阅读说明：本技术 用于车辆传感器的清洁系统 (Cleaning system for vehicle sensors ) 是由 乔斯·加西亚·克雷斯波 威廉·伊桑-亚历山大·麦克卢尔 于 2019-07-22 设计创作，主要内容包括：本公开提供了“用于车辆传感器的清洁系统”。一种清洁系统,包括致动器和可由所述致动器旋转的臂。所述致动器包括壳体和所述壳体中的可旋转隔挡,所述可旋转隔挡限定第一腔室和第二腔室。所述可旋转隔挡可通过所述腔室的相对压力旋转。所述臂包括流体地连接到所述第一腔室的第一喷嘴和流体地连接到所述第二腔室的第二喷嘴。(The present disclosure provides a "cleaning system for a vehicle sensor. A cleaning system includes an actuator and an arm rotatable by the actuator. The actuator includes a housing and a rotatable barrier in the housing defining a first chamber and a second chamber. The rotatable barrier may be rotated by the relative pressure of the chambers. The arm includes a first nozzle fluidly connected to the first chamber and a second nozzle fluidly connected to the second chamber.)

1. A cleaning system, comprising:

an actuator comprising a housing and a rotatable barrier in the housing, the rotatable barrier defining a first chamber and a second chamber, the rotatable barrier being rotatable by relative pressure of the chambers; and

an arm rotatable by the actuator and including a first nozzle fluidly connected to the first chamber and a second nozzle fluidly connected to the second chamber.

2. The cleaning system of claim 1, wherein the arm comprises a wiper blade.

3. The cleaning system of claim 2, wherein the first and second nozzles are positioned to eject fluid on respective first and second sides of the wiper blade.

4. The cleaning system of claim 1, wherein the housing comprises a cylindrical outer wall, the actuator comprises a central shaft, and the rotatable barrier extends from the central shaft to the outer wall.

5. The cleaning system of claim 4, wherein the actuator comprises a fixed barrier extending from the central shaft to the outer wall.

6. The cleaning system of claim 5, wherein the rotatable barrier is rotatable about an axis defined by the central shaft from a first position to a second position through a rotational sweep of at least 270 °.

7. The cleaning system of claim 6, wherein the fixed barrier is located outside of the rotational sweep of the rotatable barrier.

8. The cleaning system of claim 7, wherein the housing includes a first housing inlet outside of the rotational sweep to the first chamber and a second housing inlet outside of the rotational sweep to the second chamber, and the fixed barrier is between the housing inlets.

9. The cleaning system of claim 1, wherein the rotatable barrier comprises a first barrier inlet facing the first chamber and fluidly connected to the first nozzle, and a second barrier inlet facing the second chamber and fluidly connected to the second nozzle.

10. The cleaning system of claim 9, wherein the actuator comprises: a central shaft defining an axis about which the rotatable barrier is rotatable; a first passage extending from the first barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the first nozzle; and a second passage extending from the second barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the second nozzle.

11. The cleaning system of claim 1, wherein a liquid pump is fluidly connected to the first chamber.

12. The cleaning system of claim 1, wherein a gas compressor is fluidly connected to the second chamber.

13. The cleaning system of one of the claims 1 to 12, further comprising a cylindrical sensor window, wherein the arm is rotatable about an axis defined by the sensor window.

14. The cleaning system of claim 13, wherein the arm includes a wiper blade oriented axially relative to the sensor window.

15. A cleaning system, comprising:

a rotatable arm comprising a first nozzle and a second nozzle;

a first source of pressurized fluid and a second source of pressurized fluid;

means powered by the first source of pressurized fluid for rotating the arm in a first direction and delivering fluid through the first nozzle; and

means powered by the second source of pressurized fluid for rotating the arm in a second direction and delivering fluid through the second nozzle.

Technical Field

The present disclosure relates generally to vehicle sensors and, more particularly, to a cleaning system for vehicle sensors.

