed to be helpful modifications to this invention may be described. This is done merely to aid understanding and, again, is not intended to define the scope or limit of this invention. These modifications are not an exhaustive list, and other modifications may be made by those skilled in the art while remaining within the scope of this invention. Furthermore, instances where modifications have not been described should not be construed as impossibility of modification and / or as the only way to implement the elements of this invention.

[0046] Furthermore, all statements herein that cite the principles, aspects, embodiments, and specific examples of the present invention are intended to cover both their structural and functional equivalents, whether currently known or developed in the future. Therefore, for example, those skilled in the art will understand that any block diagram herein represents a conceptual view of an illustrative circuit system embodying the principles of the present invention. Similarly, it should be understood that any flowchart, flow diagram, state transition diagram, pseudocode, etc., represents various processes that can be substantially represented in a computer-readable medium and thus executed by a computer or processor, whether or not such a computer or processor is explicitly shown.

[0047] The functionality of the various components shown in the diagram, including any functional blocks labeled "processor," can be provided using dedicated hardware and hardware capable of executing the software, associated with appropriate software. When provided by a processor, the functionality can be provided by a single dedicated processor, a single shared processor, or multiple individual processors, some of which may be shared. Furthermore, the explicit use of the terms "processor" or "controller" should not be construed as referring exclusively to hardware capable of executing software, and may implicitly include, but is not limited to, digital signal processor (DSP) hardware, network processors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), read-only memory (ROM), random access memory (RAM), and non-volatile storage devices for storing software. Other conventional and / or custom hardware may also be included.

[0048] A software module, or simply a module of software, may be referred to herein as a flowchart element or any combination of other elements that indicate the execution of process steps and / or textual descriptions. Such modules may be executed by hardware, whether explicitly or implicitly represented.

[0049] Having grasped these basic principles, we will now consider some non-limiting examples to illustrate various embodiments of aspects of this invention.

[0050] Computer System

[0051] According to some non-limiting embodiments, there is a computer system for controlling the flow of fluid within a cleaning device, such as, for example, a compressor, a duct valve, a rotor arm valve, and a Bourdon valve. The computer system can control one or more of at least one compressor, duct valve, rotor arm valve, and Bourdon valve according to one or more predetermined instructions.

[0052] First refer to Figure 1 The illustration depicts a computer system 100 suitable for use with some embodiments of the present invention. The computer system 100 includes various hardware components, including one or more single or multi-core processors (collectively referred to as processor 110), a solid-state drive 120, and a memory 130, which may be random access memory or any other type of memory.

[0053] Communication between the various components of computer system 100 can be achieved via one or more internal and / or external buses (not shown) (e.g., PCI bus, Universal Serial Bus, IEEE 1394 FireWire bus, SCSI bus, Serial ATA bus, etc.), with each hardware component electronically coupled to said bus. According to an embodiment of the present invention, solid-state drive 120 stores program instructions adapted to be loaded into memory 130 and executed by processor 110 to determine the presence of an object. For example, the program instructions may be part of a vehicle control application executable by processor 110. It should be noted that computer system 100 may have additional and / or optional components (not depicted), such as a network communication module, a positioning module, etc.

[0054] In some embodiments, computer system 100 may be implemented by any conventional personal computer, controller, and / or electronic device (e.g., server, controller unit, control device, monitoring device, etc.) and / or any combination thereof suitable for the relevant task at hand. In some other embodiments, computer system 100 may be an "off-the-shelf" general-purpose computer system. In some embodiments, computer system 100 may also be distributed across multiple systems. Computer system 100 may also be specifically designed for implementations of this invention. As will be appreciated by those skilled in the art, several variations on how computer system 100 may be conceived without departing from the scope of this invention.

[0055] Networked computing environment

[0056] refer to Figure 2The diagram depicts a networked computing environment 200 suitable for use with some non-limiting embodiments of the present invention. The networked computing environment 200 includes electronic devices 210 associated with a vehicle 220 and / or electronic devices 210 associated with a user (not depicted) (e.g., an operator of the vehicle 220) associated with the vehicle 220. The environment 200 also includes a server 235 communicating with the electronic devices 210 via a communication network 240 (e.g., the Internet, as will be described in more detail below).

