A cleaning device and vehicle

Abstract

This application discloses a cleaning device and a vehicle for cleaning sensors installed on a vehicle, comprising: a cleaning module including a cleaning fluid storage device and at least one nozzle, the cleaning fluid storage device being adapted to deliver cleaning fluid to the nozzle, and the nozzle being adapted to spray the cleaning fluid onto the sensor; and a waste liquid treatment module for receiving and treating waste liquid generated by the cleaning module, the waste liquid treatment module being disposed in a first region and / or a second region, wherein the first region is located in the cleaning fluid spray path of the nozzle, and the second region is located below the sensor along the direction of gravity. This application aims to prevent waste liquid from flowing back into the sensor and the vehicle body, thereby improving vehicle driving safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and mainly to a cleaning device and a vehicle. Background Technology

[0002] Currently, the automotive industry's cleaning technologies for vehicle-mounted lenses (such as cameras and lidar) generally focus on the dirt removal stage, using methods such as high-pressure water spraying, brush wiping, or air-liquid mixed spraying to remove surface contaminants. However, a large amount of cleaning foam and cleaning waste liquid will flow onto the vehicle surface after cleaning the camera, causing local water accumulation on the vehicle surface. This not only affects the cleanliness of the appearance, but the long-term accumulation of cleaning waste liquid may also corrode the paint, leading to a significant increase in the risk of secondary pollution.

[0003] Moreover, after the water spraying or wiping action is completed, the waste liquid is easily splashed to the surrounding area of ​​the lens, such as the hood, A-pillar, and radar surface, under the action of gravity, airflow disturbance and vehicle motion inertia, or flows back to the lens surface through capillary action, forming water stains and dirt residue. This not only affects the appearance of the vehicle body, but may also contaminate other key sensors, such as lidar, causing their optical or electromagnetic signal transmission to fail, threatening the perception accuracy and safety of the autonomous driving system.

[0004] Therefore, there is an urgent need for a cleaning device and vehicle to systematically solve the problem of secondary pollution caused by existing cleaning technologies and improve the environmental adaptability and operational safety of vehicles. Summary of the Invention

[0005] One objective of this application is to eliminate the risk of secondary pollution from vehicles and to ensure driving safety and functional reliability.

[0006] Another purpose of this application is to improve vehicle cleanliness and keep the vehicle body clean.

[0007] To achieve the above objectives, the technical solution adopted in this application is: a cleaning device for cleaning sensors installed on a vehicle, comprising:

[0008] A cleaning module includes a cleaning fluid storage device and at least one nozzle, the cleaning fluid storage device being adapted to deliver cleaning fluid to the nozzle, and the nozzle being adapted to spray cleaning fluid onto the sensing device.

[0009] A waste liquid treatment module is used to receive and treat the waste liquid generated by the cleaning module. The waste liquid treatment module is disposed in a first region and / or a second region. The first region is located in the cleaning liquid spray path of the nozzle, so that the cleaning waste liquid sprayed along the spray path can be received and treated by the waste liquid treatment module disposed in the first region. The second region is located below the sensing device along the direction of gravity, so that the cleaning waste liquid flowing down along the direction of gravity can be received and treated by the waste liquid treatment module disposed in the second region. It is understood that the cleaning liquid spray path of the nozzle and the direction of gravity are the main paths through which the cleaning waste liquid flows. The waste liquid treatment modules are disposed in the first region and the second region to ensure that the cleaning waste liquid can be fully absorbed and treated by the waste liquid treatment modules.

[0010] As a preferred embodiment, the sensing device has a surface to be cleaned, which has a first centerline along the direction of the cleaning liquid spray path and a second centerline along the direction of gravity of the sensing device. When the waste liquid treatment module is set in the first region, the waste liquid treatment module is located on the extension line of the first centerline. When the waste liquid treatment module is set in the second region, the waste liquid treatment module is located on the extension line of the second centerline. Thus, the waste liquid treatment module can be accurately set in a position suitable for receiving cleaning waste liquid, so as to better receive and treat the cleaning waste liquid.

[0011] As a preferred embodiment, the waste liquid treatment module includes a flow guiding structure for collecting waste liquid generated during the cleaning of the sensing device. The flow guiding structure is a flow guiding channel, which is defined by a first channel wall away from the sensing device and a second channel wall close to the sensing device. The sensing device has a surface to be cleaned, and the height direction is defined as perpendicular to the surface to be cleaned. The height of the top of the second channel wall does not exceed the lowest point of the surface to be cleaned, so that the waste liquid on the surface to be cleaned is suitable for flowing into the flow guiding channel. Guided by the height difference between the cleaning surface and the second channel wall, the cleaning waste liquid is better diverted to the flow guiding channel.

[0012] As a preferred embodiment, the cleaning device is suitable for use on vehicles. The guide channel is located between the sensing device and the vehicle body. The guide channel is integrally or separately installed on the vehicle body and is used to collect waste liquid generated during the cleaning of the sensing device. It should be understood that when the guide channel and the vehicle body are designed as an integral unit, a seamless connection can be achieved, avoiding potential leakage points caused by separate installations. When the guide channel and the vehicle body are designed as separate units, damaged guide channels can be replaced independently without the need for complete disassembly of related components, significantly reducing maintenance costs and time.

[0013] As a preferred embodiment, the guide channel is connected to one end of the connecting pipe, and the other end of the connecting pipe is located at the bottom of the vehicle, so that the waste liquid can be discharged from the bottom of the vehicle through the connecting pipe.

[0014] As a preferred embodiment, a water pump is installed in the middle of the connecting pipe to accelerate the discharge of waste liquid outside the vehicle.

[0015] As a preferred embodiment, the height of the top of the first tank wall is higher than the height of the top of the second tank wall, so that the first tank wall can prevent the cleaning waste liquid that has flowed into the guide channel from overflowing back, thereby improving the cleaning waste liquid recovery rate.

[0016] As a preferred embodiment, at least a portion of the first tank wall extends at an angle away from the second tank wall from top to bottom to form a guide surface, so as to efficiently guide the cleaning waste liquid into the guide channel.

[0017] As a preferred embodiment, the first tank wall comprises a first section near the top and a second section near the bottom.

[0018] The first segment extends along the height direction, and the second segment forms the guide surface;

[0019] Alternatively, the first segment forms the guide surface, and the second segment extends along the height direction;

[0020] Alternatively, the first segment and the second segment together form the guide surface, so that the first channel wall can both prevent the cleaning waste liquid from flowing across the guide channel to the vehicle body and quickly guide the cleaning waste liquid into the guide channel.

[0021] As a preferred embodiment, the waste liquid treatment module further includes an adsorption device suitable for adsorbing waste liquid. The adsorption device is disposed within the flow guiding structure. It should be understood that the water absorption of the adsorption device can slow down the flow rate of the waste liquid, making the waste liquid more evenly distributed in the flow guiding structure, and avoiding scouring or clogging problems caused by excessive local flow rate.

[0022] Alternatively, the waste liquid treatment module may further include an atomizing device connected to the flow guide structure, used to blow the waste liquid in the flow guide structure away from the vehicle body; the atomizing device can prevent the adhesion of viscous substances such as fibers and grease in the waste liquid by continuously rinsing the inner wall of the flow guide structure with airflow, thereby reducing the risk of the waste liquid clogging the flow guide structure.

