Self-cleaning effector system

Abstract

A self-sustained cleaning module 110 for cleaning devices having a transparent cover or lens such as sensors, detectors, light sources, cameras etc., collectively referred to as effectors. The module includes a thermoelectric cooler (TEC) 20, a sump 48 for collecting water that condense on the cold plate 22 of the TEC, a waterjet in fluid communication with water that is stored in the sump through a water pump 40 and water tubes 44. The waterjet washes the lens / cover from debris, dust and dirt, and the plates of the TEC can melt ice or evaporate moisture.

Description

[0001] SELF-CLEANING EFFECTOR SYSTEM

[0002] TECHNICAL FIELD

[0003] The present invention relates to the field of cleaning systems for sensors, LEDs, LIDARs and cameras.

[0004] BACKGROUND ART

[0005] The autonomous cars market is on an exponential growth trajectory, driven by the escalating demand for advanced automated and independent driver assistance systems. These systems heavily depend on an array of on-board sensors, including cameras, lidars, and radars, to ensure precise data inputs, navigation, and timesensitive communication. However, a pressing challenge faced by autonomous driving systems is the maintenance of sensor cleanliness, exacerbated by environmental elements such as dirt, debris, adverse weather conditions, and the propensity for ice build-up and condensation on the sensor lenses.

[0006] The global automotive sensor market, valued at over USD 34.59 billion, is projected to reach around USD 76.43 billion by 2032, with a CAGR of 8.30% during the forecast period. A recent report (https: / / www.netscribes.com / sensor-cleaning-and- underscores the significance of automotive sensor cleaning technology in addressing challenges posed by varied weather and road conditions, emphasizing the impact of ice build-up and condensation on sensor performance.

[0007] Not only sensors in the automotive industry are in need of routine cleaning. Sensors, as well as other lens bearing appliances, collectively referred herein as effectors, also require occasional cleaning for adequate performance - surveillance camera lenses and their photo sensors, street lamps (e.g. LEDs), traffic lights, fire detectors are to name a few.

[0008] Recognizing the critical necessity for innovative solutions in the face of these challenges, cleaning systems for sensor systems of motor vehicles are available. US Patent Application Publication No. 2023 / 406268, for example, teaches a system that includes lens treatment devices for delivering compressed gas or compressed liquid or heat for removing water droplets, mud, road dirt or ice formed on the surface of the lens of the sensor. However, this system is not self-sustained as it relies on receiving water from an external source.

[0009] Other available solutions are intricate, utilizing high-pressure water delivery systems through lengthy pipelines, which necessitate regular maintenance and constant water replenishment. These sophisticated systems involve intricate mechanical components and possess a susceptibility to water leaks issues and potential clogs.

[0010] In particular, one notable approach involves the utilization of high-pressure water systems with extensive networks of pipes. These systems deliver pressurized water streams directly onto the sensor or camera surfaces, effectively dislodging contaminants such as dirt, debris, and environmental residues. However, this method requires meticulous upkeep, including regular inspections, repairs, and a continuous supply of water to maintain optimal functionality.

[0011] The mechanical intricacies of these systems present both advantages and challenges. On one hand, they enable precise control over water pressure and distribution, ensuring thorough cleaning. On the other hand, the presence of complex mechanical parts introduces a higher degree of maintenance complexity, potentially leading to downtime if not managed efficiently.

[0012] Moreover, beyond the autonomous vehicle sphere, there is a parallel need for effective cleaning solutions for surveillance cameras, as they too are vulnerable to environmental factors that compromise their functionality.

[0013] There is also a need for self-sustained cleaning of various types of lights, in particular vehicle lights and camera lights.

[0014] There is therefore a need for a comprehensive and self-sustained cleaning system that surpasses conventional methods. The invention taught herein aims to address not only contamination from dirt and debris but also the adverse effects of ice build-up and condensation on sensor lenses. To this end, the current invention provides a sensor cleaning system which integrates thermoelectric coolers (TECs). TECs operate on the Peltier effect, utilizing a cold plate and a hot plate with P-type (positive) and N-type (negative) semiconductor materials at the junctions. When an electric current is applied, heat is absorbed at the cold plate and expelled at the hot plate, effectively controlling the temperature of the targeted surface. By reversing the direction of the electric current, the plates reverse their function, such that the previously cold plate becomes a hot plate and the previously hot plate becomes a cold plate.

[0015] SUMMARY OF INVENTION

[0016] TECHNICAL PROBLEM

[0017] The aim of the invention is to provide a stand-alone solution for cleaning effectors such as sensors, cameras, LIDARs and lights and detectors, and more particularly, for cleaning the lenses of these effectors.

[0018] Another aim of the invention is to have an energetically efficient solution for cleaning effectors from various forms of dirt and obscuring factors such as snow, ice, mud, dust, debris, moisture, steam, and insects.

[0019] Another aim of the invention is to efficiently cool the electronics of the effector.

[0020] The invention further aims to provide a stand-alone solution to ensure optimal performance of effectors.

[0021] Another aim of the invention is to provide an apparatus such as a vehicle, in particular an autonomous vehicle, having effectors which may clean themselves.

[0022] Another aim of the invention is to provide a self-sustainable solution for the cleaning of lights, sensors, detectors and cameras, in particular vehicle lights and camera lights, light lenses of streetlamps, traffic lights, vehicle sensors and surveillance cameras.

[0023] SOLLUTION TO PROBLEM In a first aspect, the invention provides an effector cleaning module having a thermoelectric cooler (TEC), which conventionally includes a cold plate and a hot plate. The effector may be selected from a sensor, a camera, a lighting source such as a light bulb or LED and a detector, such as a smoke detector of as fire alarm. Each one of the cold plate and the hot plate has an inner side facing the hot plate and the cold plate, respectively and an outer side facing away from the other plate. The effector cleaning module includes a sump for collecting water condensed on the cold plate when the TEC is operating positioned under the cold plate of the TEC. The effector further includes a water pump, a water jet nozzle, a water tube having a water inlet and a water outlet. The pump is in fluid communication through the water tube with the sump and the water jet nozzle for providing water (which were generated by condensation over the cold plate) from the sump to the waterjet nozzle for washing a lens of a sensor. To this end the waterjet nozzle is positioned and oriented with respect to a lens of an effector allowing effective washing of the latter.

[0024] The TEC of the module may further comprise a void through the hot plate to accommodate an effector, wherein the inner dimensions of the void are compatible for embedding the effector therein. The void may further extend through the cold plate of the TEC.