[0057] In at least some non-limiting embodiments of this invention, electronic device 210 is communicatively coupled to the control system of vehicle 220. Electronic device 210 may be arranged and configured to control various operating systems of vehicle 220, including, but not limited to, ECU (engine control unit), steering system, braking system, and signaling and lighting systems (i.e., headlights, brake lights, and / or turn signals). In such embodiments, vehicle 220 may be an autonomous vehicle 220.

[0058] In some non-limiting embodiments of this invention, the networked computing environment 200 may include GPS satellites (not depicted) that transmit and / or receive GPS signals from the electronic device 210. It should be understood that this invention is not limited to GPS, and positioning technologies other than GPS may also be employed. It should be noted that GPS satellites may be omitted entirely.

[0059] The vehicle 220 associated with the electronic device 210 can be any means of transportation for leisure or other purposes, such as a private car or commercial vehicle, truck, motorcycle, etc. Although the vehicle 220 is depicted as a land vehicle, this may not be the case in every non-limiting embodiment of the present invention. For example, in some non-limiting embodiments of the present invention, the vehicle 220 may be a water vehicle, such as a boat, or an aircraft, such as a flying drone.

[0060] Vehicle 220 may be a user-operated or driverless vehicle. In some non-limiting embodiments of this invention, vehicle 220 may be implemented as an autonomous vehicle (SDC). It should be noted that the specific parameters of vehicle 220 are not limiting, and these specific parameters include, for example: vehicle manufacturer, vehicle model, vehicle year of manufacture, vehicle weight, vehicle dimensions, vehicle weight distribution, vehicle surface area, vehicle height, drivetrain type (e.g., 2x or 4x), tire type, braking system, fuel system, mileage, vehicle identification number, and engine size.

[0061] According to this utility model, the implementation of the electronic device 210 is not particularly limited. For example, the electronic device 210 can be implemented as a vehicle engine control unit, a vehicle CPU, or a vehicle navigation device (e.g., TomTom). TM GarminTM Electronic devices 210 may include tablet computers, personal computers built into vehicle 220, etc. Therefore, it should be noted that electronic device 210 may be permanently or non-permanently associated with vehicle 220. Furthermore or alternatively, electronic device 210 may be implemented in a wireless communication device (e.g., a mobile phone (e.g., a smartphone or cordless phone)). In some embodiments, electronic device 210 has a display 270.

[0062] Depending on the specific embodiment, electronic device 210 may include Figure 1 Some or all of the components of the computer system 100 depicted herein. In some embodiments, electronic device 210 is an in-vehicle computer device and includes a processor 110, a solid-state drive 120, and a memory 130. In other words, electronic device 210 includes hardware and / or software and / or firmware, or a combination thereof, for processing data, as will be described in more detail below.

[0063] In some non-limiting embodiments of this invention, the communication network 240 is the Internet. In alternative non-limiting embodiments of this invention, the communication network 240 may be implemented as any suitable local area network (LAN), wide area network (WAN), dedicated communication network, etc. It should be clearly understood that the embodiments of the communication network 240 are for illustrative purposes only. A communication link (not separately numbered) is provided between the electronic device 210 and the communication network 240, and its implementation will depend particularly on how the electronic device 210 is implemented. By way of example only and without limitation, in those non-limiting embodiments of this invention where the electronic device 210 is implemented as a wireless communication device (e.g., a smartphone or navigation device), the communication link may be implemented as a wireless communication link. Examples of wireless communication links may include, but are not limited to, 3G communication network links, 4G communication network links, etc. The communication network 240 may also use a wireless connection to the server 235.

[0064] In some embodiments of this utility model, server 235 is implemented as a computer server and may include Figure 1 Some or all of the components of computer system 100. In a non-limiting instance, server 235 is implemented to run Microsoft... TM Windows Server TM Dell operating system TM PowerEdge TM A server may be used, but it can also be implemented using any other suitable hardware, software, and / or firmware, or a combination thereof. In the non-limiting embodiment depicted in this invention, server 235 is a single server. In alternative non-limiting embodiments of this invention, the functionality of server 235 may be distributed and may be implemented via multiple servers (not shown).

