Injection structure for cleaning sensor

Abstract

The present invention relates to a spray structure for cleaning sensors, and more specifically, to a spray structure for cleaning environmental sensors. According to an embodiment of the present invention, the spray structure for cleaning sensors comprises: a first plate rotatably mounted on an environmental sensor; a plurality of first nozzles formed on the first plate and arranged toward the environmental sensor; and a fluid supply source configured to supply fluid to the first nozzles so as to be sprayed through the first nozzles.

Description

Technology Field

[0001] The present invention relates to a spray structure for cleaning sensors, and more specifically, to a spray structure for cleaning environmental sensors. Background Technology

[0002] Recently, vehicles are being equipped with driver assistance systems to support drivers in various driving situations, ensuring safe operation. Furthermore, going beyond these systems, active research and development is underway regarding autonomous vehicles capable of driving themselves without driver intervention.

[0003] For such driver assistance systems or autonomous vehicles, various types of environmental sensors capable of detecting the surrounding environment in diverse ways are required. Examples of environmental sensors mounted on vehicles include radar, LiDAR, and cameras.

[0004] Since these sensors are mounted on the exterior of the vehicle, the sensing parts can easily become dirty due to foreign substances such as dust, rain, or snow. To maintain sensor performance, these sensors must be kept clean above a certain level. Accordingly, vehicles are equipped with a contamination detection device that detects contamination of these sensors, and a sensor cleaning system that can clean the sensors when the sensing parts are contaminated based on the detection. Prior art literature

[0005] Published Patent Application No. 10-2018-0136981 (Date of publication: Dec. 26, 2018) The problem to be solved

[0006] The present invention has been devised to solve the aforementioned problems, and

[0007] We aim to provide a spray structure for cleaning environmental sensors more effectively.

[0008] The objectives of the present invention are not limited to those mentioned above, and other unmentioned objectives will be clearly understood by those skilled in the art to which the present invention pertains (hereinafter referred to as "person skilled in the art") from the description below. means of solving the problem

[0009] The features of the present invention for achieving the objectives of the present invention as described above and for performing the characteristic functions of the present invention described below are as follows.

[0010] According to an embodiment of the present invention, a spray structure for sensor cleaning includes: a first plate rotatably mounted on an environmental sensor; a plurality of first nozzles formed on the first plate and arranged toward the environmental sensor; and a fluid supply source configured to supply fluid to the first nozzles so as to be sprayed through the first nozzles.

[0011] A method for controlling a spray structure for sensor cleaning according to some embodiments of the present invention, wherein the spray structure comprises: a plate having a plurality of nozzles rotatably mounted on an environmental sensor and configured to spray fluid from a fluid supply source toward the environmental sensor; a driving source providing rotational force to the plate; and a controller configured to control the operation of the fluid supply source, and wherein the method comprises: a step of driving the fluid supply source by the controller; and a step of selectively driving the driving source while driving the fluid supply source. Effects of the invention

[0012] According to the present invention, a spray structure for more effectively cleaning an environmental sensor including a lidar is provided.

[0013] The effects of the present invention are not limited to those described above, and other unmentioned effects will be clearly recognized by a person skilled in the art from the description below. Brief explanation of the drawing

[0014] FIG. 1 illustrates an exemplary air cleaning system, and FIG. 2 illustrates a lidar installed on a vehicle, and FIG. 3 illustrates a lidar sensor and a spray structure according to an embodiment of the present invention for the same, and FIG. 4a is an exploded perspective view of FIG. 3, and FIG. 4b is a cross-sectional view of the rod of FIG. 3, and FIG. 5 is a lower perspective view of a lidar sensor and a spray structure according to an embodiment of the present invention for the same, and FIG. 6 is a cross-sectional view of an upper nozzle or a lower nozzle according to an embodiment of the present invention, and FIG. 7 is a LiDAR sensor and a spray structure according to an embodiment of the present invention for the same, a transmittance view in which the interior of the upper plate is visible, and FIG. 8 illustrates a lidar sensor and a spray structure according to an embodiment of the present invention for the same, showing a state in which the upper plate is omitted, and FIG. 9a is a partial enlarged view of FIG. 8, and Fig. 9b is a partial enlarged view of Fig. 9a, and FIG. 9c is a front view of FIG. 7, illustrating an injection valve in a single injection position, and FIG. 10 is a front view of FIG. 7, illustrating injection valves in multiple injection positions, and FIG. 11 is an upper perspective view of the lidar sensor of the present invention and a spray structure according to an embodiment of the present invention for the same, and FIG. 12 illustrates a spray operating system of a spray structure of the present invention, and FIGS. 13 to 17 illustrate the injection operation of the injection structure of the present invention. Specific details for implementing the invention