[0025] In a second aspect, the invention provides a self-cleaning effector system comprising the effector cleaning module described above together with an effector (a sensor, a camera, a LIDAR or a lighting source) which is coupled to the effector cleaning module, and my reside inside a void in the hot plate (and optional also in the cold plate) of the TEC.

[0026] In a third aspect, the invention provides an apparatus (e.g., a vehicle, a surveillance camera and a streetlamps, traffic light and a fire alarm having a smoke detector) containing the self-cleaning effector system of the invention as described above. ADVANTAGEOUS EFFECTS OF INVENTION

[0027] The self-cleaning effector system of the invention provides a system which combines water collection, pumping, and precise nozzle technology to ensure optimal performance of effectors such as cameras, LIDARs, lights, detectors and sensors. The system efficiently collects water into a local storage tank (a sump), which is then pressurized and sprayed by a water pump on the camera, LIDAR, light, detector and / or sensor leans surface. This process effectively addresses various forms of contamination, such as snow, ice, mud, debris, moisture, steam, dust and insects.

[0028] Moreover, the integrated functionality of the system extends to ice and snow removal, by utilizing a heated surface, it can efficiently melt and dislodge accumulated ice and snow layers, and, avoid mist develop on the sensor lens, by controlling the lens surface temperature, enhancing sensor visibility and functionality in cold climates.

[0029] This integrated approach not only streamlines the cleaning process but also contributes to prolonged sensor lifespan and improved data accuracy and readability to the sensors, detectors, LIDARs, lights & cameras (collectively referred as "effectors"). The system's adaptability to diverse environmental conditions positions ensures seamless operation of autonomous vehicles and other advanced sensor technologies.

[0030] The self-cleaning sensor system of the invention utilizes a reusable source of water. The Atmosphere contains a large amount of water in the form of moisture. The atmospheric moisture is converted directly into usable cleaning water by cooling the air its dew point in different whether condition where the air moisture condenses into water droplets. After condensation, the condensed water is collected to the water tank for the cleaning applications. A Peltier device (TEC) which is portable and eco-friendly, reliable with no moving parts and rigid, is used to generate atmospheric water. The on-spot generation of water provides a fully automated and standalone system. The system further makes use of smart control and optimization according to real-time temperature and humidity and alternating the electrical current provided to the TEC, for maximizing the device efficiency in terms of water collection and providing an independent system that operates at various weather conditions. The use of atmospheric water instead of water that is added to the cleaning system as in existing systems, has the advantage of distil led-grade water, leaving no lime stains on the lens of the sensor after washing and no clogs in the system due to sediments of minerals.

[0031] BRIEF DESCRIPTION OF THE DRAWINGS

[0032] For better understanding of the present invention and in orderto exemplify how it may be implemented in practice, several embodiments are hereby described, which should be interpreted only as non-limiting examples, with reference to the accompanying figures. It is noted that the sizes and scale of the embodiments presented in the figures are exemplary and non-limiting.

[0033] It will be appreciated that for simplicity and clarity of illustration, where appropriate, reference numerals have been repeated among the different figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein can be practiced without these specific details. In other instances, methods, procedures, and components have not been described in detail so as not to obscure the related relevant feature being described. Also, the description is not to be considered as limiting the scope of the embodiments described herein.

[0034] FIG. 1 depicts a schematic isometric representation of an effector cleaning module according to an embodiment of the invention where the effector is a sensor.

[0035] FIG. 2 depicts a schematic isometric representation of a self-cleaning effector system according to an embodiment of the invention where the effector is a sensor.

[0036] FIG. 3 depicts a cross-sectional schematic representation of a self-cleaning effector system according to an embodiment of the invention where the effector is a sensor along line A-A of Fig. 2. Fig. 4 depicts a cross-sectional schematic representation of a self-cleaning effector system comprising an effector cleaning module and an effector according to an embodiment of the invention where the effector is a sensor along line B-B of Fig. l and a camera.

[0037] Fig. 5 depicts a back-view cross-sectional schematic representation of a self-cleaning sensor system according to an embodiment of the invention along line A-A of Fig. 1.

[0038] Fig. 6 depicts a cross-sectional schematic representation of a self-cleaning sensor system comprising a sensor cleaning module and a camera in a vehicle according to an embodiment of the invention.

[0039] Fig. 7 depicts a cross-sectional schematic representation of a self-cleaning sensor system comprising a sensor cleaning module and a camera in a vehicle according to an embodiment of the invention.

[0040] Fig. 8a depicts a schematic isometric representation of a self-cleaning sensor system with heat sink extensions on the TEC plates according to an embodiment of the invention.

[0041] Fig. 8b a schematic isometric representation of a self-cleaning light with heat sink extensions on the TEC plates and an external nozzle according to an embodiment of the invention.

[0042] Fig. 9 depicts a schematic isometric representation of a self-cleaning sensor system with two TEC units in tandem according to an embodiment of the invention.

[0043] Fig. 10 depicts a cross-sectional schematic representation of a self-cleaning sensor system comprising a sensor cleaning module and a LIDAR according to an embodiment of the invention.

[0044] Fig. 11 depicts a cross-sectional schematic representation of a self-cleaning effector system comprising a sensor cleaning module and a surveillance camera according to an embodiment of the invention. Fig. 12 depicts a cross-sectional schematic representation of a self-cleaning effector system comprising an effector cleaning module and a surveillance camera and a light according to an embodiment of the invention.

[0045] Fig. 13 depicts a cross-sectional schematic representation of a self-cleaning effector system comprising a self-cleaning effector system embedded in a vehicle according to an embodiment of the invention.

[0046] Fig. 14 depicts a schematic isometric representation of a self-cleaning effector system 100 having an effector (a LED) in between two TECs according to an embodiment of the invention.

[0047] DESCRIPTION OF EMBODIMENTS

[0048] Although the invention is illustrated and described herein, the invention is not limited to the details shown because various modifications and structural changes may be made without departing from the invention and the equivalents of the claims. However, the construction and method of operation of the invention together with additional objects and advantages thereof will be best understood from the following description of specific embodiments when read in connection with the accompanying drawings.