[0023] Alternatively, the waste liquid treatment module may further include a vibration device, which is disposed on the flow guiding structure and is used to atomize the waste liquid within the flow guiding structure to prevent the waste liquid from clogging the flow guiding structure;

[0024] Alternatively, the waste liquid treatment module may further include a heating device disposed on the flow guiding structure for evaporating the waste liquid within the flow guiding structure to prevent the waste liquid from clogging the flow guiding structure.

[0025] As a preferred embodiment, the waste liquid treatment module further includes an adsorption device suitable for adsorbing waste liquid, so as to extract the waste liquid to the bottom of the vehicle;

[0026] Alternatively, the waste liquid treatment module further includes a jetting device, which includes jetting nozzles disposed in the first area and / or the second area, for blowing the waste liquid flowing through the jetting nozzles away from the first area and / or the second area, so as to avoid waste liquid contaminating the vehicle body;

[0027] Alternatively, the waste liquid treatment module may further include a vibration device disposed in the first region and / or the second region, for atomizing the waste liquid flowing through the first region and / or the second region; to prevent viscous substances (such as sludge, fibers) in the waste liquid from adhering to the surface of the vehicle body or sensing device, thereby cleaning and quickly removing the waste liquid.

[0028] Alternatively, the waste liquid treatment module may further include a heating device, which is disposed in the first area and / or the second area, for evaporating the waste liquid flowing through the first area and / or the second area, thereby cleaning and quickly treating the waste liquid.

[0029] As a preferred embodiment, the adsorption device is configured as one or more of the following: water-absorbing sponge, multi-fiber cloth, degreased cotton, and porous metal. These materials all have strong water absorption properties, which can fully absorb and discharge waste liquid, preventing secondary pollution of the vehicle body.

[0030] As a preferred embodiment, the vibration device includes an ultrasonic vibration module, which is adapted to drive the vehicle body to vibrate at high frequency, so that the waste liquid is directly atomized.

[0031] As a preferred embodiment, the jetting device includes a jet pump, which is adapted to directly blow the waste liquid to the outside of the vehicle body.

[0032] As a preferred embodiment, the distance between the waste liquid treatment module and the sensing device along the direction of the first center line or the second center line is X, where 0mm≤X≤50mm, so that after the waste liquid is generated, it can be quickly transmitted to the waste liquid treatment module along the shortest path, greatly reducing the residence time of the waste liquid and avoiding residual waste liquid.

[0033] As a preferred embodiment, the maximum angle between the center of the nozzle along the first center line and the edge of the sensing device is θ1, and the maximum angle between the center of the nozzle along the first center line and the edge of the waste liquid treatment module is θ2, where θ2 ≥ θ1. This allows the waste liquid treatment module to surround the sensing device as comprehensively as possible, increasing the probability that the clean waste liquid will be confined within the receiving range of the waste liquid treatment module.

[0034] As a preferred embodiment, the length of the waste liquid treatment module along the circumference of the sensing device is L, and the circumference of the sensing device is D, where 0.2D≤L≤D, to ensure that the waste liquid treatment module can treat waste liquid within a certain range in a timely manner and avoid leakage of clean waste liquid.

[0035] As a preferred embodiment, the sensing device is adapted to perceive the vehicle's surrounding environment in an optical or acoustic manner.

[0036] As a preferred embodiment, the sensing device includes one or more of the following: vehicle-mounted camera, ultrasonic sensor, and lidar. That is, this application is applicable to a variety of sensing devices that require cleaning, and has a wide range of applications.

[0037] As a preferred embodiment, a vehicle includes a cleaning device as described above, which can prevent cleaning waste liquid from causing secondary pollution to the vehicle body or sensing devices, and maintain the cleanliness and appearance of the vehicle body.

[0038] As a preferred embodiment, the system also includes a visual recognition module and a control module. The visual recognition module is used to identify dirt on the sensing device and transmit a signal to the control module, which controls the opening and closing of the cleaning module. The vehicle also includes a manual operation module for manually controlling the opening and closing of the cleaning module. The visual recognition module enables intelligent cleaning of the sensing device, while the manual operation module allows cleaning of the sensing device according to individual needs, thus meeting the needs of vehicle cleaning of the sensing device in different scenarios.

[0039] Compared with the prior art, the beneficial effects of this application are as follows:

[0040] (1) This application prevents waste liquid from splashing or flowing back to the sensing device or key parts of the vehicle body by collecting and discharging it in real time, thereby ensuring the detection accuracy of the optical / electromagnetic sensing device in complex environments and reducing the false alarm rate and functional failure risk of the autonomous driving system.

[0041] (2) This application collects and discharges waste liquid in real time to prevent it from splashing or flowing back to the sensing device or key parts of the vehicle body, and cleans up the waste liquid in real time, which can keep the vehicle clean and improve the vehicle's cleanliness. Attached Figure Description

[0042] Figure 1 This is a cross-sectional schematic diagram of the installation location of the waste liquid module provided in one embodiment of this application.

[0043] Figure 2 This is a schematic diagram showing the dimensions between the sensing device and the waste liquid treatment module provided in one embodiment of this application.

[0044] Figure 3 This is a three-dimensional schematic diagram of a partial vehicle sensing device provided in an embodiment of this application.

[0045] Figure 4 This is a schematic diagram showing the angle between the nozzle and the sensing device and the waste liquid treatment module provided in one embodiment of this application.

[0046] Figure 5A This is a cross-sectional schematic diagram of a conventional flow guiding structure provided in an embodiment of this application.

[0047] Figure 5B This is a cross-sectional schematic diagram of an eaves-type flow guide structure provided in an embodiment of this application.

[0048] Figure 5C This is a cross-sectional schematic diagram of an inverted funnel-shaped flow guide structure provided in an embodiment of this application.

[0049] Figure 5D This is a cross-sectional schematic diagram of a raised platform-type flow guide structure provided in an embodiment of this application.

[0050] Figure 5E This is a cross-sectional schematic diagram of a stepped flow guide structure provided in an embodiment of this application.

[0051] Figure 6A This is a front view schematic diagram of a square flow guide structure provided in an embodiment of this application.

[0052] Figure 6B This is a front view schematic diagram of a sawtooth-shaped flow guide structure provided in an embodiment of this application.

[0053] Figure 6C This is a front view schematic diagram of a wave-shaped flow guide structure provided in an embodiment of this application.

[0054] Figure 6D This is a front view schematic diagram of an elongated flow guide structure provided in an embodiment of this application.

[0055] Figure 6E This is a front view schematic diagram of an annular flow guide structure provided in an embodiment of this application.

[0056] Figure 7 This is a front view schematic diagram of a partial vehicle sensing device provided in an embodiment of this application.

[0057] Figure 8 For this application Figure 7 A schematic diagram of the AA cross-section of the local vehicle sensing device provided in the document.

[0058] Figure 9 This is a front view schematic diagram of a partial vehicle lidar provided in an embodiment of this application.

[0059] Figure 10 This is a cross-sectional schematic diagram of a local vehicle lidar provided in an embodiment of this application.

[0060] Figure 11A This is a front view schematic diagram of an adsorption device provided in an embodiment of this application.

[0061] Figure 11B This is a front view schematic diagram of an adsorption device provided in another embodiment of this application.

[0062] Figure 12A This is a cross-sectional schematic diagram of a jet device provided in an embodiment of this application.