[0015] The specific structural or functional descriptions presented in the embodiments of the invention are merely illustrative for the purpose of explaining embodiments according to the concept of the invention, and embodiments according to the concept of the invention may be implemented in various forms. Furthermore, it should not be interpreted as being limited to the embodiments described herein, but should be understood to include all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0016] Meanwhile, in the present invention, terms such as "first" and / or "second" may be used to describe various components, but said components are not limited to said terms. For the sole purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0017] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. Conversely, when it is stated that one component is "directly connected" or "directly in contact" with another component, it should be understood that there are no other components in between. Other expressions used to describe the relationship between components, such as "between" and "exactly between," or "adjacent to" and "directly adjacent to," should be interpreted in the same way.

[0018] Throughout the specification, identical reference numbers denote identical components. Meanwhile, the terms used in this specification are for describing embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. As used in this specification, "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components, steps, actions, and / or elements to the mentioned components, steps, actions, and / or elements.

[0019] The present invention will be described in detail below with reference to the attached drawings.

[0020] As described above, autonomous vehicles, vehicles equipped with driver assistance systems, etc., are equipped with various types of environmental sensors for detecting the surrounding environment. As a non-limiting example, environmental sensors include lidar, radar, cameras, etc., and environmental sensors may be positioned on the front, rear, sides, roof, etc. of the vehicle.

[0021] Since vehicles are mostly outdoors and subjected to driving conditions, environmental sensors mounted on the exterior of the vehicle can be contaminated not only by rain but also by foreign substances such as dust and insects. Accordingly, a sensor cleaning system is provided in the vehicle to clean the soiled environmental sensors. Cleaning of these environmental sensors can be achieved by using washer fluid or by spraying high-pressure compressed air.

[0022] FIG. 1 illustrates an exemplary sensor cleaning system provided in a vehicle. Among the sensor cleaning systems, the air cleaning system (1) is configured to clean the environment sensor (2) using compressed air. The air cleaning system (1) performs cleaning by spraying compressed air onto the surface of the environment sensor (2).

[0023] Specifically, air filtered through an air filter (4) provided in the vehicle is introduced into a compressor (6). The air compressed by the compressor (6) is sprayed onto the surface of the environmental sensor (2), thereby removing foreign matter from the environmental sensor (2). The environmental sensor (2) includes a plurality of environmental sensors (2a, 2b, 2c) and can be mounted on the front, rear, roof, side, etc. of the vehicle. Although three environmental sensors are disclosed in the drawings and specifications, the number is not limited thereto and can be increased or decreased.

[0024] Additionally, the air cleaning system (1) includes an air tank (8). Air can be filled into the air tank (8) by compressed air through a compressor (6) or by an external device, and the air filled into the air tank (8) can be used to clean the environment sensor (2).

[0025] The controller (10) of the air cleaning system (1) is configured to operate the valve (12), for example, a solenoid valve, at preset intervals or in preset situations, such as when contamination is detected by the environment sensor (2). This causes compressed air to be sprayed from the compressor (6) or air tank (8) to each environment sensor (2), thereby cleaning the environment sensor (2). The valve (12) is equipped with a distributor (14) so ​​that the compressed air can be distributed through nozzles (16) provided for each of the multiple environment sensors (2).

[0026] The compressor (6) is equipped with a temperature sensing unit (18), and the temperature of the compressor (6) detected by the temperature sensing unit (18) is transmitted to the controller (10) of the air cleaning system (1). The operation of the compressor (6) can be controlled based on the temperature detected by the temperature sensing unit (18).

[0027] The controller (10) is configured to control the operation of the air cleaning system (1). For example, the controller (10) opens and closes the valve (12) as needed to allow cleaning of the environment sensor (2). In addition, the controller (10) can monitor the temperature detected by the temperature sensing unit (18) and control the operation of the compressor (6) based on this.

