An environmental interaction device

Abstract

The utility model provides a kind of environment interactive equipment, applied to intelligent mine card, environment interactive equipment includes: at least two Jetson Orin Nano module;Sensor cluster, sensor cluster includes panoramic camera, binocular GMSL camera, laser radar and millimeter wave radar, sensor cluster carries out data communication with Jetson Orin Nano module by ethernet;Environment adaptation equipment, including wiper, water spraying device and electric heating sheet, environment adaptation equipment is connected with Jetson Orin Nano module by GPIO interface, Jetson Orin Nano module controls environment adaptation equipment by control GPIO interface;Communication module is used to realize the communication and data transmission of intelligent mine card and remote server;Power management unit is used to provide stable power supply for environment interactive equipment.The utility model at least solves the problem that the environment perception ability of mine card in complex environment is insufficient, the sensor is affected by pollutants and the like to cause the decline of perception ability.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent mining equipment technology, specifically, it relates to an environmental interaction device. Background Technology

[0002] Smart mining is a rapidly developing high-tech field in recent years. Mining trucks, as crucial transportation tools in mines (typically heavy-duty vehicles with high load-bearing capacity), directly impact the safety and efficiency of mining operations with their level of intelligence. However, traditional mining trucks face numerous challenges in the complex and ever-changing environment of mining areas, particularly in environmental perception, data processing, and decision-making response. The uncertainties of the mining environment, such as extreme weather, complex terrain, and dynamically changing working conditions, demand that mining trucks possess a high degree of environmental adaptability and intelligent processing capabilities.

[0003] In existing technologies, mining trucks typically rely on simple sensors and limited computing power, which restricts their perception and decision-making capabilities in complex environments. Furthermore, existing mining truck systems often lack effective environmental adaptability; for example, in harsh weather conditions, sensors are easily covered by dirt or frozen, obstructing their field of view and thus affecting the truck's environmental perception and safety. Especially in complex terrain and extreme weather conditions, traditional mining trucks are inefficient and prone to safety hazards.

[0004] To address these issues, existing technologies urgently require a system that can adapt to harsh environments and possess efficient perception and intelligent decision-making capabilities. Utility Model Content

[0005] This application provides an environmental interaction device for use in smart mining trucks, which at least solves the problems of insufficient environmental perception capability of mining trucks in complex environments and the decline in perception capability of sensors due to the influence of pollutants.

[0006] The environmental interaction device provided in this application is applied to smart mining trucks, and the environmental interaction device includes: At least two Jetson Orin Nano modules; The sensor cluster includes a panoramic camera, a binocular GMSL camera, a lidar, and a millimeter-wave radar. The sensor cluster communicates with the Jetson Orin Nano module via Ethernet. The environmental adaptation device includes a windshield wiper, a water spray device, and a heating element. The environmental adaptation device is connected to the Jetson Orin Nano module via a GPIO interface. The Jetson Orin Nano module controls the environmental adaptation device through the control GPIO interface. The communication module is used to enable communication and data transmission between the smart mining card and the remote server; The power management unit is used to provide a stable power supply for environmental interaction devices.

[0007] In one embodiment, the sensor cluster also includes one or more infrared sensors used to enhance the mining truck's environmental awareness in low-light or nighttime conditions.

[0008] In one embodiment, the environmental adaptation device includes multiple heating elements, each of which is disposed around the viewing windows of the panoramic camera, the binocular GMSL camera, the lidar, and the millimeter-wave radar.

[0009] In one embodiment, the water spraying device further includes an adjustable nozzle with different spray patterns for selecting an appropriate spray pattern based on the different levels of dirt on the surface of the sensor cluster.

[0010] In one embodiment, the communication module includes a V2X communication module for enabling real-time collaboration and data sharing with other devices.

[0011] In one embodiment, the power management unit has multiple output ports, providing independent power supply and battery power monitoring for different modules.

[0012] In one embodiment, the Jetson Orin Nano module is connected to at least one SSD solid-state storage module via an M.2 interface for storing data and processing results of the sensor cluster.