[0063] Figure 12B This is a cross-sectional schematic diagram of a jet device provided in another embodiment of this application.

[0064] Figure 13A This is a cross-sectional schematic diagram of a vibration device provided in an embodiment of this application.

[0065] Figure 13B This is a cross-sectional schematic diagram of a vibration device provided in another embodiment of this application.

[0066] Figure 14A This is a cross-sectional schematic diagram of a heating device provided in an embodiment of this application.

[0067] Figure 14B This is a cross-sectional schematic diagram of a heating device provided in another embodiment of this application.

[0068] Figure 15 This is a cross-sectional schematic diagram of a partial vehicle sensing device provided in an embodiment of this application.

[0069] Figure 16 This is a schematic diagram illustrating the principle of vehicle cleaning wastewater treatment according to an embodiment of this application.

[0070] Figure 17 This is a cross-sectional schematic diagram of a vehicle provided in one embodiment of this application.

[0071] In the diagram: 10. Vehicle; 11. Body; 111. First area; 112. Second area; 12. Sensing device; 121. Vehicle-mounted camera; 122. Ultrasonic sensor; 123. LiDAR; 1231. LiDAR housing; 124. Surface to be cleaned; 1241. First centerline; 1242. Second centerline; 13. Cleaning module; 131. Cleaning fluid storage device; 132. Nozzle; 14. Waste liquid treatment module; 141. Adsorption device; 1411. Water pump; 412. Inlet; 142. Flow guiding structure; 1421. First tank wall; 14211. First section; 14212. Second section; 1422. Second tank wall; 1423. Guide surface; 1424. Connecting pipe; 143. Jet device; 1431. Jet pump; 1432. Jet nozzle; 144. Vibration device; 1441. Vibration module; 145. Heating device; 1451. Heating module; 15. Vision recognition module; 16. Control module; 17. Manual operation module. Detailed Implementation

[0072] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0073] In the description of this application, it should be noted that the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., which indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of this application.

[0074] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0075] The terms “comprising” and “having”, and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0076] like Figure 1-17As shown, this application provides a cleaning device for cleaning a sensor 12 installed on a vehicle 10. The sensor 12 is adapted to sense the surrounding environment of the vehicle 10 optically or acoustically. The cleaning device includes a cleaning module 13 and a waste liquid treatment module 14. The cleaning module 13 includes a cleaning fluid storage device 131 and at least one nozzle 132. The cleaning fluid storage device 131 is adapted to deliver cleaning fluid to the nozzle 132, and the nozzle 132 is adapted to spray cleaning fluid onto the sensor 12 to clean the sensor 12. The waste liquid treatment module 14 is used to receive and treat the waste liquid generated by the cleaning module 13. The waste liquid treatment module 14 is disposed in a first region 111 and / or a second region 112, wherein the first region 111 is located in the cleaning fluid spray path of the nozzle 132; and the second region 112 is located below the sensor 12 along the direction of gravity.

[0077] Furthermore, such as Figure 1 As shown, the sensing device 12 has a surface 124 to be cleaned. The surface 124 has a first centerline 1241 along the direction of the cleaning liquid spray path and a second centerline 1242 along the direction of gravity of the sensing device 12 (the downward arrow on the left in the figure indicates the direction of gravity). When the waste liquid treatment module 14 is set in the first region 111, the waste liquid treatment module 14 is located on the extension line of the first centerline 1241. When the waste liquid treatment module 14 is set in the second region 112, the waste liquid treatment module 14 is located on the extension line of the second centerline 1242. It is worth mentioning that the one-way arrow pointing from the first centerline 1241 to the first region 111 in the figure refers to the spray path of the cleaning liquid sprayed by the nozzle 132 from the surface 124 to the first region 111; the one-way arrow pointing from the second centerline 1242 to the second region 112 refers to the spray path of the cleaning liquid sprayed by the nozzle 132 along the direction of gravity to the second region 112.

[0078] In some embodiments, such as Figures 3-15 As shown, when the direction of gravity of the sensing device 12 is consistent with the path of the cleaning liquid sprayed by the nozzle 132, the positions of the first region 111 and the second region 112 coincide, and the first center line 1241 and the second center line 1242 coincide. At this time, only one waste liquid treatment module 14 needs to be set on either the first center line 1241 or the second center line 1242.

[0079] In some embodiments, such as Figure 1As shown, along the direction of the first centerline 1241 or the second centerline 1242, the distance between the waste liquid treatment module 14 and the sensing device 12 is X, where 0mm ≤ X ≤ 50mm. It should be understood that when X is in a small range (even close to 0mm), the spatial distance between the waste liquid treatment module 14 and the sensing device 12 is extremely short. Therefore, after waste liquid is generated, it can be quickly transported to the waste liquid treatment module 14 via the shortest path, significantly reducing the residence time of the waste liquid, avoiding residual waste liquid, thereby maintaining the cleanliness of the environment surrounding the sensing device 12, and improving the accuracy, repeatability, and stability of the sensing data. Furthermore, when X is in a small range (even close to 0mm), the overall layout of the cleaning device is more compact, which can improve the integration and functional density of the cleaning device, promoting the development of cleaning devices towards "miniaturization, lightweighting, and multi-functionality."

[0080] In some embodiments, such as Figure 2 and Figure 3 As shown, the length of the waste liquid treatment module 14 along the circumference of the sensing device 12 is L, and the circumference of the sensing device 12 is D, where 0.2D≤L≤D. Here, L refers to the length of the innermost dotted line of the waste liquid treatment module 14, and D refers to the length of the outermost dotted line along the circumference of the sensing device 12. It should be understood that if L is less than 0.2D, the circumferential coverage length of the waste liquid treatment module 14 is too short, and it cannot effectively "intercept" or "treat" the waste liquid around the sensing device 12. Waste liquid is prone to remain and accumulate in uncovered areas, thus interfering with the detection accuracy of the sensing device 12 (e.g., liquid residue causing signal interference, corrosion of sensing elements, etc.). When L≥0.2D, the waste liquid treatment module 14 has basic circumferential coverage capability, and can promptly treat waste liquid within a certain range around the sensing device 12, avoiding malfunctions or accuracy degradation caused by long-term local waste liquid residue. Furthermore, the sensing device 12 has a ring structure (circumference D). If L>D, it is considered "over-coverage" (meaningless and a waste of space / cost). However, L≤D ensures that the waste liquid treatment module 14 can cover the entire circumferential area of ​​the sensing device 12, eliminating the "circumferential blind spot". That is, no matter where the waste liquid is generated in the circumference of the sensing device 12, it can be covered by the waste liquid treatment module 14, realizing "full circumferential waste liquid treatment". This prevents the waste liquid from spreading to other equipment components from the source and ensures the safe operation of the vehicle 10 as a whole.

[0081] In some embodiments, such as Figure 4As shown, the maximum angle between the center of nozzle 132 along the first centerline 1241 and the edge of sensor device 12 is θ1, and the maximum angle between the center of nozzle 132 along the first centerline 1241 and the edge of waste liquid treatment module 14 is θ2, where θ2 ≥ θ1. It can be understood that θ2 ≥ θ1 means that the height of waste liquid treatment module 14 is greater than the height of sensor device 12 extending outward from vehicle body 11. Therefore, waste liquid treatment module 14 can surround sensor device 12 as comprehensively as possible. By expanding the coverage angle of waste liquid treatment module 14 in the spray direction of nozzle 132, the cleaning waste liquid is more likely to be confined within the receiving range of waste liquid treatment module 14, reducing waste liquid leakage at the source. Furthermore, after the cleaning liquid impacts the surface of sensor device 12, it will splash in all directions. θ2 ≥ θ1 gives waste liquid treatment module 14 a greater "surrounding angle advantage," allowing it to directly intercept this splashed liquid and prevent it from escaping to other components inside the device (such as circuit areas and transmission structures) or the external environment.