[0049] The present invention provides in a first aspect an effector cleaning module that includes a thermoelectric cooler (TEC) having a hot plate and a cold plate, a sump positioned under the cold plate to collect water droplets which condense from humidity in the air on the cold plate of the TEC when the latter is operating. These droplets gravitationally drop to the sump which stores the water to be used for washing an effector. The effector can be selected from at least one of a sensor, a camera, a LIDAR, and a light source (e.g., a LED). The effector cleaning module further includes a water pump being in fluid communication (through water tubing) with the water sump on one side and a waterjet nozzle on the other side for providing water from the sump to the water jet nozzle. The water jet nozzle can be used to wash at least one effector (e.g. a sensor, or a camera and a light source) from dirt at need. The water from the sump is pressurized by the pump and sprayed by the water nozzle jet. The water nozzle jet may involve precise nozzle technology.

[0050] The term "effector cleaning module" refers to a module which comprises interconnected components capable of removing obscuring elements from an effector such as a sensor including dirt, debris, stains, dust, water drops, oil, bugs and ice from the sensor. The module may include a cavity for including the effector (e.g. the sensor, light and / or camera) or be positioned in proximity to the effector to be cleaned. When the effector cleaning module is specifically designed for a specific effector then it is termed accordingly, i.e., "sensor cleaning module", "camera cleaning module", "light cleaning module" etc.

[0051] The term "effector" relates to a device having a lens which is capable of interactively causing an effect on the environment or causing an effect on another device in response to receiving an input from the environment. For example, a LED is a type of effector because it affects the environment by illuminating light through a lens (the transparent cover of the LED). The lens of the effector may need occasional cleaning to perform properly. As such, the term effector includes devices such as a camera, a sensor, a detector, a LiDAR and lights (e.g., LEDs). For the sake of simplicity, the description will refer to the effector as a sensor, but should be inferred to relate to any other type of effectors as well, unless another type of effector is specifically mentioned.

[0052] The term "thermoelectric cooler (TEC)" (also known as Peltier device, thermoelectric heat pump, Peltier cooler or heater, Peltier heat pump, or solid-state refrigerator) refers to a device working by Peltier effect, utilizing a cold plate and a hot plate with P- type (positive) and N-type (negative) semiconductor materials at the junctions. When an electric current is applied, heat is absorbed at the cold plate and expelled at the hot plate, effectively controlling the temperature of the targeted surface. By reversing the direction of the electric current, the plates reverse their function, such that the previously cold plate becomes a hot plate and the previously hot plate becomes a cold plate. The term "sensor" refers to a device that detects and responds to a signal or stimulus and includes elements allowing it to send the information to other electronics, including a computer processor. The sensor is equipped with a component susceptible to a physical property of the surrounding, such as temperature or susceptible to a spectral range such as a visible light or ultrasound waves which can be translated into an image (i.e., a camera). In particular, the term "sensor" in the context of the current invention refers to any sensor that is equipped with a lens that covers the sensor, wherein the lens requires occasional cleaning, melting of ice buildup, or evaporation of moisture buildup. The term "sensor" should be construed to include without be limited to proximity sensors, optical sensors, IR sensors, color sensors, light sensors (photosensors), smoke sensors (including IR beam fire detection sensors), event cameras and monitoring sensors.

[0053] The term "lights" that is interchangeably used with the term "lighting sources" includes illuminating devices such as lanterns of various types such as LED based lamps and lighting with a light bulb based on various gases. Without being limited thereto, lights include vehicle lights, streetlamps, traffic lights and camera lights. Vehicle lights include headlights, main road and head lamps, headlights used as high light, low light or various road lights found in the vehicle, and special vehicle lighting for dashcams, whether as part of the camera / sensor or as part of the sensor layout. Camera lights include lights attached to standalone cameras such as street cameras, CCTV, security cameras and lasers.

[0054] The term "sump" refers to a container or storage tank, usually having an open top end which is capable of holding a liquid such as water. There is no particular restriction for the volume of the sump, but consideration should be given to the amount of waterthat should sufficient for cleaning a given sensor with the sensor cleaning module. Usually, a volume of 0.1 liter to 1.5 liter per sensor should be sufficient, as the sump is refilled by water that is condensed by the TEC. The sensor cleaning module may be equipped with a funnel disposed between the cold plate and the sump for directing water droplets condensate from the cold plate to the sump. The sensor cleaning module can be installed in proximity to a sensor. The sensor cleaning module may be as close as 10 cm ,9 cm, 8 cm, 7 cm, 6 cm, 5 cm, 4 cm, 3 cm, 2 cm or 1 cm from the sensor (measured as the distance from the center of gravity of the TEC to the center of the cover lens of the sensor). In some embodiments the sensor cleaning module is connected to a water source such as a water reservoir with water tubing not longer than 10 cm.

[0055] The sensor cleaning module may include a TEC having a void, wherein the void has dimensions compatible with accommodate an effector (e.g. a sensor), or at least a portion of the effector which includes a lens or a cover of the sensor. The void may cross through the hot plate of the TEC from the outer surface of the hot plate toward the surface facing the hot plate facing the p / n juncture. The void may extend further through the p / n juncture. The void may be a fully throughput void and may extend all the way from the hot plate through the p / n juncture further through the cold plate, all the way to the outer surface of the cold plate.

[0056] TECs having voids are commercially available, for example from TEC Microsystems GmbH (Berlin, Germany) and Minkin Arctic Tec Technologies GmbH (Dortmund, Germany), or they me be specifically tailored and / or prepared according to known techniques.

[0057] The void in the plate or plates of the TEC may further comprise a thermal conductive sleeve for encircling a sensor. The inner void of the thermal conductive sleeve has dimensions compatible for accommodating the effector that is meant to be accommodated therein. Thus, the void in the plate(s) may have inner dimensions for accommodating a thermal conductive sleeve and a sensor. The term "thermal conductive sleeve" refers to a sheet made of a thermally conductive material, i.e. a material having the ability to conduct heat through it and characterized by a high thermal conductivity at room temperature (e.g., above 10, 20 or 50 Wm_1K-1) such as a metal, and alloy. Due to its high thermal conductivity the thermal sleeve can efficiently transfer heat from one surface of the sheet being in contact with the plate of the TEC to the other surface of the thermal conductive sleeve being in contact with the effector walls or lens.

[0058] The water jet nozzle can be selected from various water jet nozzles that are commercially available. In some embodiments, the effector washing module contains more than one water jet nozzle, which are disposed at different angles and positions with respect to the sensor, designed for efficient washing and cleaning. In some embodiments, one water jet nozzle is connected to the water pump for washing a sensor while another air jet nozzle is connected to an air compressor of the effector washing module, designed to dry the effector's lens after it is washed, or remove dust and dirt without pre-washing.