[0065] In some non-limiting embodiments of this invention, the processor 110 of the electronic device 210 may communicate with the server 235 to receive one or more updates. Such updates may include, but are not limited to, software updates, map updates, route updates, weather updates, etc. In some non-limiting embodiments of this invention, the processor 110 may also be configured to transmit certain operational data to the server 235, such as travel routes, traffic data, performance data, etc. Some or all of this data transmitted between the vehicle 220 and the server 235 may be encrypted and / or anonymized.

[0066] It should be noted that various sensors and systems can be used by electronic device 210 to collect information about the surrounding environment 250 of vehicle 220. For example... Figure 2 As seen, vehicle 220 may be equipped with multiple sensor systems 280. It should be noted that different sensor systems from the multiple sensor systems 280 can be used to collect different types of data about the surrounding environment 250 of vehicle 220.

[0067] In one example, the multiple sensor systems 280 may include various optical systems, particularly one or more camera-type sensor systems mounted to the vehicle 220 and communicatively coupled to the processor 110 of the electronics 210. Broadly speaking, the one or more camera-type sensor systems may be configured to collect image data about various parts of the surrounding environment 250 of the vehicle 220. In some cases, the image data provided by the one or more camera-type sensor systems may be used by the electronics 210 to perform an object detection process. For example, the electronics 210 may be configured to feed the image data provided by the one or more camera-type sensor systems into an object detection neural network (ODNN) that has been trained to locate and classify potential objects in the surrounding environment 250 of the vehicle 220.

[0068] In another example, the multiple sensor systems 280 may include one or more radar-type sensor systems mounted to the vehicle 220 and communicatively coupled to the processor 110. Broadly speaking, the one or more radar-type sensor systems may be configured to use radio waves to collect data about various parts of the surrounding environment 250 of the vehicle 220. For example, the one or more radar-type sensor systems may be configured to collect radar data about potential objects in the surrounding environment 250 of the vehicle 220, such data potentially representing the distance of the object to the radar-type sensor system, the orientation of the object, the rate and / or velocity of the object, etc.

[0069] In another example, the multiple sensor systems 280 may include one or more optical detection and ranging (LIDAR) systems mounted to the vehicle 220 and communicatively coupled to the processor 110. Broadly speaking, the LIDAR systems are configured to capture data about the surrounding environment 250 of the vehicle 220, for example, to construct a multi-dimensional map of objects in the surrounding environment 250 of the vehicle 220. The LIDAR systems can be mounted or modified to the vehicle 220 in various locations and / or configurations to collect information about the surrounding environment 250 of the vehicle 220.

[0070] For example, depending on the implementation of the vehicle 220 and the LiDAR system, the LiDAR system may be mounted on the upper interior portion of the windshield of the vehicle 220. However, other locations for mounting the LiDAR system are also within the scope of this invention, including the rear window, side windows, front hood, roof, front grille, front bumper, or sides of the vehicle 220.

[0071] It should be noted that the LiDAR system can be combined with one or more camera systems and mounted in a housing on the top of the vehicle 220.

[0072] Cleaning device

[0073] First refer to Figure 3 According to certain non-limiting embodiments of the present invention, a perspective view is depicted of a cleaning device 10 for cleaning at least a portion of the surface of a LiDAR (e.g., those used in autonomous vehicles (SDCs)).

[0074] Such LiDAR systems may include, but are not limited to, a light source, a scanning unit, and a detection unit within a LiDAR housing. Typically, a beam of light emitted by the light source is reflected by the scanning unit and propagates into the surrounding environment. The beam reflected by objects in the surrounding environment travels back and is detected by the detection unit. As the light source emits a beam at a predetermined wavelength range, the detection unit then receives an input beam (reflected from surrounding objects) of the same wavelength range. Different types of detection principles can be used in LiDAR devices, including ToF LiDAR, FMCW LiDAR, etc. The LiDAR housing 12 may include one or more windows that allow the beam of light emitted by the light source and the input beam reflected from the surrounding environment to pass toward the detection unit.

