JP7346336B2 - Equipment and side mirrorless vehicles - Google Patents

Description

This invention relates to technology for capturing images around moving objects.

2. Description of the Related Art Vehicles have been proposed that are equipped with a photographing device that photographs the surroundings of the vehicle. If dirt adheres to the photographing device, it will affect the photographed images. Therefore, a technique has been proposed in which dirt is removed by spraying a cleaning liquid onto an imaging device (for example, Patent Document 1).

Japanese Patent Application Publication No. 2017-154527

In a low-temperature environment such as a cold region, spraying a cleaning liquid may accelerate freezing, which may have an adverse effect on the imaging device.

SUMMARY OF THE INVENTION An object of the present invention is to remove dirt from a photographing device of a moving object and prevent it from freezing.

According to the invention,
A device mounted on a moving body,
a photographing means for photographing an image of the surroundings of the moving object;
a heater that heats the photographing means;
Injection means for injecting cleaning liquid to the photographing means;
A control means for controlling the operation of the injection means ,
The control means includes:
The injection pressure of the cleaning liquid by the injection means can be controlled to a first injection pressure and a second injection pressure higher than the first injection pressure,
prohibiting the operation of the injection means for a first time period from the start of operation of the heater;
When the injection means is operated during a second time after the first time has elapsed while the heater is in operation, the injection pressure of the cleaning liquid is controlled to the second injection pressure,
When operating the injection means after the second time period has elapsed while the heater is in operation, controlling the injection pressure of the cleaning liquid to the first injection pressure;
An apparatus is provided which is characterized in that:

According to the present invention, it is possible to remove dirt and prevent freezing of a photographing device of a moving body.

1 is a plan view and a partially enlarged view of a vehicle equipped with an on-vehicle device according to an embodiment of the present invention. 2 is a side view and a partially enlarged view of the vehicle in FIG. 1. FIG. FIG. 3 is a diagram showing the interior of the vehicle of FIGS. 1 and 2. FIG. FIG. 1 is a block diagram of an in-vehicle device according to an embodiment of the present invention. 5 is a flowchart showing an example of controlling a heater. 5 is a flowchart showing an example of control of the injection unit. (A) and (B) are timing charts showing an example of the operation of the heater and the injection unit.

<First embodiment>
<Vehicle configuration>
FIG. 1 is a plan view and a partially enlarged view of a vehicle V equipped with an in-vehicle device 1 according to an embodiment of the present invention. FIG. 2 is a side view and a partially enlarged view of the vehicle V. In each figure, an arrow X indicates the longitudinal direction of the vehicle V, and an arrow Y indicates the vehicle width direction of the vehicle V. Arrow Z indicates the up and down direction. In this embodiment, a vehicle is used as a moving object, and an in-vehicle device is exemplified as a device mounted on a moving object. However, the present invention is applicable to moving objects other than vehicles and devices mounted on moving objects other than vehicles. is also applicable.

The vehicle V is, for example, a sedan-type four-wheeled passenger car. The vehicle V has two seats in the front row adjacent to the front window 5 and two seats in the back row, and the right seat in the front row is the driver's seat, and the left seat is the passenger seat. The vehicle V has a total of four doors adjacent to each seat, and the door 6R is the door adjacent to the driver's seat and is the front right door. Door 6L is a door adjacent to the passenger seat, and is the front left door.

The in-vehicle device 1 constitutes a surrounding image providing device (camera monitoring system (CMS)) that takes images of the surroundings of the vehicle V and provides them to the driver. The in-vehicle device 1 includes monitoring units 7R and 7L. The monitoring unit 7R is provided on the side of the vehicle V in front of the door 6R of the vehicle V. The monitoring unit 7L is provided on the side of the vehicle V in front of the door 6L of the vehicle V. In the following description, the monitoring units 7R and 7L are collectively referred to as monitoring unit 7, or when they are not distinguished from each other, they are referred to as monitoring unit 7.

The monitoring unit 7 comprises a hollow housing 70 forming its outer wall. The monitoring unit 7 includes photographing devices 2 and 3 for photographing the surroundings of the vehicle V, and these are housed in a common housing 70. The photographing devices 2 and 3 are, for example, cameras equipped with an imaging element such as an image sensor and an optical system such as a lens. A part of the optical system (lens or lens protective cover) is exposed from the housing 70. A portion of the optical system of the photographing device 2 is exposed at the rear of the housing 70, and a portion of the optical system of the photographing device 3 is exposed at the bottom of the housing 70.

The photographing device 2 is arranged to photograph an image of the rear side of the vehicle V. Specifically, the photographing range RR of the photographing device 2 of the monitoring unit 7R is the rear right side of the vehicle V. The photographing range LR of the photographing device 2 of the monitoring unit 7L is the rear left side of the vehicle V.

The photographing device 3 is arranged to photograph the lower part of the housing 70. Specifically, the imaging range UR of the imaging device 3 is below the side of the vehicle V, the imaging device 3 of the monitoring unit 7R is below the right side of the vehicle V, and the imaging device 3 of the monitoring unit 7L is below the left side of the vehicle V. Take pictures both downward and downward. Note that a configuration in which the monitoring unit 7 includes only the photographing device 2 can also be adopted.