[0059] In some embodiments, the same water jet nozzle is connected through a three-way valve to the water pump on one port, and to an air compressor on a second port of the three-way valve, and the module may switch between one state where the three way valve connects the water jet nozzle to the providing water to the water jet nozzle for washing the sensor and a second state wherein the three way valve connects the water jet nozzle (which then serves as an air jet nozzle) to compressed air for drying the lens of the effector or for removing dust or other contamination from the lens of the effector.

[0060] In some embodiments, the cold plate and hot plate of the TEC can switch theirfunction, as known in TECs, by switching the current direction. This can allow temporary cooling of the lens of the effector when there is need to remove heat from the lens of the effector.

[0061] The effector cleaning module may be equipped with an air cover connected to the outer side of the cold plate. The air cover forms together with the cold plate a semiopen compartment enclosure defining a space adjacent to the cold plate. The air cover may have openings allowing air to flow through the semi-open compartment defined by the air cover. The openings may be on the sides of the compartment being lateral to the cold plate. The compartment defined by the air cover and the cold plate may include an air maze, as known in the art, and may also include a filter and / or particles trap, as known in the art, at the air entries for preventing dust and debris from reaching the TEC plate. This allows air to flow more slowly over the cold plate, thus increasing efficiency of water generation over the cold plate (providing more contact time between the air and the cold plate which allows the air to reach the dew point). A similar air compartment with openings and optional air-filters at the entries, can be placed adjacent to the hot plate, allowing air flowing over the hot plate to remove heat therefrom and acting as a heat sink.

[0062] The TEC can adopt any desired structure. It can be square, rectangular or an annular ring. In embodiments having a void accommodating the sensor, the void can be centered with respect to the TEC's plates main plain, but it can also be off centered. The TEC may have an elongated portion below the void, such that most of the water that is generated overthe cold plate is formed underthe position ofthe sensor. In some embodiments, there can be second TEC in tandem to the TEC accompanying the sensor. This arrangement of two TECs in tandem may allow operating the two TECs at different voltages such that the TEC accompanying the sensor is turned on and off or provided power as required for cleaning and / or cooling the sensor while the second TEC is provided power as needed for generating water. To improve the performance of the system, a multistage TEC system, as known in the art, can be implemented. Without being limited thereto, the normal operating voltage range is usually 5.5V to 25V.

[0063] In some embodiments, the sensor cleaning module can include a photovoltaic cell to provide power for operating the TEC, the water pump and / or any other electrical component.

[0064] In some embodiments, the sensor cleaning module may include an electric fan to optimize heat dissipation from the heatsink that is connected to the hot side of the TEC.

[0065] The effector cleaning module may include a controller. The controller includes all necessary components to operationally control the TEC and the pump of the effector cleaning module according to preset programable instructions. In embodiments of the invention which include a controller, the effector cleaning module may further include at least one operational sensor selected from a temperature sensor, a humidity sensor and a water level sensor. The term "operational sensors” refers to sensors that are used for the operation of the self-cleaning effector system, differentiating it from the sensor being the effector in embodiments where the effector of the self-cleaning effector system is a sensor. The controller can be in communication with at least one of the operational sensors, operational communications with the TEC the air compressor and the water pump, wherein the controller can turn the TEC on or off or adjust the power provided to the TEC according to parameters received from the at least one operational sensors. The controller can turn the water pump on or off or adjust the power provided thereto.

[0066] The effector cleaning module may be operated by the controller such that after each time the effector cleaning module operates and uses water from the sump to clean the lens of the effector, or when a detector detects that the water level in the sump is below a predetermined level, then the effector cleaning module will be switched into an operative mode where the TEC is activated, and water starts to be generated on the cold plate of the TEC and drip to the sump. The sump can be replenished with water until the water level reaches an on / off switch detector. The module may also be conditionally operative when the temperature and humidity levels are such that allow the formation of water in the cold plate and when climate conditions of temperature and humidity are bellow conditions for generating water, the sensor cleaning module is set to keep the TEC idle.

[0067] The term "controller" is inferred herein as a device comprising processing and / or computing capabilities such as a computer, network device or computer-like device which may be used for interacting with other components of the sensor cleaning module such as the TEC, the air compressor, the pump, sensors of the module (e.g., and without being limited thereto - a water level sensor, TEC plate surface temperature sensors, surrounding environment temperature sensor) and may include at least one processor commonly known in the art.

[0068] The controller may include an input / output interface configured to mediate data input and output between various components of the sensor cleaning module and may include within the controller, a memory configured to store executable instructions (software) and data (in particular executable instructions for carrying our different operation modes of the system as will be detailed infra), a graphic processorto perform image processing (e.g. for a user interface), a main processor configured to perform computing operations in accordance with the programs and data stored in the memory and a system bus serving as a path for transmission and reception of data among the input / output interface, the memory, the graphic processor, and the main processor.

[0069] The memory may retrieve control programs and control data for controlling the operation of the sensor cleaning module from the storage and store the retrieved results.

[0070] The memory may include volatile memory such as static random-access memory (SRAM) and dynamic random-access memory (DRAM). However, the embodiment is not limited thereto. If required, the memory may also include non-volatile memory such as flash memory, read only memory (ROM), erasable programmable read only memory (EPROM), and electrically erasable programmable read only memory (EEPROM).

[0071] In a second aspect the invention provides a self-cleaning effector having an effector cleaning module of the invention according to the embodiments described above, and an effector coupled to the effector cleaning module. The coupling between the effector cleaning module and the effector can be by having the effector accommodated inside a void in the hot plate of the TEC. The effector can be accommodated in the void of the hot plate of the plate such that the lens of the effector faces the orifice of the void on the surface of the hot plate of the TEC. The lens (or cover) of the effector can be aligned with the surface of the hot plate, penetrate outside of the hot plate or be inside the void but facing the environment to allow the effector to receive from the environment the physical property it measures (e.g., a picture, visible light picture, infrared picture ultrasound waves picture etc.

[0072] The void in the TEC may extend from the hot plate to the cold plate and the effector accommodated in the void is positioned in the void having the lens of the effector facing the surface of the hot plate or protruding out of the hot plate and the back portion of the effector including the electronics components of the effector are embedded in the cold plate portion of the void. This allows the cold plate to remove heat from the electronics of the effector in parallel to condensation of air humidity into water while the hot plate is used for defrosting ice and / or dehydration of moisture that might form on the lens and obscure the picture to the effector by heating the surface of the lens.