[0013] In one embodiment, the lidar and millimeter-wave radar in the sensor cluster are configured for bidirectional scanning.

[0014] In one embodiment, the windshield wiper of the environmental adaptation device includes at least two different sets of brush blades, each set of brush blades being used for cleaning different sensors, and the working intensity can be automatically adjusted according to the sensor type.

[0015] In one embodiment, the panoramic camera and the binocular GMSL camera in the sensor cluster are configured for dynamic autofocus, enabling them to automatically adjust the focal length according to different environmental conditions.

[0016] This application addresses several key challenges faced by traditional mining trucks in complex mining environments by establishing and integrating an intelligent mining truck environmental interaction system. Firstly, by integrating a high-performance Jetson Orin Nano module and multiple sensors (such as a panoramic camera, a binocular GMSL camera, LiDAR, and millimeter-wave radar), this application solves the problem of insufficient environmental perception capabilities in complex terrain and environmental conditions. The system provides 360-degree omnidirectional environmental perception and processes data from various sensors in real time through powerful computing capabilities, thereby ensuring that the mining truck can efficiently perceive obstacles, terrain changes, and environmental conditions in dynamically changing mining environments.

[0017] Secondly, this application addresses the problem of sensor malfunction caused by dirt obstructing the sensor surface under harsh weather conditions such as rain, snow, frost, and dust by incorporating environmental adaptation devices such as windshield wipers, a water spray system, and a heating element. The windshield wipers automatically remove rainwater, snow, and dirt from the sensor window; the water spray system provides appropriate cleaning solutions for different types of dirt; and the heating element effectively prevents the sensor from freezing or icing in low-temperature environments, ensuring that the sensor can still function normally in extreme weather conditions.

[0018] Furthermore, this application addresses the issue of insufficient sensing capabilities of mining trucks in low-light or nighttime conditions by introducing an infrared sensor. The infrared sensor enhances the sensing capabilities of mining trucks in low-light environments, ensuring that they can accurately identify their surroundings even in darkness or low light, thus resolving safety hazards caused by insufficient sensing capabilities during nighttime operations.

[0019] Regarding the collaboration between mining trucks and other equipment, this application solves the problem of lack of real-time collaboration and data sharing between mining trucks and other construction machinery (such as excavators and bulldozers) by integrating a V2X communication module. The application of V2X technology enables mining trucks to communicate and exchange data with other equipment in real time, improving the efficiency of collaborative operations between equipment in the mining area, and reducing conflicts and safety risks between equipment in complex operating environments.

[0020] This application also solves the problems of unstable power supply and insufficient battery power in mining trucks during long-term operation through an innovative design of the power management unit. The power management unit provides stable power to various modules in the system through multiple independent output ports, avoiding power interference and chaotic battery management. At the same time, it also has a battery power monitoring function to track the battery status in real time, ensuring the stability of the equipment during long-term operation.

[0021] Furthermore, this application addresses the issue of insufficient storage capacity and read speed in mining cards when processing large amounts of sensor data by integrating an M.2 interface and an SSD solid-state storage module into the Jetson Orin Nano module. The SSD solid-state storage module not only provides large-capacity storage but also significantly improves data storage and read speeds, ensuring the system can promptly process and respond to environmental changes.

[0022] Finally, this application addresses the problem of incomplete environmental perception of mining trucks in complex environments by employing a bidirectional scanning lidar and millimeter-wave radar design. Through bidirectional scanning, the system can simultaneously acquire environmental data from both the front and rear, effectively avoiding blind spots and thus improving the safety and stability of mining trucks in dynamically changing environments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A modular schematic diagram of the environmental interaction device for the smart mining card provided in this application.