[0028] Similar to the air cleaning system (1), the washer fluid cleaning system among the sensor cleaning systems can also be configured to supply washer fluid stored in the vehicle to environmental sensors placed at each location in the vehicle.

[0029] As illustrated in FIG. 2, among the environmental sensors, the lidar sensor (L) is installed on the roof (R) of the vehicle (V). Like other environmental sensors, the lidar sensor (L) can be configured to receive compressed air from a compressor (6) or an air tank (8) typically located at the front (F) of the vehicle (V). When necessary, compressed air can be injected into the lidar sensor (L) to perform cleaning. However, the lidar sensor (L) is configured in a 360° open form and is exposed to a more contaminated environment compared to other environmental sensors.

[0030] Accordingly, the present invention aims to provide a sensor cleaning system capable of effectively cleaning environmental sensors, particularly lidar sensors (L). In particular, the present invention aims to provide a spray structure for more effectively cleaning environmental sensors, such as lidar sensors (L), which have a large operating area. However, the spray structure according to the present invention can be applied not only to lidar sensors but also to other environmental sensors. In particular, it is advantageous to apply the spray structure of the present invention to environmental sensors with a large sensing area.

[0031] As illustrated in FIG. 3, according to an embodiment of the present invention, the injection structure includes an upper plate (100) and a lower plate (200). The upper plate (100) and the lower plate (200) can be mounted on the top and bottom of the lidar sensor (L), respectively. Although the lidar sensor (L), the upper plate (100), and the lower plate (200) are shown as cylindrical in the drawings, they are not limited to this shape and may take other shapes.

[0032] At least one of the upper plate (100) and the lower plate (200) is rotatably mounted to the lidar sensor (L). In one embodiment, the upper plate (100) is rotatably coupled to the lidar sensor (L). In another embodiment, the lower plate (200) is rotatably mounted to the lidar sensor (L). In yet another embodiment, both the upper plate (100) and the lower plate (200) are rotatably mounted to the lidar sensor (L). If only one of the upper plate (100) and the lower plate (200) needs to be configured to be rotatable, it may be more advantageous to make the upper plate (100) rotatable. Although the following description assumes that only the upper plate (100) rotates and the lower plate (200) is fixed, as described above, the lower plate (200) or both the upper plate (100) and the lower plate may be configured to be rotatable.

[0033] Referring to FIG. 4a, the injection structure may include a rotational structure for rotating the upper plate (100). In one embodiment, for this purpose, the upper plate (100) may include a rod (110). The rod (110) may be formed at the center of the upper plate (100) and may protrude from the center of the upper plate (100).

[0034] The rod (110) is configured to be rotatable. Specifically, the rod (110) can rotate by receiving rotational force from a driving source (120). For example, the driving source (120) may be a motor configured to rotate the rod (110). Accordingly, the upper plate (100) connected to the rod (110) can rotate by the rotation of the rod (110).

[0035] Additionally, the rod (110) is configured to be insertable into the lidar sensor (L) and can be rotatably inserted within the lidar sensor (L). According to an embodiment of the present invention, the rod (110) can be rotatably received within a hole (20) provided in the center of the lidar sensor (L).

[0036] Referring to FIG. 4b, a hollow (112) is formed within the rod (110), and a supply channel (130) can be accommodated in the hollow (112). Compressed air or washer fluid can flow through the supply channel (130). For example, the supply channel (130) may be a hose that supplies compressed air from the compressor (6) to the lidar sensor (L). Or, the supply channel (130) may be a hose that supplies washer fluid from the washer fluid reservoir to the lidar sensor (L).

[0037] The rod (110) may accommodate at least one supply channel (130) in the hollow (112). In one embodiment, the hollow (112) may contain two supply channels (130a, 130b). One of the two supply channels (130a, 130b) is configured to allow compressed air to flow, and the other of the two supply channels (130a, 130b) is configured to allow washer fluid to flow. In some embodiments, the supply channel (130) may be configured to branch to the upper plate (100) and the lower plate (200) sides, respectively.