[0073] The lens of the effector can be under a transparent cover being part of the hot plate. To that end the hot plate can be made from transparent conductive materials such as indium tin oxide and PEDOT:PSS.

[0074] The self-cleaning effector system of the invention may be operated by the controller according to several possible modes. In a first mode, a water generation mode, the TEC is activated by the controller to produce water by condensation of humidity in the air on the cold plate into water droplets and dripping the water droplets by gravitation to the sump. The controller may invoke the water generation mode to activate the TEC in response to a signal received from a water level sensor indicating water level in the sump is under a predetermined value indicating that the water level in the sump is low. The water generation mode may also be invoked or be conditional upon input of humidity and temperature parameters of the environment received by the controller from humidity and temperature sensors (or from the car computer sensors) that record environmental humidity and temperature respectively which indicate that water generation is feasible under such conditions. The parameters received from the temperature and humidity sensors may also indicate the power level that is required to implement on the TEC for generating water, i.e., when the relative humidity is high (e.g., low temperature and high humidity) the required power may be lower than at conditions of low relative humidity.

[0075] In a second mode, an effector lens washing mode, the water pump is activated by the controller or manually to pull water from the sump to the waterjet nozzle. A third mode can be an effector drying mode, wherein the water jet nozzle is switched through a three-way valve to connect to the air tubing by the controller, and the air compressor is activated to drive an air stream through the air tubing to the water jet nozzle. The controller may activate the pump and switch the waterjet nozzle to either connect to the water pump or to the air compressor when it operates the effector lens washing mode or the effector lens drying mode in response to visional obscurity, and / or according to the type of obscurity as detected by detectors that are communicating with a main computer of the apparatus hosting the effector such as a vehicle's computer. Alternatively, or additionally, these modes may be manually activated by an operator of the apparatus such as a driver of a vehicle installed with the self-washing effector system. Alternatively or additionally, these modes may be activated periodically in an automated manner.

[0076] In another optional mode, an anti-freeze mode, the cold plate is in contact with the sump or with the water in the sump (e.g., immersed in the water in the sump or being in contact with thermal conductive wall of the sump). In response to receiving a water temperature reading by a thermometer in the water indicating the water is close to freezing point, the controller may switch the cold plate into a hot plate to heat the water in the sump. In some embodiments, the anti-freeze mode may be activated in response to environmental parameters which are expected to freeze the water in the sump.

[0077] In some embodiments the self-washing sensor system may have an effector lens defrost mode. In an effector lens defrost mode, the TEC is turned on by the controller for a duration of time sufficient for the hot plate to defrost ice buildup on the lens of the sensor.

[0078] In some embodiments, the self-washing sensor system may have a cold plate defrost mode. In a cold plate defrost mode, the direction of electric current is switched by the controller such that the cold plate turns into a hot plate, and the hot plate turns into a cold plate for a duration of time sufficient to defrost ice buildup of the formerly cold plate. In some embodiments, the self-washing effector system may have an electronics only cool-down mode. In an electronics only cool-down mode the cold plate is cooled down to a temperature above dew point such that the cold plate provides cool air to the electronics of the effector by cooling the heatsink of the effector without generating water condensate.

[0079] In some embodiments, the self-washing effector system may have a pre-emptive cleaning mode. In a pre-emptive cleaning mode, the effector is a camera and the camera is designed to provide an input to the controller regarding an object approaching the lens of the camera and the controller is designed in response to said input to activate the waterjet nozzle to divert the approaching object from the lens.

[0080] In some embodiments, the self-washing effector system is embedded in a vehicle. In some embodiments, the effector is a camera or LIDAR of a vehicle, and the self-washing effector system embedded in the vehicle is a camera or LiDAR coupled to the effector washing module of the invention for the automotive industry. In some embodiments the camera of the vehicle includes a light (e.g., a LED) and the self-washing effector system is designed to wash the light of the camera in addition to washing the camera. In some embodiments, the self-washing effector system of the invention embedded in a vehicle excludes a surveillance camera.

[0081] In some embodiments, the self-washing effector system comprises a plurality of TECs, and the effector is disposed in -between two or more TECs, or embedded in one of the TECs.

[0082] In some embodiments, the effector is a surveillance camera. In such embodiments, the self-washing effector system is a surveillance camera that is coupled to the effector washing module of the invention. In some embodiments, the surveillance camera that is equipped with the sensor washing mode of the invention excludes cameras to be implemented in vehicles.

[0083] Reference is now being made to Figure 1 depicting an effector cleaning module 110 according to an embodiment of the invention, and to Figures 2 to 4 depicting a self- cleaning effector 100 according to the invention. For sake of simplicity, the effector cleaning module and the self-cleaning effector may be referred herein interchangeably as sensor-cleaning module and self-cleaning sensor, respectively.

[0084] When the sensor cleaning model 110 accommodates a sensor 14 it is referred herein as a self-cleaning sensor 100. The sensor cleaning module includes a TEC 20 which includes a cold plate 22, a hot plate 24 and P / N junctions 25 between the cold and hot plates 22, 24. Water tubing 44 connects the water pump 40 to the sump 48 on one end and the water jet nozzle 42 on the other end, allowing the water pump 40 to provide water from the sump 48 to the jet nozzle 42. A water inlet 44a of the water tubing is disposed in the water sump such that is immersed in water when the sump holds stored water 49. A water tubing 44 is connected to the waterjet nozzle 42. The waterjet nozzle 42 in Figure 1 is disposed in the hot plate 24 by way of example but can nevertheless be disposed in the body of the apparatus (i.e., 70 in Figure 4) which comprises the sensor cleaning module, such as a body of a vehicle, a body of a camera, a body of a light or a cover of a light (e.g., a cover of a light in a traffic light). When the TEC 20 is operating, the cold plate functions as a water generator such that humidity in the air condenses into water droplets on the cold plate 22. The water droplets on the cold plate drop gravitationally to the sump 48 which is disposed under the cold plate 22. In some embodiments, the sump 48 may comprise an amount of antifreeze and / or a detergent to mix with the collected water. In some embodiments, there is a dispenser having an antifreeze and / or detergent to be added to the collected water. In some embodiments, the control is programmed to add antifreeze and / or detergent as needed. In some embodiments, the air that leaves the cold plate after being stripped from humidity becomes dry air which may be directed by ducts and / or motivating means to provide a dry environment to the sensor or other utilities which can benefit from dry and cool air. For example, the dry cool air that leaves the cold plate can be directed to feed a compressor which provides compressed air to a jet nozzle. I n other embodiments the dry air is motivated (e.g., by a fan) to the lens of the effector.