Background

Autonomous vehicles typically include a variety of sensors. Some sensors detect internal conditions of the vehicle, such as wheel speed, wheel orientation, and engine and transmission variables. Some sensors detect the position or orientation of the vehicle, for example, Global Positioning System (GPS) sensors; accelerometers, such as piezoelectric or micro-electromechanical systems (MEMS); a gyroscope, such as a rate gyroscope, ring laser gyroscope, or fiber optic gyroscope; an Inertial Measurement Unit (IMU); and a magnetometer. Some sensors detect the outside world, for example, radar sensors, scanning laser rangefinders, light detection and ranging (LIDAR) devices, and image processing sensors such as cameras. LIDAR devices detect the distance of an object by emitting a laser pulse and measuring the time of flight of the pulse as it travels to and returns from the object. Some sensors are communication devices, such as vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices. When the sensor lens, cover, etc. become dirty, smudges form, etc., sensor operation may be compromised or hindered.

Disclosure of Invention

A cleaning system includes an actuator and an arm rotatable by the actuator. The actuator includes a housing and a rotatable barrier in the housing defining a first chamber and a second chamber. The rotatable barrier may be rotated by the relative pressure of the chambers. The arm includes a first nozzle fluidly connected to the first chamber and a second nozzle fluidly connected to the second chamber.

The arm may comprise a wiper blade. The first and second nozzles may be positioned to eject fluid on respective first and second sides of the wiper blade.

The housing may comprise a cylindrical outer wall, the actuator may comprise a central shaft, and the rotatable barrier may extend from the central shaft to the outer wall. The actuator may comprise a fixed barrier extending from the central shaft to the outer wall. The rotatable barrier is rotatable about an axis defined by the central shaft from a first position to a second position through a rotational sweep of at least 270 °. The fixed barrier may be located outside the rotational sweep of the rotatable barrier. The housing may include a first housing inlet outside the rotary sweep to the first chamber and a second housing inlet outside the rotary sweep to the second chamber, and the fixed barrier may be between the housing inlets.

The rotatable baffle may include a first baffle inlet facing the first chamber and fluidly connected to the first nozzle, and a second baffle inlet facing the second chamber and fluidly connected to the second nozzle. The actuator may include: a central shaft defining an axis about which the rotatable barrier is rotatable; a first passage extending from the first barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the first nozzle; and a second passage extending from the second barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the second nozzle.

A liquid pump is fluidly connected to the first chamber.

A gas compressor is fluidly connected to the second chamber.

The cleaning system may also include a cylindrical sensor window, and the arm may be rotatable about an axis defined by the sensor window. The arm may include a wiper blade oriented axially relative to the sensor window.

A cleaning system comprising: a rotatable arm comprising a first nozzle and a second nozzle; a first source of pressurized fluid and a second source of pressurized fluid; means powered by the first source of pressurized fluid for rotating the arm in a first direction and delivering fluid through the first nozzle; and means powered by the second source of pressurized fluid for rotating the arm in a second direction and delivering fluid through the second nozzle.

The cleaning system may also include a cylindrical sensor window, and the arm may be rotatable about an axis defined by the sensor window. The arm may include a wiper blade oriented axially relative to the sensor window. The first and second nozzles may be positioned to eject fluid toward respective first and second sides of the wiper blade.

The first source of pressurized fluid is a liquid source and the second source of pressurized fluid is a gas source.

Drawings

FIG. 1 is a perspective view of an exemplary vehicle.

FIG. 2 is a perspective view of a cleaning system and sensors of the vehicle of FIG. 1.

Fig. 3 is a top cross-sectional view of an actuator of the cleaning system of fig. 2.

Fig. 4 is a schematic view of the cleaning system of fig. 2.

Figure 5 is a top cross-sectional view of an arm of the cleaning system of figure 2.

Detailed Description

As shown in the figures, the cleaning system 30 for the first sensor 32 of the vehicle 34 includes an actuator 36 and an arm 38 rotatable by the actuator 36. The actuator 36 includes a housing 40 and a rotatable barrier 42 in the housing 40 that defines a first chamber 44 and a second chamber 46. The rotatable barrier 42 may be rotated by the relative pressure of the chambers. The arm 38 includes at least one first nozzle 48 fluidly connected to the first chamber 44 and at least one second nozzle fluidly connected to the second chamber 46.