[0075] Therefore, it will become apparent from the description provided below that the cleaning device 10 for the LiDAR can be configured to clean at least a portion of the LiDAR housing 12, for example, allowing light to pass through one or more of its windows. Thus, embodiments of the present invention can improve the efficiency of the LiDAR system by keeping one or more windows clean to allow unobstructed light passage. Furthermore, the cleaning device 10 can be configured to provide physical protection to the LiDAR system, details of which will be discussed further below.

[0076] refer to Figure 3 The cleaning device 10 is configured to be mounted on top of the LiDAR housing 12. The mounting method is unrestricted. The LiDAR housing 12 has a central axis and a surface to be cleaned.

[0077] According to certain non-limiting embodiments of the present invention, such as Figure 3 As depicted, the LiDAR housing 12 has a top plate and sidewalls. The sidewalls may contain at least one window through which a light beam is emitted and received. The shape of the opening window is not limited, and in various non-limiting embodiments of the present invention, it may be circular, rectangular, square, elliptical, etc. The LiDAR housing 12 provides protection for the LiDAR component housed therein. The shape of the LiDAR housing 12 is not limited, and in various non-limiting embodiments of the present invention, it may be cylindrical, circular, rectangular, square, elliptical, etc. The material of the LiDAR housing 12 is not limited, and may include, for example, plastic or metallic materials, such as galvanized or stainless steel.

[0078] According to a non-limiting embodiment of the present invention, a LiDAR component (e.g., one or more of a light source, a scanning unit, and a detection unit) may be housed within a LiDAR housing 12. A shock absorber may be placed between the LiDAR housing 12 and the LiDAR component to further protect the LiDAR component.

[0079] According to certain non-limiting embodiments of the present invention, such as Figure 3 As depicted, the cleaning device 10 includes a cleaning device housing 3. Those skilled in the art will understand that the shape of the cleaning device housing 3 is not limited, and in this context… Figure 3 In the diagram, the cleaning device housing 3 is schematically shown as transparent, and dashed lines are used to indicate other components that may be located inside, which would otherwise be invisible.

[0080] The cleaning device 10 is configured to deliver fluid to selected areas of the surface of the LiDAR housing 12 to be cleaned. The cleaning device 10 includes: a cleaning device housing 3 having a rotation axis 2 extending therethrough; a rotor arm 5 (also referred to herein as an "arm") configured to rotate about the rotation axis 2 of the cleaning device housing 3, the arm 5 being fluidly connected to a first fluid source (not shown) and having a fluid delivery end; and a Bourdon tube 9 fluidly connected to a second fluid source, the Bourdon tube 9 having a fixed end 14 and a distal end 16. The fixed end 14 of the Bourdon tube 9 is connected to the second fluid source, and the distal end 16 of the Bourdon tube is connected to a gear mechanism. The gear mechanism is configured such that adjustment of the fluid pressure in the Bourdon tube 9 selectively rotates the arm 5 about the rotation axis 2 via a bearing 4.

[0081] The gear mechanism includes an arm gear 8 connected to the proximal end of an arm 5 near the rotation axis 2 of the cleaning device housing 3, and a Bourdon tube gear 7 connected to the distal end 16 of a Bourdon tube 9. The arm gear 8 and the Bourdon tube gear 7 are arranged such that when fluid is supplied through the fixed end 14 of the Bourdon tube 9, the Bourdon tube 9 straightens (extends), causing the distal end 16 and thus the Bourdon tube gear 7, arm gear 8, and arm 5 to rotate.

[0082] According to certain non-limiting embodiments, such as Figure 3 and 4 As depicted, arm 5 extends radially from the rotation axis 2, and the fluid delivery end of arm 5 is disposed outside the cleaning device housing 3. The elongated axis of the arm (not shown) is perpendicular to the rotation axis 2 of the cleaning device housing 3.

[0083] Arm 5 further includes an arm cavity through which cleaning fluid flows. The arm is positioned below the bottom end of the cleaning device housing 3. Movement of arm 5 is controlled solely by adjusting the fluid pressure in the Bourdon tube 9.

[0084] Nozzle 6 is fluid-coupled to the delivery end of arm 5. Nozzle 6 is configured such that fluid flows out as a jet (“liquid jet”). Nozzle 6 is shaped and positioned such that the fluid is directed toward the surface to be cleaned. The angle of the nozzle can be adjusted based on the LiDAR surface to be cleaned.