[0085] The water jet nozzle 42 is positioned such that it enables washing of a lens 14 of a n effector 10 coupled to the effector cleaning module 110. The water jet nozzle 42 may be positioned such that consideration is taken not to obscure the lens 14 of the sensor

[0086] 10.

[0087] In some embodiments, as depicted in Figure 4, the water jet nozzle 42 may be connected to an air compressor 95 through tubing 44B and 44 that connects the jet nozzle 42 with the air compressor (optionally through a three-way valve switching between connection to the air inlet tubing 44B and the water inlet tubing 44A).

[0088] The sensor cleaning module 110 may be equipped with funnel 46 for directing water droplets condensate from the cold plate 22 to the sump 48.

[0089] TEC 20 in the example given in Figure 1, comprises a void 26 having inner dimensions allowing the void 26 to accommodate a sensor. In this example, the void is a throughput void that goes through the hot plate 24. It may also continue through the cold plate. The void can be perpendicular to the surface of the hot plate 22, and it can also be inclined to the surface. In other embodiments, the throughput void can pass only through the hot plate 24 so that when a sensor is accommodated in the void it can be placed having the lens of the sensor facing the opening of the void in the outer surface of the hot plate 24a and the back of the sensor facing the cold plate 22.

[0090] In some embodiments, instead of a throughput void there is a cavity inside the hot plate having dimensions to accommodate a sensor and cover it. The sensor is meant to be placed inside the cavity and the hot plate, which is made of a transparent material in the spectrum relevant to the sensor, covers the sensor and serves as a lens for the sensor.

[0091] In a further aspect, the invention provides a vehicle comprising the self-cleaning sensor system of the invention as described above. A body part of the vehicle embedding the self-cleaning sensor system and which comes in contact with the environment such as a bumper, can function as a heat sink to the self-cleaning sensor system.

[0092] The self-cleaning effector system 100 depicted in Figures 2-4 includes a controller 30, which is in communication with operational sensors. The operational sensors in the given example herein are a temperature sensor 32, a humidity sensor 34, and a water level sensor 45 . The controller 30 can be in communication with the at least one of the temperature sensor 32, the water level sensor 45 and the humidity sensor 34 and in operational communication with the TEC 20 and the water pump 40, wherein the controller 30 turns the TEC 20 on or off, turns the water pump 40 on or off and / or adjusts the powerto the TEC 20 according to parameters received from the at least one of the temperature sensor 32, water level sensor 45 and a humidity sensor 34. The controller 30 can also receive these parameters from the computer of the apparatus installed with the self-washing sensor system, e.g., a vehicle.

[0093] For example, the TEC 20 may be activated by the controller 30, such that after each time the effector cleaning module 110 operates and uses water from the sump 48 to clean the lens 14 of the effector 10, the effector cleaning module 110 will be switched into an operative mode where the TEC plates 22, 24 are activated, water starts to be generated on the cold plate 22 and drips to the sump 48, the sump 48 is replenished with water until the water level reaches an on / off switch water level detector 45. The module 110 may also be conditionally operative when the temperature and humidity levels are such that allow the formation of water in the cold plate 22 and when climate conditions of temperature and humidity are bellow conditions for generating water, the effector cleaning module 110 is set to keep the TEC 20 idle.

[0094] Reference is now made to Figure 2, the void 26 in the hot plate 22 accommodates a thermal sleeve 28 covering a section of the surface of the void 26 and leaving a remaining void (the void encircled by the thermal sleeve 28 being compatible with a lens 14 of a effector 10. The inner dimensions of void 26 are thus compatible to accommodate the thermal conductive sleeve 28 and a lens 14 of a effector 10. The thermal sleeve 28 can be in full contact with lens 14 of the effector 10 to effectively transfer heat from the hot plate 24 to the lens 14 of the effector 10 for effectively removing condensate and / or ice buildup from the lens 14 of the effector 10. The thermal sleeve can be made for example of brass, copper, or other metals. The electronics chamber 12 of effector 10 can be in direct contact with the cold plate 22 or with an air cover 50 of the effector cleaning module 110. The air cover 50 can be connected to the outer side 22B of the cold plate 22, defining an open sided space having wherein the two lateral sides of the cover 52 and 54 serve as inlets and outlets allowing air to flow through the space to remove heat from the hot plate 24 acting as a heatsink.

[0095] Reference is now made to Figures 6 and 7 depicting another embodiment of the instant invention where the self-cleaning effector 100 is embedded in a bumper or glass 70 of a vehicle 1000. In Figure 6, The hot plate 24 of the TEC 20 is separated from the outer side of the bumper / glass 70 defining a space 58 through which air 80 can enter from an entry 52 and flow over the hot plate 24 and through an entry 53 towards the bypass 59 defined by the air cover 50 and the face of the cold plate facing the air cover 50, allowing the air to flow over the cold plate 22. The airflow 80 flowing over the hot plate 24 removes heat from the hot plate 24 and gets warmer. The now warmer airflow may then flow through the bypass 59 over the cold plate 22 and functions as a heat sink. An optional shutter (not shown) between space 58 and bypass 59 can stop the warmer air from flowing over the cold plate 22 whenever warming the cold plate is unwanted, for example while the cold plate is being used to produce water. In Figure 7 there is no duct connecting between the airflow flowing over the hot plate and the airflow flowing over the cold plate, so two airflows flow independently over the two plates 22 and 24. It is noted that the air entries and air flow directions in all figures, are arbitrary and non-binding as they are shown here for illustrative purposes only, but the actual flow directions can be reversed in the real world. The actual entry and exit locations may also differ in reality. This does not change the principal mode of action which the drawings are meant to illustrate.

[0096] Reference is now made to Figures 8a and 8b which depict a self-cleaning sensor 100 and a self-cleaning LED according to embodiments of the invention wherein each one of the plates of the TEC has heat sink extensions, 92 and 94, respectively. Airflow 80 flowing over the extensions 92 and 94 removes heat from the heat sink extensions 92 and 94. In Figure 8b, the effector, being a LED 600 in this embodiment, is positioned in proximity to the TEC. A fan 97 is attached to the face of the hot plate 24 to actively remove heat therefrom. A nozzle 620, being selectively connected to the sump 48 through a pump 40 or to an air compressor 95 is positioned at an angle in distance from the lens of the LED 601 to effectively wash the lens by spraying water from the sump 48 or dry the lens with a stream of air from the air compressor 95.