[0038] As illustrated in FIG. 5, the upper plate (100) includes at least one upper nozzle (140). At least one upper nozzle (140) may be positioned around the perimeter of the upper plate (100) and may be spaced apart at a certain distance along the perimeter of the upper plate (100). In one embodiment, the upper nozzle (140) may be formed on the lower surface of the upper plate (100) so as to face toward the lidar sensor (L) or downward. The upper nozzle (140) is configured to be in fluid communication with the supply channel (130), and compressed air or washer fluid may be sprayed onto the lidar sensor (L) through the upper nozzle (140).

[0039] Referring to FIG. 6, according to an embodiment of the present invention, a groove (142) may be formed on the inner surface of the upper nozzle (140). The groove (142) may be formed on the inner surface of the upper nozzle (140) and may be formed along the longitudinal direction of the upper nozzle (140). Additionally, the groove (142) may take on an overall spiral shape. That is, the groove (142) may not extend in a straight line from the inner surface of the upper nozzle (140), but may be formed obliquely in a spiral direction. As described later, a groove similar to the groove (142) of the upper nozzle (140) may also be formed on the inner surface of the lower nozzle (210).

[0040] As illustrated in FIGS. 7 and 8, the upper plate (100) includes a manifold (150). The manifold (150) is disposed inside the upper plate (100). The inlet of the manifold (150) may be a rod (110) or a supply channel (130) within the rod (110), and each outlet of the manifold (150) is configured to be in fluid communication with each upper nozzle (140) of the upper plate (100). From the inlet to each outlet of the manifold (150) may be extended by a radial channel (152) extending radially in the upper plate (100). In one embodiment, the manifold (150) may be formed integrally with the rod (110). In another embodiment, the manifold (150) may be formed separately from the rod (110) and coupled with the rod (110). Additionally, in one embodiment, the manifold (150) may be formed integrally with the upper plate (100). For example, the manifold (150) may be a structure formed directly on the inner surface of the upper plate (100). In another embodiment, the manifold (150) may be a separate component housed within the upper plate (100).

[0041] An injection valve (160) may be disposed in the manifold (150). According to an embodiment of the present invention, the injection valve (160) may be disposed at the inlet of the manifold (150). The injection valve (160) is configured to be rotatable together with the upper plate (100) and configured to be linearly movable within the upper plate (100). For example, it may be configured to be vertically movable within the space of the inlet of the manifold (150).

[0042] The injection valve (160) is configured to communicate with the supply channel (130) of the rod (110), the manifold (150), and the upper nozzle (140). The injection valve (160) can cause compressed air or washer fluid to be injected through any one of the plurality of discharge channels (152) or through all of the plurality of discharge channels (152). To this end, according to an embodiment of the present invention, the injection valve (160) includes a single injection position (P1) and a plurality of injection positions (P2).

[0043] Referring to FIGS. 9a through 9c, the injection valve (160) includes a single opening (162). In some embodiments, the opening (162) of the injection valve (160) may be positioned to communicate with one of the radiating passages (152) of the supply channel (130) and the manifold (150). In this single injection position (P1), the opening (162) of the injection valve (160) is aligned with one of the radiating passages (152) of the manifold (150) so that the supply channel (130) and the upper nozzle (140) communicate only through the corresponding radiating passage (152). Thus, air injection by one upper nozzle (140) is made possible. As clearly shown in FIG. 9c, in the single injection position (P1), the injection valve (160) may be in close contact with the end of the rod (110).

[0044] Referring to FIG. 10, in some embodiments, the injection valve (160) may be positioned to communicate with the supply channel (130) and all of the radiation passages (152) of the manifold (150). In these multiple injection positions (P2), the injection valve (160) moves upward within the upper plate (100) or within the manifold (150) so as to be spaced apart from the end of the rod (110) and to communicate with the supply channel (130) and all of the radiation passages (152). Compressed air or washer fluid may be moved through the lower part of the injection valve (160) to all of the radiation passages (152) so that compressed air or washer fluid may be injected from all of the upper nozzles (140).

[0045] As illustrated in FIG. 11, the lower plate (200) includes a plurality of lower nozzles (210). In one embodiment, the lower nozzles (210) may be spaced apart from each other at a certain distance along the perimeter of the upper surface of the lower plate (200). In one embodiment, the lower nozzles (210) may be configured to spray compressed air or washer fluid toward the lidar sensor (L) or upward.