The cleaning system 30 may remove obstacles and debris from the first sensor 32, which improves operation of the first sensor 32 and autonomous or semi-autonomous operation of the vehicle 34 that relies on the first sensor 32. In addition, the cleaning system 30 is cost effective and energy efficient. The rotation of the arm 38 is driven by the same fluid ejected from the first nozzle 48 or the second nozzle 50. For the purposes of this disclosure, "fluid" is defined as a substance, such as a gas or liquid, in which component particles can move past each other. Thus, the cleaning system 30 does not require power. Thus, no motor is required to operate the cleaning system 30. The cleaning system 30 may have a longer life and reduced noise and vibration.

Referring to fig. 1, vehicle 34 may be an autonomous vehicle. The computer may be programmed to operate the vehicle 34 entirely or to a lesser extent independently of human driver intervention. The computer may be programmed to operate propulsion, braking, steering, and/or other vehicle systems. For the purposes of this disclosure, autonomous operation means that the computer controls propulsion, braking systems, and steering without input from a human driver; semi-autonomous operation means that one or both of propulsion, braking system and steering are computer controlled and the rest is controlled by the human driver; and non-autonomous operation means that the human driver controls propulsion, braking systems and steering.

The vehicle 34 includes a body 52. The vehicle 34 may be a one-piece body structure in which the frame and body 52 of the vehicle 34 are a single component. Alternatively, the vehicle 34 may be a non-load-bearing body structure in which the frame supports the body 52, which is a separate component from the frame. The frame and body 52 may be formed from any suitable material (e.g., steel, aluminum, etc.). The body 52 includes body panels 54, 56 that partially define the exterior of the vehicle 34. The body panels 54, 56 may present a class a surface, for example, a finished surface that is exposed to the customer's line of sight and free of unsightly blemishes and defects. The body panels 54, 56 include, for example, a roof 56 or the like.

A housing 58 for a second sensor 60 may be attached to the vehicle 34, for example, to one of the body panels 54, 56 (e.g., the roof 56) of the vehicle 34. For example, the housing 58 may be shaped to be attachable to the roof 56, e.g., may have a shape that substantially matches the contour of the roof 56 or otherwise facilitates installation or attachment. A housing 58 may be attached to the roof 56, which may provide an unobstructed view of the area around the vehicle 34 for a second sensor 60. The housing 40 and the casing 58, including their respective parts or elements discussed herein, may be formed of, for example, plastic or metal.

Referring to fig. 1 and 2, the first sensor 32 may provide data to detect the position and/or orientation of the vehicle 34. For example, the first sensor 32 may be a Global Positioning System (GPS) sensor; accelerometers, such as piezoelectric or micro-electromechanical systems (MEMS); a gyroscope, such as a rate gyroscope, ring laser gyroscope, or fiber optic gyroscope; an Inertial Measurement Unit (IMU); or a magnetometer. The first sensor 32 may detect objects and/or features of the outside world, e.g., the surroundings of the vehicle 34, such as other vehicles, road lane markings, traffic lights and/or signs, pedestrians, etc. For example, the first sensor 32 may be a radar sensor, a scanning laser range finder, a light detection and ranging (LIDAR) device, or an image processing sensor such as a camera. In particular, the first sensor 32 may be a LIDAR device. LIDAR devices detect the distance of an object by emitting a laser pulse and measuring the time of flight of the pulse as it travels to and returns from the object.

The first sensor 32 may be exposed outside of the housing 58. The first sensor 32 may be supported by the housing 58. The first sensor 32 may be indirectly mounted to the roof 56 via a housing 58. The first sensor 32 may have a vertically oriented cylindrical shape, i.e., the axis a of the cylindrical shape is substantially vertical. The first sensor 32 may include a cylindrical sensor window 61 extending around the exterior of the first sensor 32. The sensor window 61 may define an axis a. The first sensor 32 may have a 360 deg. horizontal field of view through the sensor window 61.

Referring to fig. 2, the actuator 36 includes a housing 40. The actuator 36 may be positioned below the first sensor 32 and inside the housing 58. The housing 40 includes a cylindrical outer wall 62 and two end walls 64. The cylindrical shape of the housing 40 may be centered on the axis a.