[0097] Reference is now made to Figure 9 depicting another embodiment of the invention where an additional TEC 60 having a cold plate 62, hot plate 64 and air cover 66 is positioned such that the cold plate 62 of the additional TEC 60 is located above the sump 48.

[0098] Reference is now made to Figure 10 depicting a self-cleaning effector 110 wherein the effector is a LIDAR 200 having an electronics compartment 17 and a lens 18. The Lidar is placed in proximity to the TEC 20 and is equipped with multiple waterjet nozzles 42 for washing the lens 18, which are in fluid communication with the sump 42 as in previous embodiments. Airflow 80 which flows through inlet entry 52 over hot plate 22 serves as a heat sink.

[0099] Reference is now made to Figure 11 depicting a self-cleaning effector 500 according to an embodiment of the invention wherein the effector 10 is a security camera and is equipped with a photovoltaic cell 300. The photovoltaic cell 300 provides power to the self-cleaning effector (camera) 500 when it is operating and can charge a battery of the self-cleaning effector (camera) 500 in between operation periods. An electric fan 97 may also be disposed in proximity to the TEC or being connected to the heatsink extensions 92. A three-way valve 41 disposed on the tubing leading to the nozzle 42 allows selection between a connection to the water pump 40 or an air compressor 95.

[0100] Hot plate 24 of the TEC 20 can be in thermal contact with the housing 56 of the camera to transfer heat to the housing and from the housing to the lens of the camera.

[0101] The effector cleaning module 500 of Figure 11 further comprises an air compressor 95 being in fluid connection through air tubing 96 with the water jet nozzles 42, and a three-way valve (not shown) disposed between the air compressor, the water pump and the nozzle. The three-way valve comprises one entry connected to the water tube and another entry connected through an air tube to the compressor and an outlet connected to the water jet nozzle, enabling the water jet nozzle 42 to dry or remove dust from a lens of an effectorlO with a stream of compressed air. This option of compressed air feature can be added to any other embodiment of the invention.

[0102] Reference is now made to Figure 12 depicting the self-cleaning security camera of Figure 11, further including a camera light (e.g., a LED) 600 having a lens 601 and an external water jet 620 attached to the camera body 630 and located gravitationally above the lenses of the light and the camera, allowing a jet of water to be sprayed at the lenses whenever the lenses require a wash. The washing can be prompted either manually or whenever a management system in the camera receives an input that either one of the lenses requires cleaning. The input can be obtained either by sensors or by analyzing the image obtained by the camera. The electric fan 97 in this embodiment is located parallel to the outer surface of the hot plate 24 of the TEC and attached to the heat sink protrusions 94 of the hot plate 24.

[0103] Reference is now made to Figure 13 where a self-cleaning effector (e.g., sensor) system 100 is embedded in a body part 70 (e.g. a bumper) of the vehicle 1000, which acts as a heat sink to the hot plate 24 of the TEC. The air flow 80 striking the body part 70 also acts as a heat sink to the body part 70 by removing heat therefrom and from the electronics 12 of the sensor 10 through a heat sink passage 90 inside the air cover 50.

[0104] Reference is now being made to Figure 14, where a self-cleaning effector system 1000 having a LED 600 as the effector by way of example, comprises two TECs 20, each TEC being similar to the TEC depicted in Figure 8, and wherein the LED 600 is disposed inbetween the two TECs 20.

[0105] EXAMPLE

[0106] A commercially available TEC (TEC1-12710) was tested for water production yield and the effect of a fan on the yield at various conditions with a fan directed at the cold plate and / or the hot plate. It was found that at a relative humidity of 44 % - 64 % at temperatures of 26 °C - 34 °C the TEC produces condensed water at rate of 3.5 - 6.8 ml / hr compared to 1.1 ml / hr without applying a fan directly on the either one of the plates.

[0107] The results demonstrate that water can be generated by a TEC and collected under the tested conditions. Adding a fan which blows air directly on the hot plate or the cold plate significantly increases the yield of water production. The water generated by the

[0108] TEC can be pumped and used to wash an effector such as a sensor.

Claims

CLAIMS1. An effector cleaning module 110 comprising: a thermoelectric cooler (TEC) 20 comprising a cold plate 22 and a hot plate 24, a water pump 40, a waterjet nozzle 42, a water tube 44 a sump 48, wherein the sump 48 is positioned under the cold plate 22 of the TEC 20 for collecting water condensed on the cold plate 22 when the TEC 20 is operating, the cold plate 22 having an inner side 22a facing the hot plate 24 and an outer side 22b facing away from the hot plate 24 and the pump 40 is in fluid communication through the water tube 44 with the sump 48 and the waterjet nozzle 42 for providing water from the sump 42 to the waterjet nozzle 42.

2. The effector cleaning module 110 of claim 1 wherein the TEC 20 further comprises a void 26 through the hot plate 24 of the TEC 20, wherein the inner dimensions of the void are compatible to accommodate an effector 10.

3. The effector cleaning module 110 of claim 2 wherein the void 26 comprises a thermal conductive sleeve 28, the thermal conductive sleeve 28 covering a section of the surface of the void 26, the inner dimensions of the void 26 are compatible to accommodate the thermal conductive sleeve 28 and an effector 10 and the remaining void encircled by the thermal sleeve having dimensions compatible to accommodate an effector 10.

4. The effector cleaning module 110 of claim 1 wherein the waterjet nozzle 42 is positioned such that it enables washing of a lens 14 of an effector 10 being coupled to the effector cleaning module 110.

5. The effector cleaning module 110 of claim 1 further comprising an air compressor 95 in fluid communication with the waterjet nozzle 42, and athree-way valve 41 connected to the water tube 44A the air tube44B and to the waterjet nozzle 42, enabling the waterjet nozzle 42 in one state to connect the waterjet nozzle to air to dry or remove dust from a lens 14 of an effector 10 with compressed air and in a second state to connect the water jet nozzle to the water pump for washing the lens 14 of the effector 10.