[0046] It is configured so that compressed air or washer fluid is sprayed through the lower nozzle (210). Similar to the upper plate (100), compressed air or washer fluid may be supplied from a supply channel (130) disposed within the rod (110) to a manifold provided inside the lower plate (200), and fluid may be supplied to a lidar sensor (L) through the lower nozzle (210). Additionally, a groove similar to that of the upper nozzle (140) may be formed on the inner surface of the lower nozzle (210).

[0047] Regarding the configuration of the lower plate (200), a person skilled in the art can easily understand it in light of the description of the upper plate (100) above, so a redundant description will be omitted. However, in some embodiments, the lower plate (200) is configured not to rotate, unlike the upper plate (100). Also, in some embodiments, the lower plate (200) may be configured to rotate together with the upper plate (100).

[0048] The spray structure according to the present invention may include a foreign substance detection sensor (300). As a non-limiting example, the foreign substance detection sensor (300) may be a laser sensor. The foreign substance detection sensor (300) may be mounted on the upper plate (100). Multiple foreign substance detection sensors (300) may be arranged along the perimeter of the upper plate (100) to detect contamination on the surface of the lidar sensor (L). However, according to the present invention, since the upper plate (100) is configured to be rotatable with respect to the lidar sensor (L), contamination on the entire surface of the lidar sensor (L) can be detected even if only one foreign substance detection sensor (300) is provided.

[0049] As illustrated in FIG. 12, the controller (400) is configured to control the operation of various components of the injection structure according to the present invention. In one embodiment, the controller (400) may be a controller for a sensor cleaning system of a vehicle, such as an air cleaning system (1), or a controller separately provided for cleaning a lidar sensor (L). Hereinafter, it will be described as a separate controller for the injection structure.

[0050] The controller (400) collects sensing information from the foreign substance detection sensor (300). When the foreign substance detection sensor (300) detects a foreign substance on the surface of the lidar sensor (L), it can provide information on the presence or absence and location of the foreign substance to the controller (400).

[0051] The controller (400) causes compressed air or washer fluid to be sprayed onto the lidar sensor (L) when necessary, such as when receiving contamination information from the lidar sensor (L). For example, it communicates with the air cleaning system (1) or washer fluid cleaning system of the vehicle (V) to allow compressed air or washer fluid to reach the lidar sensor (L) through the supply channel (130). Specifically, compressed air may be supplied to the supply channel (130) from an air supply source (500), such as a compressor (6) or an air tank (8) of the air cleaning system (1). Alternatively, washer fluid may be supplied to the supply channel (130) from a washer fluid supply source (600) of the washer fluid cleaning system.

[0052] And the controller (400) can control the injection structure. If there is foreign matter in a specific part of the lidar sensor (L), the injection valve (160) can be placed at a single injection position (P1), and compressed air can be injected at that position through the opening (162), that is, through a single upper nozzle (140). At this time, the controller (400) can drive the driving source (120) to rotate the upper plate (100). Also, if overall cleaning of the lidar sensor (L) is required, the controller (400) commands the injection valve (160) to move. By the command of the controller (400), the injection valve (160) moves to a multiple injection position (P2), and a fluid containing compressed air or washer fluid is supplied to all radiating passages (152) of the manifold (150), and the fluid is injected through all upper nozzles (140).

[0053] With reference to FIGS. 13 to 17, the operation of the injection structure according to the present invention is described as follows. Hereinafter, the operation of the injection structure will be described using the injection of compressed air as an example.

[0054] For cleaning the lidar sensor (L), the controller (400) causes the air cleaning system (1) to open the valve (12) so that compressed air is supplied to the supply channel (130). The controller (400) can also execute a single injection mode at a single injection position (P1), a multiple injection mode at multiple injection positions (P2), and a dual injection mode in which compressed air is injected through both the upper nozzle (140) and the lower nozzle (210).

[0055] As shown in FIG. 13, in a single injection mode, the injection valve (160) is positioned in close contact with the end of the rod (110), and the opening (162) communicates with a single radiating channel (152). Compressed air is injected through the upper nozzle (140) via the single radiating channel (152) to clean the surface of the lidar sensor (L). The controller (400) drives the driving source (120) to rotate the upper plate (100) relative to the lidar sensor (L), thereby allowing the entire lidar sensor (L) to be cleaned by the compressed air being injected.