[0082] In some embodiments, the nozzle 132 and the waste liquid treatment module 14 are arranged opposite each other on both sides of the surface 124 to be cleaned along the first centerline 1241. It is understood that the nozzle 132 and the waste liquid treatment module 14 are collinear along the surface 124, making the cleaning liquid spray direction and the waste liquid recovery path a straight line, reducing fluid resistance and improving spray and waste liquid recovery efficiency. For example, after the cleaning liquid is sprayed from the nozzle 132, it directly covers the surface of the sensing device 12 along the first centerline 1241, and the waste liquid treatment module 14 simultaneously extracts the residual liquid, avoiding secondary pollution caused by lateral flow. Furthermore, the symmetrical distribution of the waste liquid treatment module 14 and the nozzle 132 ensures that the cleaning liquid completely covers and effectively cleans the surface 124, preventing the cleaning liquid from being disposed of by the waste liquid treatment module 14 before the surface 124 is fully cleaned.

[0083] In some embodiments, the waste liquid treatment module 14 includes a flow guiding structure 142 located between the sensing device 12 and the vehicle body 11. The flow guiding structure 142 is integrally or separately disposed on the vehicle body 11 and is used to collect the waste liquid generated from cleaning the sensing device 12. When the flow guiding structure 142 and the vehicle body are designed as an integral unit, a seamless connection can be achieved, avoiding potential leakage points caused by separate installation. When the flow guiding structure 142 and the vehicle body are designed as separate units, the damaged flow guiding structure 142 can be replaced independently without the need to disassemble the entire related components, significantly reducing maintenance costs and time.

[0084] In some embodiments, the flow guiding structure 142 is a flow guiding channel, defined by a first channel wall 1421 away from the sensing device 12 and a second channel wall 1422 near the sensing device 12. The sensing device 12 has a surface 124 to be cleaned, and the height direction is defined as a direction perpendicular to the surface 124 to be cleaned. Figure 5AAs shown, the height of the top of the second tank wall 1422 does not exceed the lowest point of the surface 124 to be cleaned on the sensing device 12, so that the waste liquid on the surface 124 to be cleaned is suitable for flowing into the guide tank. It is understood that if the height of the second tank wall 1422 exceeds the lowest point of the surface 124 to be cleaned, the waste liquid may flow back along the second tank wall 1422 to the surface of the sensing device 12 due to gravity or airflow backflow, resulting in secondary pollution.

[0085] In some embodiments, the first channel wall 1421 and the second channel wall 1422 are disposed opposite to each other. The first channel wall 1421 is integrally or separately disposed on the vehicle body 11, and the second channel wall 1422 is integrally or separately disposed on the side of the sensing device 12 opposite to the first channel wall 1421, so as to form a guide structure 142 for quickly guiding the cleaning waste liquid to the outside of the vehicle body 11.

[0086] In some embodiments, the height of the top of the first tank wall 1421 is higher than the height of the top of the second tank wall 1422 to prevent the cleaning waste liquid that has flowed into the guide channel from flowing back out, thereby improving the cleaning waste liquid recovery rate. Moreover, the higher first tank wall 1421 can provide a certain degree of protection for the sensor device 12. On the one hand, if the vehicle 10 is in a dusty, humid, or cluttered environment, the backflowing dust, water droplets, particles, etc. will be intercepted by the first tank wall 1421, preventing them from directly adhering to or intruding into the sensor device 12, reducing the risk of pollution, corrosion, or mechanical damage, and extending the life of the sensor device 12. On the other hand, the height difference between the higher first tank wall 1421 and the second tank wall 1422 can constrain the flow range of the waste liquid, preventing the waste liquid from dispersing or overflowing into the guide channel and contaminating the vehicle body 11.

[0087] In some embodiments, at least a portion of the first tank wall 1421 extends from the top to the bottom in a direction away from the second tank wall 1422 to form a guide surface 1423. The guide surface 1423 can reduce the surface tension and frictional resistance when the waste liquid flows, so that the cleaning waste liquid can flow into the guide channel more quickly and then be discharged to the outside of the vehicle body 11.

[0088] In some embodiments, the first tank wall 1421 includes a first segment 14211 near the top and a second segment 14212 near the bottom. The first segment 14211 extends along the height direction, and the second segment 14212 forms a guide surface 1423. Alternatively, the first segment 14211 forms a guide surface 1423, and the second segment 14212 extends along the height direction. Or, the first segment 14211 and the second segment 14212 together form a guide surface 1423 to quickly guide the cleaning waste liquid into the guide tank and prevent the cleaning waste liquid that has already flowed into the guide tank from overflowing in reverse.

[0089] In some embodiments, such as Figure 5AAs shown, the flow guiding structure 142 is a flow guiding channel, which is disposed between the vehicle body 11 and the sensing device 12. The flow guiding channel is defined by a first channel wall 1421 away from the sensing device 12 and a second channel wall 1422 close to the sensing device 12. Specifically, the first channel wall 1421 is integrally disposed on the vehicle body 11, and the second channel wall 1422 is integrally disposed on the side of the sensing device 12 opposite to the first channel wall 1421. The height of the top of the first channel wall 1421 is higher than the height of the top of the second channel wall 1422. When dirt appears on the surface of the sensing device 12, the cleaning fluid storage device 131 is activated, and water is sprayed through the pipe and nozzle 132 onto the surface 124 of the sensing device 12 to be cleaned for cleaning. Due to the Coanda effect, the water will flow along the surface 124 to be cleaned to the position of the flow guiding channel, so that the waste liquid is guided to the bottom of the vehicle body 11 through the flow guiding structure 142 to prevent the cleaning waste liquid from secondary contaminating other parts of the vehicle 10.

[0090] In some embodiments, such as Figure 5B As shown, the flow guiding structure 142 is a flow guiding channel, which is disposed between the vehicle body 11 and the sensing device 12. The flow guiding channel protrudes outward from the vehicle body 11. Specifically, the first channel wall 1421 of the flow guiding channel is higher than the second channel wall 1422. The first channel wall 1421 includes a first section 14211 near the top and a second section 14212 near the bottom. The first section 14211 extends outward from the vehicle body 11 along the height direction and extends obliquely away from the second channel wall 1422 to form a guide surface 1423. The second section 14212 extends inward from the vehicle body 11 along the height direction. At this time, the entrance of the flow guiding channel is eaves-shaped. It can be understood that the guide surface 1423 formed by the outward extension of the flow guiding channel is higher than the surface of the vehicle body 11, which can further block the waste liquid from flowing to the vehicle body 11 and guide the waste liquid to flow more quickly to the flow guiding channel, thereby improving the efficiency of waste liquid removal and reducing the risk of secondary pollution of the vehicle body 11.