Referring to fig. 3, the actuator 36 includes a central shaft 65. The central shaft 65 extends along the axis a from one of the end walls 64 to the other of the end walls 64. Thus, the central shaft 65 may define an axis a. The central shaft 65 is rotatable relative to the housing 40.

The actuator 36 includes a fixed barrier 66 that extends from the central shaft 65 to the outer wall 62 and from one of the end walls 64 to the other of the end walls 64. The fixed barrier 66 may be attached to the outer wall 62 and the end wall 64 in a water and/or air tight manner. For example, the fixed barrier 66 may be integral with the outer wall 62 and/or the end wall 64. For purposes of this disclosure, "unitary" is defined as being made from a single substantially uniform piece of material, with no seams, joints, fasteners, or adhesives holding it together.

A fixed barrier seal 68 may extend between the fixed barrier 66 and the central shaft 65. The fixed barrier seal 68 may form a substantially watertight and/or airtight seal with the fixed barrier 66 and the central shaft 65. The fixed barrier seal 68 may be attached to the fixed barrier 66, for example, with an adhesive. When rotated, the central shaft 65 may slide against the fixed barrier seal 68. The fixed barrier seal 68 may be made of an elastomeric material such as rubber.

The actuator 36 includes a rotatable barrier 42. The rotatable barrier 42 extends from the central axis 65 to the outer wall 62 and from one of the end walls 64 to the other of the end walls 64. The rotatable barrier 42 may be attached to the central shaft 65 in a watertight and/or airtight manner. For example, the rotatable barrier 42 may be integral with the central shaft 65.

A rotatable barrier seal 70 may extend between the rotatable barrier 42 and the outer wall 62 and between the rotatable barrier 42 and the end wall 64. The rotatable barrier seal 70 may form a substantially watertight and/or airtight seal with the rotatable barrier 42, the outer wall 62, and the end wall 64. The rotatable barrier seal 70 may be attached to the rotatable barrier 42, for example with an adhesive. The rotatable barrier seal 70 may slide against the outer wall 62 and the end wall 64 as the rotatable barrier 42 rotates. The rotatable barrier seal 70 may be made of an elastic material such as rubber.

The rotatable barrier 42, the fixed barrier 66, and the housing 40 define and enclose the first chamber 44 and the second chamber 46. The rotatable barrier 42 and the fixed barrier 66 divide the volume enclosed by the housing 40 into the first chamber 44 and the second chamber 46. The rotatable barrier 42 and the fixed barrier 66 fluidly isolate the first chamber 44 from the second chamber 46 (i.e., fluid cannot pass from one chamber to the other).

The rotatable baffle 42 may rotate about an axis A defined by the central shaft 65 from a first position to a second position through a rotational sweep α the fixed baffle 66 is located outside of the rotational sweep α for example, the rotational sweep α may be at least 270 DEG the volume of the first chamber 44 increases and the volume of the second chamber 46 decreases as the rotatable baffle 42 rotates from the first position toward the second position (shown in solid and hidden lines, respectively, in FIG. 3). The volume V of the first chamber 44 ₁About equal to pi R ²L θ/360 °, where R is the radial distance from axis a to outer wall 62, L is the length of housing 40 from one end wall to the other, and θ is the angle in degrees in first chamber 44 formed by fixed barrier 66 and rotatable barrier 42. Volume V of second chamber 46 ₂About equal to pi R ²*L*(360°–θ)/360°。

The housing 40 includes a first housing inlet 72 that opens into the first chamber 44 and a second housing inlet 74 that opens into the second chamber 46, the first housing inlet 72 and the second housing inlet 74 are located outside of the rotary sweep α by being located outside of the rotary sweep α, the first housing inlet 72 opens into the first chamber 44 regardless of the position of the rotatable baffle 42, and the second housing inlet 74 opens into the second chamber 46 regardless of the position of the rotatable baffle 42, the fixed baffle 66 is located between the housing inlets 72, 74, the fixed baffle 66 and the rotatable baffle 42 fluidly isolate the first housing inlet 72 from the second housing inlet 74.