[0056] Additionally, the controller (400) can drive the drive source (120) to rotate the upper plate (100) and determine the degree of contamination on the surface of the lidar sensor (L) through the foreign substance detection sensor (300) mounted on the upper plate (100) and rotating together, and determine whether cleaning is necessary. More specifically, the controller (400) can identify the location where the foreign substance detection sensor (300) detects contamination and cause compressed air to be sprayed at that location in a single spray mode.

[0057] If the entire lidar sensor (L) requires cleaning, the controller (400) may enter a multiple injection mode. In the multiple injection mode, the controller (400) causes the injection valve (160) to move to the multiple injection position (P2). Compressed air through the supply channel (130) is distributed to all upper nozzles (140), and the entire lidar sensor (L) can be cleaned. At this time, the controller (400) may also perform the multiple injection mode by driving the drive source (120) to rotate the upper plate (100).

[0058] As shown in FIGS. 14 to 16, if the surface of the lidar sensor (L) is severely contaminated and cleaning is difficult in a single spray mode, the controller (400) may enter a dual spray mode. In the dual spray mode, compressed air is sprayed through the upper nozzle (140) and the lower nozzle (210). By simultaneously spraying compressed air from the upper nozzle (140) and the lower nozzle (210), turbulence and / or vortices are generated between the air flows, thereby maximizing cleaning performance.

[0059] According to some embodiments, the controller (400) can control the speed and intensity of the fluid sprayed into the upper nozzle (140) or the lower nozzle (210). For example, depending on where the foreign substance (S) is located on the surface of the lidar sensor (L), the controller (400) can control the speed and intensity of the fluid through the upper nozzle (140) and the lower nozzle (210) to set a cleaning target point. In FIGS. 14 through 16, the arrows indicate the relative intensity of the compressed air or fluid coming out of the upper nozzle (140) and the compressed air or fluid coming out of the lower nozzle (210).

[0060] As illustrated in FIG. 17, according to the present invention, vortices and / or turbulence are generated between the flow simultaneously injected from the upper nozzle (140) and the lower nozzle (210) of the upper plate (100) and the lower plate (200). Since the upper nozzle (140) injects compressed air while rotating, the turbulence and / or vortices may appear in various patterns depending on the gap between the upper or lower flow.

[0061] Additionally, the groove (142) formed on the inner surface of the upper nozzle (140) or the lower nozzle (210) provides straightness to the injected fluid, thereby preventing energy cancellation due to overlap when the fluids are injected in opposite directions. Furthermore, the fluid is injected while rotating due to the groove (142), which can enhance the generation of turbulence and vortices between the flows injected from the upper nozzle (140) and the lower nozzle (210).

[0062] According to the present invention, various cleaning patterns are possible, thereby maximizing the cleaning performance of the lidar sensor.

[0063] In addition, according to the present invention, the contamination level of a LiDAR sensor can be measured using a rotary laser sensor.

[0064] In addition, according to the present invention, the injection of washer fluid or compressed air can be effectively managed through the injection valve.

[0065] The present invention described above is not limited by the aforementioned embodiments and attached drawings, and it will be obvious to those skilled in the art that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention. Explanation of the symbols

[0066] 1: Air cleaning system 2: Environmental sensor 4: Air filter 6: Compressor 8: Air tank 10: Controller 12: Valve 14: Distributor 16: Nozzle 18: Temperature sensor 20: Hole 100: Upper plate 110: Lord 112: China 120: Driving source 130: Supply channel 140: Upper nozzle 142: Groove 150: Manifold 152: Radiation path 160: Injection valve 162: Opening 200: Lower plate 210: Lower nozzle 300: Foreign object detection sensor 400: Controller 500: Air supply source 600: Washer fluid supply source L: LiDAR sensor P1: Single injection position P2: Multiple injection position R: Loop S: Foreign substance V: Vehicle