[0091] In some embodiments, such as Figure 5C As shown, the flow guiding structure 142 is a flow guiding channel, which is located between the vehicle body 11 and the sensing device 12. The first channel wall 1421 of the flow guiding channel is higher than the second channel wall 1422. At least a portion of the first channel wall 1421 extends from the top to the bottom away from the second channel wall 1422 to form a guide surface 1423. At this time, the inlet of the flow guiding channel is in the shape of an inverted funnel, which is narrow at the top and wide at the bottom. It can be understood that the narrow opening can concentrate the flow of waste liquid into the interior of the flow guiding channel, and use the "narrowing effect" to enhance the guidance of waste liquid and reduce the probability of fluid "escaping" to the vehicle body 11; the guide surface 1423 formed by the inwardly inclined extension can reduce the flow resistance of waste liquid, so that the waste liquid is quickly guided to the bottom of the vehicle body 11; the wide opening can accommodate more waste liquid, and even if more waste liquid flows in, it will not cause blockage. Moreover, the lower wide structure itself has stronger stability and is not easily deformed by fluid impact or vehicle vibration during long-term use, ensuring the continuity of the flow guiding function.

[0092] In some embodiments, such as Figure 5D As shown, the flow guiding structure 142 is a flow guiding channel, which is disposed between the vehicle body 11 and the sensing device 12. The first channel wall 1421 of the flow guiding channel is higher than the second channel wall 1422. The first channel wall 1421 includes a first section 14211 near the top and a second section 14212 near the bottom. The first section 14211 extends outward from the vehicle body 11 along the height direction, and the second section 14212 extends inward from the vehicle body 11 along the height direction and extends obliquely away from the second channel wall 1422 to form a guide surface 1423. At this time, the entrance of the flow guiding channel is in the shape of a platform. It can be understood that during the driving of the vehicle 10, if it encounters bumps or vibrations, the waste liquid may splash onto the vehicle body 11. The first channel wall 1421, as a "protruding barrier", can directly block the splashing of waste liquid, and the guide surface 1423 can guide the waste liquid to "flow downhill" into the flow guiding channel and be discharged, avoiding the waste liquid from remaining on the surface of the sensing device 12 and ensuring the stability of the sensing system operation.

[0093] In some embodiments, such as Figure 5E As shown, the flow guiding structure 142 is a flow guiding channel, which is disposed between the vehicle body 11 and the sensing device 12. The first channel wall 1421 of the flow guiding channel is higher than the second channel wall 1422. The first channel wall 1421 includes a first section 14211 near the top and a second section 14212 near the bottom. The first section 14211 and the second section 14212 together form a guide surface 1423 that extends obliquely away from the second channel wall 1422. At this time, the entrance of the flow guiding channel is stepped. It can be understood that the area of ​​the guide surface 1423 extending towards the sensing device 12 is larger, which can not only prevent waste liquid from splashing onto the vehicle body 11, but also buffer the waste liquid, so that the waste liquid flows into the flow guiding channel more smoothly and reduces the possibility of waste liquid splashing everywhere.

[0094] In some embodiments, the flow guiding structure 142 may be configured as square, sawtooth, wave, strip, ring, etc., and this application does not specifically limit it.

[0095] In some embodiments, such as Figure 6A As shown, the flow guiding structure 142 is configured as a square flow guiding structure 142 that semi-encloses the sensing device 12. The guide surface 1423 inside the flow guiding structure 142 is square. The first groove wall 1421 of the flow guiding structure 142 is bent vertically towards both sides of the sensing device 12 and extends towards the periphery of the sensing device 12, increasing the area of ​​the flow guiding structure 142 surrounding the sensing device 12 and the area of ​​the guide surface 1423 that guides the flow of waste liquid. This allows it to receive and guide more waste liquid into the flow guiding structure 142, ensuring that all the cleaning waste liquid is guided to the bottom of the vehicle body 11.

[0096] In some embodiments, such as Figure 6B As shown, the guide surface 1423 inside the flow guiding structure 142 is set in a sawtooth shape. On the one hand, the sawtooth guide surface 1423 increases the contact interface area with the waste liquid through its concave-convex structure. The larger contact area can "hold" more waste liquid and provide a wider guiding path, avoiding waste liquid splashing due to insufficient flow guiding area, ensuring the continuity of waste liquid collection and flow guiding, and improving the overall flow guiding efficiency. On the other hand, the toothed undulating guide surface 1423 forms a "step-like" blocking effect on the flowing waste liquid: when the waste liquid flows along the guide surface 1423, the tooth peaks can reduce the liquid flow velocity and disperse the liquid flow impact force, reducing the probability of waste liquid overflowing the flow guiding structure 142 due to inertia, liquid surface fluctuations, and other factors. In addition, the shape of the sawtooth structure of the guide surface 1423 can buffer the direct impact of impurities (such as particles, fibers, etc.) in the waste liquid on the guide surface 1423 to a certain extent, reducing wear; at the same time, the gaps in the tooth shape can use the liquid flow impact to generate a disturbance effect, assisting in "self-cleaning" and reducing the probability of impurity accumulation. Even with long-term use, it can still maintain stable flow guiding performance, extend the service life of the flow guiding structure 142, and reduce maintenance costs.

[0097] In some embodiments, such as Figure 6C As shown, the guide surface 1423 of the flow guiding structure 142 is set in a wave shape, and the overall tank outline is composed of continuous alternating crests and troughs, forming a non-linear curved flow guiding channel. It can be understood that the troughs can temporarily accommodate short-term concentrated discharge of waste liquid, preventing the waste liquid from directly overflowing the flow guiding structure 142 due to inertia / gravity. The wave-shaped, fully curved tank significantly increases the contact area with the waste liquid, using liquid surface tension to "lock" in the waste liquid, thereby reducing pollution or corrosion of the vehicle body 11 caused by splashing and spilling. The crests act as "flow ridges," strengthening the traction force of the waste liquid along the preset direction; the troughs act as "flow channels," providing a stable flow path for the waste liquid. The combination of these two elements reduces energy loss during long-distance flow of the waste liquid.

[0098] In some embodiments, such as Figure 6D As shown, the flow guiding structure 142 is elongated, meaning the first tank wall 1421 and the guide surface 1423 are both elongated. The waste liquid flows continuously along the length of the tank, without any branching or diversion caused by dispersed flow. The waste liquid flows rapidly along the long tank, significantly reducing the probability of blockage and completely avoiding dead zones. Furthermore, the elongated flow guiding structure 142 eliminates the need to develop high-cost molds for complex curved surfaces and multi-dimensional linkages during manufacturing, greatly reducing production costs and minimizing material waste.

[0099] In some embodiments, such as Figure 6EAs shown, the flow guiding structure 142 is annular. The first groove wall 1421 and the guide surface 1423 are arranged in a semi-enclosed or fully enclosed manner around the sensing device 12. The annular flow guiding structure 142, together with the groove wall on the periphery, can form a directional and orderly flow path for the waste liquid, allowing the fluid to flow through the sensing device 12 in a more stable and uniform state. Moreover, since the flow guiding structure 142 is annular, the guide surface 1423 does not need an additional complex shape to complete the guidance and reception of the waste liquid of the sensing device 12, simplifying the overall structure of the flow guiding structure 142.