Returning to fig. 2, two sources of pressurized fluid are fluidly connected to the first and second chambers 44, 46, respectively. For example, as shown in FIG. 2, the pressurized fluid sources may be a liquid pump 78 and a gas compressor 76 that supply gas and liquid, respectively. Alternatively, the pressurized fluid sources may supply liquid simultaneously or gas simultaneously.

A liquid pump 78 is fluidly connected to the first chamber 44 via the first housing inlet 72. The liquid pump 78 is a source of pressurized fluid, specifically, a liquid. The liquid may be, for example, a cleaning liquid, which may include solvents, detergents, diluents such as water, and the like. The liquid pump 78 may be any suitable type of pump, for example, a positive displacement pump such as a rotary pump, a reciprocating pump, or a linear pump; a centrifugal pump; or any other suitable type.

A gas compressor 76 is fluidly connected to the second chamber 46 via the second housing inlet 74. The gas compressor 76 is a source of pressurized fluid, specifically, a gas source. The gas compressor 76 increases the pressure of the gas by reducing the volume of the gas or by forcing additional gas into a constant volume. The gas compressor 76 may be any suitable type of compressor, such as: a positive displacement compressor, such as a reciprocating compressor, an ionic liquid piston compressor, a rotary screw compressor, a rotary vane compressor, a rolling piston compressor, a scroll compressor, or a diaphragm compressor; a dynamic compressor, such as a bubble compressor, a centrifugal compressor, a diagonal flow compressor, a mixed flow compressor, or an axial flow compressor; or any other suitable type. The gas may be, for example, air.

Referring to fig. 3 and 4, the rotatable baffle 42 includes a first baffle inlet 80 facing the first chamber 44 and a second baffle inlet 82 facing the second chamber 46. The first barrier inlet 80 is fluidly connected to the first nozzle 48 via a first passage 84, and the second barrier inlet 82 is fluidly connected to the second nozzle via a second passage 86. A first passage 84 extends from the first barrier inlet 80 through the rotatable barrier 42 and the central shaft 65 to a first supply line 88. A first supply line 88 extends from the central shaft 65 to a first arm passage 90 of the arm 38. A first arm passageway 90 extends through the arm 38 to the first nozzle 48. The second passage 86 extends from the second barrier inlet 82 through the rotatable barrier 42 and the central shaft 65 to a second supply line 92. A second supply line 92 extends from the central shaft 65 to a second arm passage 94 of the arm 38. A second arm passage 94 extends through the arm 38 to the second nozzle 50. The first and second passages 84, 86 may be hollowed-out passages for solid material passing through the rotatable barrier 42 and the central shaft 65. The fluid path from the first chamber 44 to the first nozzle 48 is fluidly isolated from the fluid path from the second chamber 46 to the second nozzle 50.

Returning to fig. 2, the arm 38 may be rotated about axis a by the actuator 36. The central shaft 65 may be fixed to a disc 96 centered on the axis a, and the arms 38 may extend from the periphery of the disc 96. The arm 38 and the disc 96 rotate with the central shaft 65 and the rotatable barrier 42.

The arm 38 includes a wiper blade 98. The wiper blade 98 contacts the sensor window 61 and as the arm 38 rotates, the wiper blade 98 slides along the contact sensor window 61. The wiper blade 98 may have a wedge shape, wherein the tip of the wedge contacts the sensor window 61. The wiper blade 98 can wipe debris off the sensor window 61. The wiper blade 98 is axially oriented relative to the sensor window 61, i.e., elongated substantially parallel to the axis a.

Referring to fig. 5, the first nozzle 48 is positioned to eject fluid toward the sensor window 61 on a first side of the wiper blade 98 and the second nozzle 50 is positioned to eject fluid toward the sensor window 61 on a second, opposite side of the wiper blade 98. There may be one or more first nozzles 48 and there may be one or more second nozzles 50.