Claims

Claim 1 A spray structure for sensor cleaning comprising: a first plate rotatably mounted on an environmental sensor; a second plate mounted on the environmental sensor so as to face the first plate; a plurality of first nozzles formed on the first plate and disposed toward the environmental sensor; a second nozzle formed on the second plate and disposed toward the environmental sensor; and a fluid supply source configured to supply fluid to the first nozzle and the second nozzle so as to be sprayed through the first nozzle and the second nozzle. Claim 2 A spray structure according to claim 1, comprising: a rod extending from the first plate so as to be insertable into the environment sensor; and a driving source configured to provide rotational force to the rod. Claim 3 A spray structure according to claim 2, wherein a supply channel configured to allow the fluid to flow is disposed within the rod. Claim 4 A spray structure according to claim 1, wherein a groove formed by being recessed along the longitudinal direction of the first nozzle is formed on the inner surface of the first nozzle. Claim 5 A spray structure according to claim 4, wherein the groove is formed along the longitudinal direction of the first nozzle and extends in a spiral. Claim 6 A spray structure according to claim 3, wherein the first plate comprises a manifold having a plurality of radial channels extending radially from the first plate and fluidly communicating the supply channel and the first nozzle. Claim 7 A spray structure according to claim 6, wherein the first plate further comprises a spray valve disposed in the manifold to communicate with the supply channel, and the spray valve is configured to change the flow of fluid from the supply channel through the radial path of the manifold. Claim 8 A spray structure according to claim 7, wherein the spray valve comprises a single opening, and the spray valve comprises a single spray position such that the single opening communicates only one of the plurality of radiation paths to the supply channel. Claim 9 A spray structure according to claim 8, wherein the spray valve is movably disposed within the manifold and the spray valve is configured to move from a single spray position to a plurality of spray positions to fluidly communicate with the supply channel and all of the plurality of discharge channels. Claim 10 A spray structure according to claim 1, wherein the fluid supply source comprises at least one of an air supply source configured to provide compressed air; and a washer fluid supply source configured to provide washer fluid. Claim 11 A spray structure according to claim 1, wherein the plurality of first nozzles are spaced apart from each other at a certain distance along the circumference of the first plate. Claim 12 delete Claim 13 The injection structure of claim 9 further comprising a controller configured to control the operation of the driving source and the fluid supply source. Claim 14 The spray structure of claim 13 further comprises a foreign substance detection sensor provided on the first plate and configured to detect foreign substances on the environment sensor, wherein the foreign substance detection sensor is configured to notify the controller when foreign substances are detected. Claim 15 In claim 13, the injection structure wherein the controller is configured to rotate the driving source at a single injection position or multiple injection positions of the injection valve. Claim 16 A spray structure according to claim 13, wherein the controller is configured to control a fluid supply source such that the fluid flow rate through the first nozzle and the fluid flow rate through the second nozzle are different from each other. Claim 17 In claim 14, the injection structure wherein the controller drives the fluid supply source and the driving source based on the notification of the foreign substance detection sensor. Claim 18 A control method for a spray structure for sensor cleaning, wherein the spray structure comprises: a plate having a plurality of nozzles rotatably mounted on an environmental sensor and configured to spray fluid from a fluid source toward the environmental sensor; a driving source providing rotational force to the plate; and a controller configured to control the operation of the fluid source; wherein the control method comprises: a step of driving the fluid source by the controller; and a step of selectively driving the driving source while driving the fluid source; wherein the plate comprises: a first plate disposed on a first side of the environmental sensor; and a second plate disposed on a second side opposite to the first side, wherein one of the first plate and the second plate is fixed, and the controller is configured to control the operation of the fluid source so that the fluid is selectively supplied to at least one of the first plate and the second plate. Claim 19 A control method according to claim 18, wherein the injection structure further comprises a foreign substance detection sensor configured to detect whether a foreign substance is attached to the environment sensor and configured to transmit the detected foreign substance information to the controller, and the step of driving the fluid supply source comprises: receiving foreign substance information from the foreign substance detection sensor by the controller; and driving the fluid supply source when the foreign substance information is received. Claim 20 A control method according to claim 18, wherein the injection structure further comprises an injection valve disposed within the plate, configured to supply fluid from the fluid source to one of a plurality of nozzles at a first position and configured to supply fluid from the fluid source to all of the plurality of nozzles at a second position, and further comprising the step of controlling the movement between the first position and the second position of the injection valve by the controller according to required cleaning conditions. Claim 21 delete

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