[0025] Figure 2 This is a schematic diagram showing the positional relationship of the sensor cluster in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] To address the problems existing in the background technology, this application provides an environmental interaction device for use in smart mining trucks. The environmental interaction device includes: At least two Jetson Orin Nano modules; Sensor clusters, such as Figure 2 As shown, the sensor cluster includes a panoramic camera, a binocular GMSL camera, a lidar, and a millimeter-wave radar. The sensor cluster communicates with the Jetson Orin Nano module via Ethernet. The environmental adaptation device includes a windshield wiper, a water spray device, and a heating element. The environmental adaptation device is connected to the Jetson Orin Nano module via a GPIO interface. The Jetson Orin Nano module controls the environmental adaptation device through the control GPIO interface. The communication module is used to enable communication and data transmission between the smart mining card and the remote server; The power management unit is used to provide a stable power supply for environmental interaction devices.

[0028] By employing two Jetson Orin Nano modules to provide powerful computing capabilities, data from multiple sensors can be processed simultaneously, ensuring real-time perception and intelligent decision-making regarding the mining truck's surrounding environment. Each sensor connects to the Jetson Orin Nano module via Ethernet, enabling efficient data transmission and processing. Environmentally adaptable design ensures the sensors function normally in harsh weather conditions, improving system stability and reliability.

[0029] In one specific embodiment, such as Figure 1 As shown, the central controller of the intelligent mining truck's environmental interaction system consists of two Jetson Orin Nano modules. The two Jetson Orin Nano modules communicate via Ethernet. The Jetson Orin Nano provides up to 40 TOPS of AI performance, which is 80 times that of the NVIDIA Jetson Nano. TOPS is an abbreviation for Tera Operations Per Second, where 1 TOPS means that the processor can perform one trillion (10^12) operations per second. Setting up two Jetson Orin Nano modules can provide powerful computing power for the intelligent mining truck's environmental interaction system, providing strong computing power support for configuring more sensors.

[0030] Specifically, the two Jetson Orin Nano modules are configured with five camera interfaces via the MAX9296A. Figure 1The HS_CSI0_CLK_P / N, HS_CSI0_D0_P / N, and HS_CSI0_D1_P / N in the MAX9296A form the MIPI CSI interface. One end of the MAX9296A connects to the MIPI CSI interface of the Jetson Orin Nano, and the other end connects to the camera. In other words, the MAX9296A converts the GMSL signal to a MIPI CSI-2 signal, and then connects to the Jetson Orin Nano through the MIPI CSI-2 interface, thus realizing the conversion from GMSL signal to MIPI CSI-2 signal. The five cameras are a panoramic camera, a binocular GMSL camera 1, a binocular GMSL camera 2, a binocular GMSL camera 3, and a binocular GMSL camera 4. The panoramic camera is positioned on the top of the mining card, binocular GMSL camera 1 is positioned at the front of the mining card, binocular GMSL camera 2 is positioned at the rear of the mining card, binocular GMSL camera 3 is positioned on the left side of the mining card, and binocular GMSL camera 4 is positioned on the right side of the mining card.

[0031] Specifically, the two Jetson Orin Nano modules are configured with five LiDAR interfaces via a USB 3.2 interface. Figure 1 The USB2_DP / DN and UPHY1_RX / TX ports form a USB 3.2 interface. The five lidar sensors are connected to the Jetson Orin Nano module's USB 3.2 interface via Ethernet adapters. The five lidar sensors are a 360° lidar, a front lidar, a rear lidar, a left lidar, and a right lidar. The 360° LiDAR is positioned on the top of the mining truck, specifically directly above the panoramic camera, sharing the same central rotation axis as the panoramic camera. The front LiDAR is positioned at the front of the mining truck, specifically directly above the binocular GMSL camera 1, sharing the same central rotation axis as the binocular GMSL camera 1. The rear LiDAR is positioned at the rear of the mining truck, specifically directly above the binocular GMSL camera 2, sharing the same central rotation axis as the binocular GMSL camera 2. The left LiDAR is positioned on the left side of the mining truck, specifically directly above the binocular GMSL camera 3, sharing the same central rotation axis as the binocular GMSL camera 3. The right LiDAR is positioned on the right side of the mining truck, specifically directly above the binocular GMSL camera 4, sharing the same central rotation axis as the binocular GMSL camera 4.