[0085] According to some non-limiting embodiments, the nozzle 6 may include a jet diffuser. The purpose of the jet diffuser is to shape the liquid jet delivered by the nozzle. In the illustrated example, the jet diffuser has a "cat's eye" opening, allowing the liquid jet to have an elliptical profile. An air jet can also be delivered through the nozzle. In other embodiments of the invention, the liquid jet may be shaped by a diffuser with various openings, such that the liquid and / or air jets have other profiles. Other jet profiles may depend particularly on the specific implementation of the invention.

[0086] According to certain non-limiting embodiments, the first fluid source and the second fluid source may be the same reservoir containing the fluid or separate reservoirs. The reservoir may be housed within the cleaning device housing 3 or disposed outside the cleaning device housing 3. The cleaning device may additionally include one or more fluid conduits connecting the first or second fluid source to a fixed end 14 of the Bourdon tube 9, and a compressor or pump for regulating the pressure of the fluid flowing through it. One or more valves (e.g., at least one fluid source valve, at least one Bourdon tube valve, and at least one arm valve) may be provided for regulating or redirecting the fluid flow.

[0087] According to some non-limiting embodiments, the cleaning device 10 may include a support for supporting the cleaning device relative to the LiDAR housing 12.

[0088] The Bourdon tube 9 is configured to move due to pressure changes in the fluid flowing through it. The Bourdon tube 9 has a curved configuration and is configured to straighten (extend) as a fluid (e.g., a cleaning fluid) flows through it. The translational movement of the Bourdon tube 9 is then translated into rotational movement of the bearing 4 and the rotor arm 5 via the interaction between the Bourdon tube gear 7 and the arm gear 8. The rotor arm 5 is configured to rotate, wherein the rotation is triggered by the pressure of the fluid pumped into the Bourdon tube 9. The movement of the rotor arm 5 to a selected area of ​​the surface to be cleaned is controlled by adjusting the pressure of the fluid in the Bourdon tube 9.

[0089] Therefore, the processor 110 of the computer system 100 can be configured to enable the cleaning device 10 to operate and clean the surface to be cleaned.

[0090] Cleaning methods

[0091] refer to Figure 4 Provide at least a portion for cleaning the LiDAR housing 12, for example Figure 3 The method 1000 shown herein is for cleaning a surface. Method 1000 can be generated by a processor of a computer system, such as... Figure 1 The computer system 100 is executed by a processor 110, and the computer system 100 is communicatively coupled to the cleaning device. In a broad sense, the cleaning cycle executed by the cleaning device 10 comprises two main parts: (i) positioning the fluid delivery end of the arm of the cleaning device 10 at a desired location, and (ii) delivering fluid from the cleaning device 10 to the surface to be cleaned.

[0092] In the first step 1001, the computer system 100 first receives data indicating the level of contamination at a given location on the surface of the LiDAR housing. The given location may contain a window of the sensor.

[0093] In step 1002, if it is determined that the contamination level is higher than a predetermined level, then the computer system 100 determines whether the nozzle of the cleaning device needs to be repositioned relative to a given position.

[0094] In step 1003, the computer system 100 causes the fluid flow to be adjusted to reposition the nozzle. Fluid flow adjustment may include adjusting the fluid pressure and / or adjusting one or more valves (e.g., Bourdon tube valves). Increasing the fluid pressure straightens the Bourdon tube 9, and this movement of the Bourdon tube 9 is then converted into rotational movement of the rotor arm 5 via a gear mechanism.

[0095] At step 1004, the computer system 100 directs fluid flow through the nozzle 6 of the cleaning device 10 to clean the LiDAR housing 12. This may include adjusting one or more valves to block further fluid flow to the Bourdon tube 9 so as not to affect the positioning of the arm 5.

[0096] The fluid flows through the cavity in arm 5 to nozzle 6, and is then sprayed under pressure onto the surface to be cleaned.

[0097] Advantageously, by adjusting the pressure of the fluid in the Bourdon tube 9, the fluid can be delivered to specific locations on the LiDAR housing that require cleaning (i.e., the most heavily contaminated areas), which is efficient in terms of the amount of fluid required to clean the LiDAR housing 12.