[0100] In some embodiments, the flow guiding structure 142 is configured as follows: Figure 5B The inlet of the guide channel shown is eaves-shaped, extending beyond the vehicle body 11, and as... Figure 6E The first tank wall 1421 and guide surface 1423 shown are arranged in a ring around the sensor device 12 in a combined flow guiding structure 142. That is, the flow guiding structure 142 has both an eaves-shaped inlet and is partially surrounded by the sensor device 12 opposite to the nozzle 132, to ensure that the cleaning waste liquid can flow fully into the flow guiding structure 142. The distance between the flow guiding structure 142 and the sensor device 12 is X=0mm, the length of the flow guiding structure 142 along the circumference of the sensor device 12 is L=30.1mm, and the circumference of the sensor device 12 is D=53.4mm.

[0101] In some embodiments, the waste liquid treatment module 14 can also treat excess water and waste liquid sprayed from the nozzle 132 through various methods such as physical absorption, pump suction, jet spraying, evaporation, and ultrasonic vibration, to prevent a large amount of water from polluting the vehicle body 11 when the nozzle 132 sprays water, thereby increasing the overall aesthetics of the vehicle 10. For example, the waste liquid treatment module 14 includes one or more of an adsorption device 141, a jet spraying device 143, a vibration device 144, and a heating device 145; wherein, the adsorption device 141 is adapted to adsorb waste liquid, the jet spraying device 143 is adapted to blow the waste liquid away from the surface of the vehicle body 11 by airflow, the vibration device 144 is adapted to atomize the waste liquid by passing it through the part of the vehicle body 11 around the high-frequency vibration sensing device 12, and the heating device 145 is adapted to evaporate the waste liquid by passing it through the part of the vehicle body 11 around the heating sensing device 12.

[0102] In some embodiments, such as Figure 7 and Figure 8 As shown, the waste liquid treatment module 14 includes an adsorption device 141, which is configured as one or more of the following: absorbent sponge, multi-fiber fabric, degreased cotton, and porous metal. The porous metal, such as aluminum foam or nickel foam, is a porous, multi-fiber material, and this application does not specifically limit its use.

[0103] In some embodiments, such as Figure 8As shown, the adsorption device 141 is positioned between the vehicle body 11 and the sensing device 12. When dirt appears on the surface 124 of the sensing device 12 to be cleaned, the cleaning fluid storage device 131 is activated. Water is sprayed through pipes and nozzles 132 onto the surface 124 of the sensing device 12 for cleaning. Due to the Coanda effect, the waste liquid after cleaning the surface 124 flows along the surface 124 to the position of the adsorption device 141. At this time, the waste liquid is first absorbed by the adsorption device 141. Excess waste liquid is precipitated out by the adsorption device 141 due to gravity and flows out from under the vehicle body 11, thereby preventing waste liquid splashing and causing secondary pollution. The Coanda effect is a typical fluid viscosity-dominated flow phenomenon in fluid mechanics, referring to the tendency of fluid to actively deviate from its original flow direction and continue to flow along the surface of the object when flowing over a curved object.

[0104] In some embodiments, such as Figure 8 As shown, the adsorption device 141 is disposed on the vehicle body 11. The adsorption device 141 and the nozzle 132 are disposed opposite each other on both sides of the sensing device 12. The adsorption device 141 is preferably an absorbent sponge. The distance between the absorbent sponge and the sensing device 12 is X=0mm. The length of the adsorption device 141 along the circumference of the sensing device 12 is L=11.8mm. The circumference of the sensing device 12 is D=53.4mm. The angle θ1 from the center of the nozzle 132 to the edge of the sensing device 12 is 44.6°. The angle θ2 from the center of the nozzle 132 to the edge of the adsorption device 141 is 60.1°.

[0105] In some embodiments, the flow guiding structure 142 is provided with an adsorption device 141, that is, the adsorption device 141 is configured as an absorbent sponge, multi-fiber fabric, etc. These materials are provided at the inlet of the flow guiding structure 142 to temporarily store the cleaning waste liquid in the flow guiding structure 142, so that the cleaning waste liquid is preferentially absorbed into the flow guiding structure 142 through the adsorption device 141 before flowing to various parts of the vehicle body 11, and then discharged outside the vehicle body 11.

[0106] In some embodiments, such as Figure 9 and Figure 10 As shown, the sensing device 12 is configured as a lidar 123, and the lidar 123 has a lidar cover 1231 that needs to be cleaned. The adsorption device 141 is disposed between the vehicle body 11 and the lidar cover 1231, and the adsorption device 141 and the nozzle 132 are disposed on opposite sides of the sensing device 12. Thus, the waste liquid after the nozzle 132 sprays cleaning fluid to clean the lidar cover 1231 can be adsorbed by the adsorption device 141 and discharged outside the vehicle body 11.

[0107] In some embodiments, the adsorption device 141 is configured as an absorbent sponge, the distance between the absorbent sponge and the lidar cover 1231 is X=0mm, the length of the absorbent sponge along the circumference of the lidar cover 1231 is L=138mm, and the circumference of the lidar cover 1231 is D=278mm.

[0108] In some embodiments, such as Figure 11A As shown, the waste liquid treatment module 14 includes an adsorption device 141 and a flow guiding structure 142. The flow guiding structure 142 is disposed between the vehicle body 11 and the sensing device 12. The adsorption device 141 includes a water pump 1411 disposed inside the vehicle body 11 and a water inlet 1412 disposed between the vehicle body 11 and the sensing device 12. The water pump 1411 is connected to a connecting pipe 1424 inside the flow guiding structure 142. The inlet of the flow guiding structure 142 is equivalent to the water inlet 1412 of the water pump 1411. The water inlet 1412 is disposed on both sides of the sensing device 12 opposite to the nozzle 132 along the first center line 1241. It is suitable for receiving the waste liquid generated after the cleaning liquid sprayed by the nozzle 132 cleans the sensing device 12. With the help of the water pump 1411 to provide active suction power, it can form a strong suction effect on the waste liquid. For example, when the waste liquid generated by vehicle 10 has a large flow rate, the water pump 1411 can provide a strong suction to quickly draw the waste liquid to the water pump 1411, and then the waste liquid is discharged from the water pump 1411 and out of the vehicle.

[0109] In some embodiments, the flow guiding structure 142 includes a connecting pipe 1424, the flow guiding channel is connected to the opening at one end of the connecting pipe 1424, the opening at the other end of the connecting pipe 1424 is located at the bottom of the vehicle, and a water suction pump 1411 is provided in the middle of the connecting pipe 1424, so that waste liquid can be drawn into the connecting pipe 1424 by the water suction pump 1411, and then discharged to the bottom of the vehicle through the opening at the other end of the connecting pipe 1424.

[0110] In some embodiments, the water pump 1411 can also store the cleaning waste liquid by connecting to a liquid reservoir inside the vehicle 10. On the one hand, this physically isolates the cleaning waste liquid from other systems of the vehicle 10 (such as the engine compartment and electronic components) to prevent corrosion or failure of components caused by secondary pollution. On the other hand, the stored cleaning waste liquid can be reused in non-precision cleaning scenarios (such as chassis washing) after simple filtration, thus realizing the recycling of water resources.

[0111] In some embodiments, such as Figure 11BAs shown, the waste liquid treatment module 14 includes an adsorption device 141, which is disposed between the vehicle body 11 and the sensing device 12. The adsorption device 141 includes a water pump 1411 disposed inside the vehicle body 11 and a water inlet 1412 disposed between the vehicle body 11 and the sensing device 12. When the waste liquid flows through the water inlet 1412, the water pump 1411 provides active suction power, which can form a strong suction effect on the waste liquid, thereby quickly discharging the waste liquid through the water pump 1411.