[0032] In another specific embodiment, the Jetson Orin Nano module also includes a CAN interface, specifically... Figure 1The system includes CAN0 and CAN1 interfaces, which can interact with peripheral devices with CAN interfaces via a CAN transceiver (e.g., NCA1051). The system comprises four millimeter-wave radars, two connected to Jetson Orin Nano module 1 and the other two connected to Jetson Orin Nano module 2. Millimeter-wave radar 1 is positioned at the front left of the mining truck, millimeter-wave radar 2 at the front right, millimeter-wave radar 3 at the rear left, and millimeter-wave radar 4 at the rear right.

[0033] The M.2 Key M interface of the Jetson Orin Nano module is indeed composed of four UPHY0_RX / TX channels, specifically PCIE0_RX0_N / P, PCIE0_RX1_N / P, PCIE0_RX2_N / P, PCIE0_RX3_N / P, PCIE0_TX0_N / P, PCIE0_TX1_N / P, PCIE0_TX2_N / P, and PCIE0_TX3_N / P. This allows for the expansion of the module's data storage capacity and speed by installing an M.2 Key M interface SSD solid-state storage module.

[0034] The environmental interaction device is equipped with two GPS antennas (CSX601A), which are connected to the Jetson Orin Nano module via UART interfaces. The purpose of setting up two GPS antennas is to activate GPS2 when GPS1 fails, thus ensuring the positioning function of the environmental interaction device.

[0035] In one embodiment, the sensor cluster also includes one or more infrared sensors used to enhance the mining truck's environmental awareness in low-light or nighttime conditions.

[0036] This application adds an infrared sensor, enabling mining trucks to maintain efficient environmental perception capabilities even in low light or nighttime conditions. This solves the problem of environmental perception failure when there is insufficient light, ensuring the safety and stability of nighttime operations.

[0037] In one embodiment, the environmental adaptation device includes multiple heating elements, each of which is disposed around the viewing windows of the panoramic camera, the binocular GMSL camera, the lidar, and the millimeter-wave radar.

[0038] In one specific embodiment, a heating element is provided for each camera, LiDAR, and millimeter-wave radar. The heating element is connected to the Jetson Orin Nano module 1 via a GPIO interface. The Jetson Orin Nano module 1 controls the heating element to turn on and off via the GPIO interface. Since the mining environment can be extremely harsh, with winter temperatures reaching as low as -45°C, the heating element can provide necessary temperature control for these sensors, ensuring that they do not freeze or overheat under extreme temperatures, thereby maintaining normal operation.

[0039] In one embodiment, the water spraying device further includes an adjustable nozzle with different spray patterns for selecting an appropriate spray pattern based on the different levels of dirt on the surface of the sensor cluster.

[0040] In one specific embodiment, a water spray device is provided for each camera, LiDAR, and millimeter-wave radar. The water spray device includes a nozzle structure and a nozzle moving mechanism. The nozzle structure is mounted on the nozzle moving mechanism, which moves the nozzle structure along with it. The nozzle structure is connected to the GPIO interface of the Jetson Orin Nano module 2, which controls the opening and closing of the nozzle structure via the GPIO interface. The nozzle moving mechanism is connected to the GPIO interface of the Jetson Orin Nano module 2 via a drive motor and a motor driver board. When dirt that cannot be removed by windshield wipers appears on the surfaces of the camera, LiDAR, and millimeter-wave radar, the water spray device can be activated, and then the windshield wipers can also be activated. The two work together to remove the dirt, further preventing dirt from obstructing the sensor's view.

[0041] In one embodiment, the communication module includes a V2X communication module for enabling real-time collaboration and data sharing with other devices.

[0042] This application integrates a V2X communication module to achieve real-time communication and data sharing between mining trucks and other engineering machinery (such as excavators and bulldozers), solving the problem that traditional mining trucks cannot cooperate efficiently with other equipment and improving the overall efficiency and safety of mining operations.