6. The effector cleaning module 110 of claim 1 further comprising a controller 30 and at least one of a temperature sensor 32, a water level sensor 45 and a humidity sensor 34, wherein the controller 30 is in communication with the at least one of the temperature sensor 32, the water level sensor 45 and the humidity sensor 34 and in operational communication with the TEC and the water pump 40, wherein the controller 30 turns the TEC on or off, turns the water pump 40 on or off or adjusts the power to the TEC according to parameters received from the at least one of the temperature sensor 32, water level sensor 45 and a humidity sensor 34.

7. The effector cleaning module 110 of claim 1 further comprising an air cover 50 connected to the outer side 22B of the cold plate 22, defining a space having open sides 52 and 54.

8. The effector cleaning module 110 of claim 7, wherein the space defined by the air cover accommodates an air maze 51 allowing air to flow more slowly over the cold plate and increase water generation efficiency.

9. The effector cleaning module 110 of claim 1 further comprising an additional TEC 60 positioned such that the cold plate 62 of the additional TEC 60 is located above the sump 48.

10. The effector cleaning module 110 of claim 2, wherein the cold plate 22 is made from a transparent material and the void 26 is covered by the cold plate 22 such that the void 26 is closed ended at the side of the cold plate, and the cold plate 22 covers an effector lens when an effector is accommodated in the void 26.

11. The effector cleaning module of claim 2 wherein the void 26 is a throughput void.

12. The effector cleaning module of claim 1 wherein the water sump 48 further comprises at least one of an antifreeze liquid dispenser and a detergent dispenser.

13. A self-cleaning effector system 100 comprising the effector cleaning module 110 of claim 1 and an effector 10, wherein the effector 10 is coupled to the effector cleaning module 110.

14. The self-cleaning effector system 100 of claim 13, wherein the effector 10 is accommodated in the void of the TEC 20.

15. The self-cleaning effector system 100 of claim 13, wherein the effector 10 is located in proximity to the effector cleaning module 110.

16. The self-cleaning effector system 100 of claim 13, wherein the effector 10 is one of a sensor, LIDAR, camera, detector and a LED.

17. The self-cleaning effector system 100 of claim 13, wherein the effector 10 is located up to 10 cm from the water inlet 44A of the tube 44.

18. The self-cleaning effector system 100 of claim 13 comprising a water generation mode wherein the TEC 20 is activated by the controller 30 to produce water by condensation of humidity in the air on the cold plate 22 into water droplets and dripping the water droplets by gravitation to the sump 48.

19. The self-cleaning effector system 100 of claim 18 wherein the controller 30 activates the TEC in the water generation mode in response to a signal received from a water level sensor indicating water level under a predetermined value in the sump.

20. The self-cleaning effector system 100 of claim 18 wherein the TEC 20 is activated by the controller 30 in the water generation mode according to input of humidity and temperature parameters of the environment receivedby the controller 30 from humidity and temperature sensors that record environmental humidity and temperature respectively.

21. The self-cleaning effector system 100 of claim 16 wherein the effector is a camera having a housing and the hot plate 24 of the TEC 20 is in thermal contact with the housing 56 of the camera to transfer heat to the housing 56 and from the housing to the lens 14 of the camera 10.

22. The self-cleaning effector system 100 of claim 13 comprising an effector lens washing mode wherein the water pump is activated by the controller 30 or manually to pull water from the sump to the waterjet nozzle 42.

23. The self-cleaning effector system 100 of claim 13 comprising an effector lens drying mode wherein the waterjet nozzle 42 is switched to connect to the air tubing, and the air compressor 95 is activated to drive an air stream to the waterjet nozzle.

24. The self-cleaning effector system 100 of claim 13 comprising an anti-freeze mode, wherein the cold plate 22 is designed to be in contact with the sump 48 or with the water 49 in the sump 48 and switched into a hot plate to heat the water 49 in the sump 48.

25. The self-cleaning effector system 100 of claim 13 comprising an effector lens defrost mode wherein the TEC 20 is turned on by the controller for a duration of time sufficient for the hot plate 24 to defrost ice buildup on the lens 14 of the effector 10.

26. The self-cleaning effector system 100 of claim 13 comprising an effector lens dehydrate mode wherein the TEC 20 is turned on for a duration and intensity sufficient for the hot plate 24 to evaporate moisture on the lens 14 of the effector 10.

27. The self-cleaning effector system 100 of claim 13 comprising a cold plate defrost mode wherein the direction of electric current is switched such that the cold plate 22 turns into a hot plate, and the hot plate 24 turns into a coldplate for a duration of time sufficient to defrost ice buildup of the formerly cold plate 22.

28. The self-cleaning effector system 100 of claim 13 comprising an effector electronics only cool-down mode wherein the cold plate 22 is cool down to a temperature above dew point such that the cold plate 22 provides cool air to the electronics of the effector 10 without generating water condensate.

29. The self-cleaning effector system 100 of claim 13 comprising a pre-emptive cleaning mode wherein the effector 10 is a camera and the camera is designed to provide an input to the controller 30 regarding an object approaching the lens of the camera and the controller 30 is designed in response to said input to activate the waterjet nozzle 42 to divert the approaching object from the lens 14 of the effector.

30. The self-cleaning effector system 100 of claim 13 wherein the effector is selected from a sensor, camera 500, LED, detector and Lidar 200.

31. A vehicle 1000 comprising the self-cleaning effector system 100 of claim 13, wherein the self-cleaning effector system 100 is embedded in a body part or engine part 70 of the vehicle 1000.

32. The vehicle 1000 of claim 31 wherein the body part of the vehicle embedding the self-cleaning effector system 100 functions as a heat sink to the selfcleaning effector system.

33. A self-cleaning sensor system 100 comprising the effector cleaning module 110 of claim 1 and a sensor 10, wherein the sensor 10 is coupled to the effector cleaning module 110.

34. A self-cleaning camera system 100 comprising the effector cleaning module 110 of claim 1 and a camera 10, wherein the camera 10 is coupled to the effector cleaning module 110.

35. A self-cleaning LIDAR system 100 comprising the effector cleaning module 110 of claim 1 and a LIDAR 10, wherein the camera 10 is coupled to the effector cleaning module 110.

36. A self-cleaning light system 100 comprising the effector cleaning module 110 of claim 1 and a light 10, wherein the light 10 is coupled to the effector cleaning module 110.

37. A self-cleaning detector system 100 comprising the effector cleaning module 110 of claim 1 and a detector 10, wherein the detector 10 is coupled to the effector cleaning module 110.

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