[0112] In some embodiments, such as Figure 11A , Figure 11B As shown, the adsorption device 141 includes a water pump 1411 and a water inlet 1412. The water inlet 1412 is in close contact with the side of the sensing device 12. Specifically, the distance between the water inlet 1412 and the sensing device 12 is X=0mm, the length of the water inlet 1412 along the circumference of the sensing device 12 is L=30.1mm, and the circumference of the sensing device 12 is D=53.4mm.

[0113] In some embodiments, such as Figure 12A As shown, the waste liquid treatment module 14 includes a jetting device 143 and a flow guiding structure 142. The flow guiding structure 142 is disposed between the vehicle body 11 and the sensing device 12. The jetting device 143 is disposed inside the vehicle body 11. The jetting device 143 includes a jet pump 1431 disposed inside the vehicle body 11 and a jet outlet 1432 disposed between the vehicle body 11 and the sensing device 12. The jet pump 1431 is connected to the connecting pipe 1424 inside the flow guiding structure 142. The inlet of the flow guiding structure 142 is equivalent to the jet outlet 1432 of the jet pump 1431. The jet outlet 1432 is disposed on both sides of the sensing device 12 opposite to the nozzle 132 along the first center line 1241. It is suitable for receiving the waste liquid generated after the cleaning liquid sprayed by the nozzle 132 cleans the sensing device 12. With the help of the jet pump 1431 spraying gas, the waste liquid can be directly blown out of the vehicle body 11. Understandably, the airflow provided by the jet pump 1431 is an "active driving force" that can quickly impact and sweep away residual waste liquid after cleaning (such as dripping or splashing cleaning liquid), greatly reducing the residence time of waste liquid in and around the sensor device 12. Moreover, the waste liquid is not temporarily stored inside the vehicle body 11, but is directly discharged outside the vehicle by the airflow, avoiding the long-term corrosion risk caused by the retention of waste liquid in the vehicle's pipes and cavities.

[0114] In some embodiments, such as Figure 12B As shown, the jet device 143 is disposed between the vehicle body 11 and the sensor device 12. The jet device 143 includes a jet pump 1431 disposed inside the vehicle body 11 and a jet port 1432 disposed between the vehicle body 11 and the sensor device 12. When the waste liquid flows through the jet port 1432, the jet pump 1431 sprays gas to directly blow the waste liquid out of the vehicle body 11.

[0115] In some embodiments, such as Figure 12A , Figure 12B As shown, the jet device 143 includes a jet pump 1431 and a jet nozzle 1432. The jet nozzle 1432 is in close contact with the side of the sensing device 12. Specifically, the distance between the jet nozzle 1432 and the sensing device 12 is X=0mm, the length of the jet nozzle 1432 along the circumference of the sensing device 12 is L=30.1mm, and the circumference of the sensing device 12 is D=53.4mm.

[0116] In some embodiments, such as Figure 13A As shown, the waste liquid treatment module 14 includes a vibration device 144, which includes a vibration module 1441 installed in the vehicle body 11. The vibration module 1441 is located near the sensor device 12. The vibration module 1441 is an ultrasonic vibration block. By driving the vehicle body 11 to vibrate at high frequency, the waste liquid is directly atomized and discharged outside the vehicle body 11 when it flows through the sensor device 12 to the vehicle body 11. This eliminates the need for the waste liquid to be temporarily stored inside the vehicle body 11 and allows it to be directly atomized and discharged outside the vehicle, thus avoiding the long-term corrosion risk caused by the waste liquid remaining in the pipes and cavities inside the vehicle.

[0117] In some embodiments, the vibration device 144 includes a vibration module 1441 disposed in the vehicle body 11, and the vibration module 1441 is disposed close to the sensing device 12. The distance between the vibration module 1441 and the sensing device 12 is X=0mm, the length of the vibration module 1441 along the circumference of the sensing device 12 is L=12mm, and the circumference of the sensing device 12 is D=53.4mm.

[0118] In some embodiments, such as Figure 13B As shown, the flow guiding structure 142 is disposed between the vehicle body 11 and the sensing device 12. The vibration device 144 includes a vibration module 1441 disposed on a connecting pipe 1424 inside the flow guiding structure 142. The flow guiding structure 142 is disposed on both sides of the sensing device 12 opposite to the nozzle 132 along the first center line 1241, suitable for receiving the waste liquid generated after the nozzle 132 sprays out cleaning fluid to clean the sensing device 12. In conjunction with the vibration module 1441, the connecting pipe 1424 is driven to vibrate at high frequency, so that when the waste liquid flows through the sensing device 12 and reaches the connecting pipe 1424 inside the flow guiding structure 142, it is atomized and discharged outside the vehicle body 11. It should be understood that the vibration module 1441 is disposed on the connecting pipe 1424 of the flow guiding structure 142, so that the cleaning waste liquid can first flow into the connecting pipe 1424 and then be atomized by high-frequency vibration. When the flow rate of the cleaning waste liquid is relatively fast, the connecting pipe 1424 can also play a certain role in pre-storage, so as to avoid some cleaning waste liquid not having enough time to atomize and causing secondary pollution to the vehicle body 11.

[0119] In some embodiments, such as Figure 14AAs shown, the waste liquid treatment module 14 includes a heating device 145, which includes a heating module 1451 installed in the vehicle body 11. The heating module 1451 is located near the sensor device 12. The heating module 1451 heats the vehicle body 11 so that the waste liquid is heated and evaporated into gas when it passes through the heating device 145 and discharged, which can avoid the problem of waste liquid clogging the pipeline.

[0120] In some embodiments, the heating device 145 includes a heating module 1451 disposed in the vehicle body 11, and the heating module 1451 is disposed near the sensing device 12. The distance between the heating module 1451 and the sensing device 12 is X=0mm, the length of the heating module 1451 along the circumference of the sensing device 12 is L=41.5mm, and the circumference of the sensing device 12 is D=53.4mm.

[0121] In some embodiments, such as Figure 14B As shown, the flow guiding structure 142 is disposed between the vehicle body 11 and the sensing device 12. The heating device 145 includes a heating module 1451 disposed on a connecting pipe 1424 inside the flow guiding structure 142. The flow guiding structure 142 is disposed on both sides of the sensing device 12 opposite to the nozzle 132 along the first center line 1241, suitable for receiving the waste liquid generated after the cleaning fluid sprayed by the nozzle 132 cleans the sensing device 12. In conjunction with the heating module 1451, the connecting pipe 1424 is heated, so that when the waste liquid flows through the sensing device 12 and reaches the connecting pipe 1424 inside the flow guiding structure 142, it is evaporated into gas and discharged outside the vehicle body 11. It should be understood that the heating module 1451 is disposed on the connecting pipe 1424 of the flow guiding structure 142, so that the cleaning waste liquid can first flow into the connecting pipe 1424 and then undergo high-temperature evaporation. In this way, when the flow rate of the cleaning waste liquid is relatively fast, the connecting pipe 1424 can also play a certain role in pre-storage, so as to avoid some cleaning waste liquid not having enough time to atomize and cause secondary pollution to the vehicle body 11.