[0043] In one specific embodiment, such as Figure 1As shown, the USB1_DP / DN and UPHY6_RX / TX interfaces of the Jetson Orin Nano module constitute a USB 3.2 Type-A interface. The V2X communication board connects to the Jetson Orin Nano module through the USB 3.2 Type-A interface to achieve V2X communication. This system integrates V2X technology, enabling unmanned mining trucks to collaborate with other construction machinery such as excavators and bulldozers, improving operational efficiency.

[0044] In another specific embodiment, the communication module further includes a WiFi module, a ZigBee module, and a SIM card slot. The WiFi module connects to the Jetson Orin Nano module 2 via an M.2 Key E interface. The ZigBee module (AT2401C) connects to the Jetson Orin Nano module 2 via an I2C interface. The SIM card slot connects to the Jetson Orin Nano module 1 via an M.2 Key E interface. A SIM card can be inserted, enabling the Jetson Xavier module 1 to communicate with 3G, 4G, and 5G mobile networks. Open-pit mine unmanned vehicles typically have a large number of devices and sensors that need to communicate with each other and collect data. WiFi and ZigBee enable local communication and data transmission between devices, while mobile communication networks enable connections between devices and remote servers, allowing for remote monitoring and management of data.

[0045] In one embodiment, the power management unit has multiple output ports, providing independent power supply and battery power monitoring for different modules.

[0046] In one specific embodiment, such as Figure 1 As shown, USB1_DP / DN and USBSS0_RX / TX constitute a Type-C interface. The power management unit connects to the Jetson Orin Nano module 2 via the Type-C interface, thereby providing stable voltage to the various electronic components of the system. The power management unit of this application provides independent power supply for different modules and has a battery power monitoring function to solve the problem of insufficient power or improper battery management during long-term operation of the mining card, ensuring the stable operation of the system.

[0047] Furthermore, the environmental interaction device provided in this application also includes an HDMI display unit (display screen). The display screen is connected to the DisplayPort 1.2 interface provided by the Jetson Orin Nano module via a DisplayPort to HDMI adapter, thereby providing video display capability and outputting video signals to the outside world.

[0048] In one embodiment, the Jetson Orin Nano module is connected to at least one SSD solid-state storage module via an M.2 interface for storing data and processing results of the sensor cluster.

[0049] This application connects to an SSD solid-state storage module via an M.2 interface, which improves the speed of data storage and retrieval, solves the data storage bottleneck problem of traditional mining cards when processing large amounts of sensor data, and ensures real-time data processing capabilities.

[0050] In one embodiment, the lidar and millimeter-wave radar in the sensor cluster are configured for bidirectional scanning.

[0051] This application enhances the mining truck's perception of its surroundings by using a bidirectional scanning lidar and millimeter-wave radar design. It solves the problem of incomplete or unstable perception of mining trucks in complex terrain and dynamically changing environments, thereby improving the environmental adaptability and stability of mining trucks.

[0052] In one embodiment, the windshield wiper of the environmental adaptation device includes at least two different sets of brush blades, each set of brush blades being used for cleaning different sensors, and the working intensity can be automatically adjusted according to the sensor type.

[0053] In one specific embodiment, a windshield wiper is provided for each camera, LiDAR, and millimeter-wave radar. This wiper is connected sequentially to the GPIO interface of the Jetson Orin Nano module 1 via a wiper reciprocating drive motor and a wiper motor driver board. For autonomous vehicles, clean sensors and a clear field of vision are crucial for safety. The wipers can promptly clear rainwater, frost, snow, and dirt from the viewing windows of the cameras, LiDAR, and millimeter-wave radar, preventing these substances from obstructing the sensor's view and ensuring the accuracy and continuity of the monitoring process.

[0054] This application incorporates environmental adaptation devices such as windshield wipers, a water spray system, and heating elements to ensure the sensor remains clean under harsh weather conditions such as rain, snow, frost, and dust, preventing dirt from obstructing the sensor's field of view. These features solve the problem of reduced sensing capability in traditional mining trucks due to sensor contamination in adverse weather conditions.