In operation, the liquid pump 78 pressurizes the first chamber 44, and the higher pressure in the first chamber 44 causes the arm 38 to rotate in a first direction about the axis a and air to travel into the first baffle inlet 80 and out of the first nozzle 48. The wiper blade 98 wipes the area of the sensor window 61 that was most recently wetted by the first nozzle 48. The gas compressor 76 pressurizes the second chamber 46 and the higher pressure in the second chamber 46 causes the arm 38 to rotate in a second direction about the axis a and the liquid to travel into the second barrier inlet 82 and out of the second nozzle 50. The rotatable barrier 42 may be rotated by the relative pressures of the chambers 44, 46. As the pressure of the first chamber 44 increases, the rotatable barrier 42 rotates such that the volume of the first chamber 44 increases and the volume of the second chamber 46 decreases. As the pressure of the second chamber 46 increases, the rotatable barrier 42 rotates such that the volume of the first chamber 44 decreases and the volume of the second chamber 46 increases.

As used herein, the adverb "substantially" modifying the adjective means that shapes, structures, measurements, values, calculations, etc., may deviate from the precisely described geometries, distances, measurements, values, calculations, etc., due to imperfections in materials, processing, manufacturing, data collector measurements, calculations, processing time, communication time, etc.

The disclosure has been described in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. The adjectives "first" and "second" are used throughout this document as identifiers and are not intended to indicate importance or order. Many modifications and variations of the present disclosure are possible in light of the above teachings, and the disclosure may be practiced otherwise than as specifically described.

According to the present invention, there is provided a cleaning system having: an actuator comprising a housing and a rotatable barrier in the housing, the rotatable barrier defining a first chamber and a second chamber, the rotatable barrier being rotatable by relative pressure of the chambers; and an arm rotatable by the actuator and including a first nozzle fluidly connected to the first chamber and a second nozzle fluidly connected to the second chamber.

According to one embodiment, the arm comprises a wiper blade.

According to an embodiment, the first and second nozzles are positioned to eject fluid on respective first and second sides of the wiper blade.

According to one embodiment, the housing comprises a cylindrical outer wall, the actuator comprises a central shaft, and the rotatable barrier extends from the central shaft to the outer wall.

According to one embodiment, the actuator comprises a fixed barrier extending from the central shaft to the outer wall.

According to one embodiment, the rotatable barrier is rotatable about an axis defined by the central shaft from a first position to a second position through a rotational sweep of at least 270 °.

According to one embodiment, the fixed barrier is located outside the rotational sweep of the rotatable barrier.

According to one embodiment, the housing comprises a first housing inlet outside the rotary sweep to the first chamber and a second housing inlet outside the rotary sweep to the second chamber, and the fixed barrier is between the housing inlets.

According to one embodiment, the rotatable baffle comprises a first baffle inlet facing the first chamber and fluidly connected to the first nozzle, and a second baffle inlet facing the second chamber and fluidly connected to the second nozzle.

According to one embodiment, the actuator comprises: a central shaft defining an axis about which the rotatable barrier is rotatable; a first passage extending from the first barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the first nozzle; and a second passage extending from the second barrier inlet through the rotatable barrier and the central shaft and fluidly connected to the second nozzle.

According to one embodiment, a liquid pump is fluidly connected to the first chamber.

According to one embodiment, a gas compressor is fluidly connected to the second chamber.

According to one embodiment, the invention also features a cylindrical sensor window, wherein the arm is rotatable about an axis defined by the sensor window.

According to one embodiment, the arm comprises a wiper blade oriented axially with respect to the sensor window.

According to the present invention, there is provided a cleaning system having: a rotatable arm comprising a first nozzle and a second nozzle; a first source of pressurized fluid and a second source of pressurized fluid; means powered by the first source of pressurized fluid for rotating the arm in a first direction and delivering fluid through the first nozzle; and means powered by the second source of pressurized fluid for rotating the arm in a second direction and delivering fluid through the second nozzle.

According to one embodiment, the invention also features a cylindrical sensor window, wherein the arm is rotatable about an axis defined by the sensor window.

According to one embodiment, the arm comprises a wiper blade oriented axially with respect to the sensor window.

According to an embodiment, the first and second nozzles are positioned to eject fluid towards the respective first and second sides of the wiper blade.

According to one embodiment, the first source of pressurized fluid is a liquid source and the second source of pressurized fluid is a gas source.