[0098] Method 1000 may further include a calibration step, wherein the pressure of the fluid supplied to the Bourdon tube 9 is mapped to the rotation of the arm, and thus the position of the nozzle 6. The pressure-position correlation may be stored in a database, and method 1000 may include retrieving the correlation to determine the desired fluid pressure, for example, in step 1003. Pressure-surface area calibration may be continuous or discrete, depending on the accuracy required for cleaning the surface.

[0099] In some embodiments, the implementation of this invention will significantly improve reliability, reduce the number of necessary components, simplify design and manufacturing techniques, and allow the surface of the LiDAR housing 12 to be cleaned without the use of an electric motor.

[0100] Modifications and improvements to the embodiments described above will become apparent to those skilled in the art. The foregoing description is intended to be illustrative and not restrictive. Therefore, the scope of this invention is intended to be limited only by the scope of the appended claims.

[0101] Although the embodiments described above have been described and illustrated with reference to specific steps performed in a particular order, it should be understood that some of these steps may be combined, subdivided, or rearranged without departing from the teachings of this invention. Therefore, the order and grouping of steps are not a limitation of this invention.

Claims

1. A cleaning apparatus for delivering fluid to a selected area of ​​a LiDAR housing surface, characterized in that... The cleaning device includes: The cleaning device housing has a rotating axis extending through it; An arm configured to rotate about the axis of rotation of the housing of the cleaning device. The arm is fluidly connected to a first fluid source and has a fluid delivery end having an opening for delivering fluid therethrough; A Bourdon tube, which can be fluidly connected to a second fluid source and has a fixed end and a distal end. The fixed end is connected to the second fluid source, and The distal end is connected to a gear mechanism for converting the movement of the distal end of the Bourdon tube into rotational movement of the arm about the axis of rotation. Adjusting the fluid pressure in the Bourdon tube causes the arm to rotate around the axis of rotation.

2. The cleaning device according to claim 1, characterized in that... The cleaning device further includes a shaft at the axis of rotation, and the proximal end of the arm is connected to the shaft via a bearing.

3. The cleaning device according to claim 2, characterized in that... The gear mechanism includes a meshable gear assembly between the distal end of the Bourdon tube and the proximal end of the arm.

4. The cleaning device according to claim 1 or claim 3, characterized in that... The cleaning device further includes a nozzle at the fluid delivery end of the arm.

5. The cleaning device according to claim 4, characterized in that... The angle of the nozzle relative to the arm is adjustable.

6. The cleaning device according to any one of claims 1 to 3, characterized in that... The slender axis of the arm is perpendicular to the axis of rotation of the housing of the cleaning device.

7. The cleaning apparatus according to any one of claims 1 to 3, characterized in that... The arm extends radially from the axis of rotation, and the fluid delivery end of the arm is located outside the housing of the cleaning device.

8. The cleaning device according to any one of claims 1 to 3, characterized in that... The arm is positioned below the bottom of the housing of the cleaning device.

9. The cleaning device according to any one of claims 1 to 3, characterized in that... The movement of the arm is controlled solely by adjusting the fluid pressure in the Bourdon tube.

10. The cleaning device according to any one of claims 1 to 3, characterized in that... The cleaning device further includes a support for supporting the cleaning device relative to the LiDAR housing.

11. The cleaning device according to any one of claims 1 to 3, characterized in that... The first fluid source and the second fluid source are the same fluid source.

12. The cleaning device according to any one of claims 1 to 3, characterized in that... The cleaning device further includes the first fluid source and / or the second fluid source.

13. The cleaning device according to claim 12, characterized in that... The first fluid source and the second fluid source each include a single reservoir, and the cleaning device further includes one or more of at least one reservoir valve, at least one Bourdon valve, and at least one arm valve to control the fluid flow.

14. The cleaning device according to any one of claims 1 to 3, characterized in that... The cleaning device further includes a compressor for pressurizing the fluid.

15. A LiDAR having a LiDAR housing and comprising a cleaning device according to any one of claims 1 to 14, characterized in that... The cleaning device is positioned relative to the LiDAR housing, enabling it to deliver fluid to the surface of the LiDAR housing.

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