[0055] It should be noted that this environmental interaction device requires multiple GPIO interfaces when configuring the wipers, heating element, and water spray device. This is because a Jetson Orin Nano module has 15 dedicated GPIO pins. In order to ensure the functionality of the system, a 40-pin expansion head is used to expand the GPIO interface of the Jetson Orin Nano module.

[0056] The system button unit is connected to the Jetson Orin Nano module 2. The system button unit provides a system reset button and a format button. Pressing the reset button resets the system, and pressing the format button restores the system to factory settings.

[0057] In one embodiment, the panoramic camera and the binocular GMSL camera in the sensor cluster are configured for dynamic autofocus, enabling them to automatically adjust the focal length according to different environmental conditions.

[0058] In summary, this application not only enhances the working ability of mining trucks in complex mining environments, but also effectively solves many technical problems faced by traditional mining trucks, thereby improving the intelligence level and operational efficiency of mining trucks.

[0059] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0060] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0061] The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion. For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed between each other can be indirect coupling or communication connection through some interface, device, or unit, and can be electrical, mechanical, or other forms.

[0062] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification.

[0063] In this specification, the illustrative expressions of the terms used do not necessarily refer to the same embodiments or examples. Furthermore, those skilled in the art can combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, without contradiction. The above descriptions are merely embodiments of this specification and are not intended to limit the embodiments of this specification. Various modifications and variations can be made to the embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of this specification should be included within the scope of the claims of the embodiments of this specification.

Claims

1. An environmental interaction device, characterized by, The environmental interaction device, applied to smart mining trucks, includes: At least two Jetson Orin Nano modules; The sensor cluster includes a panoramic camera, a binocular GMSL camera, a lidar, and a millimeter-wave radar. The sensor cluster communicates with the Jetson Orin Nano module via Ethernet. An environmental adaptation device includes a windshield wiper, a water spray device, and a heating element. The environmental adaptation device is connected to the Jetson Orin Nano module via a GPIO interface, and the Jetson Orin Nano module controls the environmental adaptation device via a control GPIO interface. A communication module is used to enable communication and data transmission between the smart mining card and the remote server; A power management unit is used to provide a stable power supply for the environmental interaction device.

2. The environmental interaction device of claim 1, wherein, The sensor cluster also includes one or more infrared sensors, which are used to enhance the mining truck's environmental perception capabilities in low-light or nighttime conditions.

3. The environmental interaction device of claim 1, wherein, The environmental adaptation device includes multiple heating elements, each of which is disposed around the viewing windows of the panoramic camera, the binocular GMSL camera, the lidar, and the millimeter-wave radar.

4. The environmental interaction device of claim 1, wherein, The water spraying device also includes an adjustable nozzle with different spray patterns, used to select the appropriate spray pattern according to the different levels of dirt on the surface of the sensor cluster.

5. The environmental interaction device of claim 1, wherein, The communication module includes a V2X communication module for enabling real-time collaboration and data sharing with other devices.

6. The environmental interaction device of claim 1, wherein, The power management unit has multiple output ports, providing independent power supply and battery power monitoring for different modules.

7. The environmental interaction device of claim 1, wherein, The Jetson Orin Nano module is connected to at least one SSD solid-state storage module via an M.2 interface for storing data and processing results of the sensor cluster.

8. The environmental interaction device of claim 1, wherein, The lidar and millimeter-wave radar in the sensor cluster are configured for bidirectional scanning.

9. The environmental interaction device of claim 1, wherein, The windshield wiper of the environmental adaptation device includes at least two different sets of brush blades, each set of brush blades is used for cleaning different sensors, and the working intensity can be automatically adjusted according to the sensor type.

10. The environmental interaction device of claim 1, wherein, The panoramic camera and the binocular GMSL camera in the sensor cluster are configured for dynamic autofocus, which can automatically adjust the focal length according to different environmental conditions.

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