[0122] In some embodiments, such as Figure 15 As shown, the waste liquid treatment module 14 can be set at a position far away from the sensing device 12. In this case, the waste liquid treatment module 14 is easier to install, but this setting method increases the risk of waste liquid splashing.

[0123] In some embodiments, the waste liquid treatment module 14 is configured as an adsorption device 141, the adsorption device 141 is configured as an absorbent sponge, the distance between the absorbent sponge and the sensing device 12 is X=2mm, the length of the absorbent sponge along the circumference of the sensing device 12 is L=11.8mm, and the circumference of the sensing device 12 is D=53.4mm.

[0124] Furthermore, such as Figure 16As shown, this application also provides a vehicle 10, including a cleaning device as described above, and further including a vision recognition module 15, a control module 16, and a manual operation module 17, wherein the vision recognition module 15 is used to identify dirt on the sensing device 12 and transmit a pollution signal to the control module 16, the control module 16 is used to automatically control the opening and closing of the cleaning module 13; the manual operation module 17 is used to manually control the opening and closing of the cleaning module 13.

[0125] Furthermore, such as Figure 17 As shown, the sensing device 12 includes one or more of the following: a vehicle-mounted camera 121, an ultrasonic sensor 122, and a lidar 123. That is, the cleaning device of this application can be widely applied to various sensing devices 12 on the vehicle 10 that require cleaning, enabling on-demand cleaning of sensing devices 12 installed at different locations on the vehicle body 11.

[0126] It is worth mentioning that the waste liquid treatment module 14 is applicable to all the sensor devices 12 of the vehicle 10 that need to be cleaned, ensuring that the vehicle 10 can prevent secondary pollution of the body 11 or sensor devices 12 by cleaning waste liquid in different usage environments, thereby improving the application safety of the vehicle 10 and maintaining the cleanliness of the vehicle 10's appearance.

[0127] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. A cleaning device for cleaning sensors installed on a vehicle, characterized in that, include: A cleaning module includes a cleaning fluid storage device and at least one nozzle, the cleaning fluid storage device being adapted to deliver cleaning fluid to the nozzle, and the nozzle being adapted to spray cleaning fluid onto the sensing device. A waste liquid treatment module is used to receive and treat the waste liquid generated by the cleaning module. The waste liquid treatment module is disposed in a first region and / or a second region, wherein the first region is located in the cleaning liquid spray path of the nozzle, and the second region is located below the sensing device along the direction of gravity.

2. The cleaning device according to claim 1, characterized in that, The sensing device has a surface to be cleaned, the surface to be cleaned has a first center line along the direction of the cleaning liquid spray path, and a second center line along the direction of gravity of the sensing device. When the waste liquid treatment module is set in the first area, the waste liquid treatment module is located on the extension line of the first center line. When the waste liquid treatment module is set in the second area, the waste liquid treatment module is located on the extension line of the second center line.

3. The cleaning device according to claim 2, characterized in that, The waste liquid treatment module includes a flow guiding structure for collecting waste liquid generated during cleaning of the sensing device; the flow guiding structure is a flow guiding channel, which is defined by a first channel wall away from the sensing device and a second channel wall close to the sensing device, the sensing device has a surface to be cleaned, and the height of the top of the second channel wall does not exceed the lowest point of the surface to be cleaned.

4. The cleaning device according to claim 3, characterized in that, The cleaning device is applicable to vehicles. The guide channel is located between the sensing device and the vehicle body. The guide channel is integrally or separately installed on the vehicle body and is used to collect the waste liquid generated from cleaning the sensing device.

5. The cleaning device according to claim 3 or 4, characterized in that, The guide channel is connected to one end of the connecting pipe, and the other end of the connecting pipe is located at the bottom of the vehicle.

6. The cleaning device according to claim 5, characterized in that, A water pump is installed in the middle of the connecting pipe.

7. The cleaning device according to claim 3, characterized in that, The height of the top of the first tank wall is higher than the height of the top of the second tank wall.

8. The cleaning device according to claim 7, characterized in that, The first groove wall extends from the top to the bottom, with at least a portion extending at an angle away from the second groove wall to form a guide surface.

9. The cleaning device according to claim 8, characterized in that, The first tank wall includes a first section near the top and a second section near the bottom. The first segment extends along the height direction, and the second segment forms the guide surface; Alternatively, the first segment forms the guide surface, and the second segment extends along the height direction; Alternatively, the first segment and the second segment together form the guide surface.

10. The cleaning device according to claim 3, characterized in that, The waste liquid treatment module further includes an adsorption device suitable for adsorbing waste liquid, the adsorption device being disposed within the flow guiding structure; or, the waste liquid treatment module further includes an atomizing device connected to the flow guiding structure, the atomizing device spraying gas from the flow guiding structure to blow away the waste liquid within the flow guiding structure; or, the waste liquid treatment module further includes a vibration device disposed on the flow guiding structure to atomize the waste liquid within the flow guiding structure; or, the waste liquid treatment module further includes a heating device disposed on the flow guiding structure to evaporate the waste liquid within the flow guiding structure.

11. The cleaning device according to claim 3, characterized in that, The waste liquid treatment module further includes an adsorption device suitable for adsorbing waste liquid; or, the waste liquid treatment module further includes an atomizing device, the atomizing device including an atomizing port disposed in the first region and / or the second region, for blowing the waste liquid flowing through the atomizing port away from the first region and / or the second region; or, the waste liquid treatment module further includes a vibration device, the vibration device disposed in the first region and / or the second region, for atomizing the waste liquid flowing through the first region and / or the second region; or, the waste liquid treatment module further includes a heating device, the heating device being used to evaporate the waste liquid flowing through the first region and / or the second region.

12. The cleaning apparatus according to claim 10 or 11, characterized in that, The adsorption device is configured as one or more of the following: water-absorbing sponge, multi-fiber fabric, degreased cotton, and porous metal.

13. The cleaning apparatus according to claim 10 or 11, characterized in that, The vibration device includes an ultrasonic vibration module.

14. The cleaning apparatus according to claim 10 or 11, characterized in that, The jet device includes a jet pump.

15. The cleaning device according to claim 2, characterized in that, Along the direction of the first centerline or the second centerline, the distance between the waste liquid treatment module and the sensing device is X, where 0mm≤X≤50mm.

16. The cleaning device according to claim 2, characterized in that, The maximum angle between the center of the nozzle along the first center line and the edge of the sensing device is θ1, and the maximum angle between the center of the nozzle along the first center line and the edge of the waste liquid treatment module is θ2, where θ2 ≥ θ1.

17. The cleaning device according to claim 2, characterized in that, The length of the waste liquid treatment module along the circumference of the sensing device is L, and the circumference of the sensing device is D, where 0.2D≤L≤D.

18. The cleaning device according to claim 1, characterized in that, The sensing device is adapted to perceive the vehicle's surrounding environment in an optical or acoustic manner.

19. The cleaning apparatus according to claim 18, characterized in that, The sensing device includes one or more of the following: vehicle-mounted camera, ultrasonic sensor, and lidar.

20. A vehicle, characterized in that, Includes the cleaning device as described in any one of claims 1-19.

21. The vehicle according to claim 20, characterized in that, It also includes a visual recognition module and a control module. The visual recognition module is used to identify dirt on the sensing device and transmit a signal to the control module, which controls the opening and closing of the cleaning module. The vehicle also includes a manual operation module for manually controlling the opening and closing of the cleaning module.

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