A heater 4 is arranged within the housing 70. The heater 4 is an element that generates heat when energized. The heater 4 warms the photographing device 2 and the photographing device 3 and prevents them from freezing or freezing. In the case of this embodiment, the heater 4 is arranged between the imaging device 2 and the imaging device 3 in order to heat both the imaging device 2 and the imaging device 3 with one heater 4 . However, the photographing device 2 and the photographing device 3 may be provided with separate heaters.

The monitoring unit 7 is provided with a direction indicator 72. The direction indicator of the monitoring unit 7R flashes when the vehicle V changes course to the right, such as when turning right or changing lanes to the right lane. The direction indicator of the monitoring unit 7L flashes when the vehicle V changes course to the left, such as when turning left or changing lanes to the left lane.

The monitoring unit 7 is supported by the body of the vehicle V via the support portion 1a. The monitoring unit 7 is rotatably provided around an axis 71a in the X direction, and can be displaced between a photographing position and a retreat position. The photographing position is the position shown in FIG. 1 or the position shown by the solid line in FIG. 2, where the drive unit 7 protrudes in the Y direction. The retracted position is a position where the drive unit 7 has rotated downward by approximately 90 degrees from the photographing position, and is a position where the housing 70 is indicated by a broken line in FIG. In the retracted position, the amount of protrusion of the drive unit 7 in the Y direction is reduced. For example, the monitoring unit 7 is located at a retreat position when the vehicle is parked, and at a photographing position when the vehicle is temporarily stopped or traveling.

A drive unit 71 for rotating the monitoring unit 7 is provided within the housing 70 . The drive unit 71 includes a motor serving as a drive source and a drive mechanism that rotates the monitoring unit 7 by the driving force of the motor. Note that the rotation center of the monitoring unit 7 may be an axis in the Z direction, and the displacement of the monitoring unit 7 may be a parallel movement. Furthermore, the monitoring unit 7 may be fixed to the vehicle body in a non-displaceable manner.

The on-vehicle device 1 includes injection nozzles 9R and 9L that spray cleaning liquid. The injection nozzle 9L constitutes a cleaning liquid injection unit 90 corresponding to the monitoring unit 7L. The injection unit 90 includes an electric pump 93 that pumps the cleaning liquid, and a pressure sensor 94 that detects the pressure in the flow path from the electric pump to the injector 9L. Although not shown, a cleaning liquid injection unit 90 corresponding to the monitoring unit 7R is also provided, and the injection nozzle 9R constitutes this injection unit 90.

The injection nozzle 9R is provided on the side of the vehicle V in front of the door 6R of the vehicle V and behind the monitoring unit 7R. The injection nozzle 9L is provided on the side of the vehicle V in front of the door 6L of the vehicle V and behind the monitoring unit 7L. Since the injection nozzles 9R, 9L and the monitoring unit 7 are all placed on the side of the vehicle body in front of the doors 6R, 6L, wiring and piping are more closely connected to the doors and the vehicle body than if they were installed on the doors 6R, 6L. There is no need to straddle the two.

The injection nozzles 9R and 9L each have an injection port 91 oriented to inject the cleaning liquid to the imaging device 2 and an injection port 92 oriented to inject the cleaning liquid to the imaging device 3. By spraying cleaning liquid onto the photographing devices 2 and 3, dirt on the lenses or protective covers can be removed. In the following description, the injection nozzles 9R and 9L are collectively referred to as injection nozzles 9, or when they are not distinguished from each other, they are referred to as injection nozzles 9.

The in-vehicle device 1 includes a display device 8R on the right side of the vehicle V and a display device 8L on the left side. In the case of this embodiment, these display devices are arranged inside the vehicle interior. Please refer to FIG. 3 in addition to FIGS. 1 and 2. FIG. 3 is a diagram schematically showing the interior of the vehicle V, and particularly shows the vicinity of the dashboard DB. In front of the driver's seat, an instrument panel is provided on the dashboard DB in front of the steering wheel SW.

The display device 8R is arranged at the right end of the dashboard DB, and the display device 8L is arranged at the left end. The display devices 8R and 8L are image display devices, and in the case of this embodiment, are liquid crystal display devices. The display device 8R is a side monitor that displays images photographed by the photographing device 2 of the monitoring unit 7R. Images taken by the photographing device 3 of the monitoring unit 7R can also be displayed on the display device 8R. The display device 8L is a side monitor that displays images photographed by the photographing device 2 of the monitoring unit 7L. Images taken by the photographing device 3 of the monitoring unit 7L can also be displayed on the display device 8L.

The vehicle V of this embodiment is a side mirrorless vehicle, and the photographing devices 7R, 7L and the display devices 8R, 8L are provided in place of side mirrors (door mirrors) so that the driver can check the side and rear of the vehicle V. It is being Basically, while the vehicle V is running, the display device 8R always displays the photographed image of the photographing device 2 of the monitoring unit 7R, and the display device 8L always displays the photographed image of the photographing device 2 of the monitoring unit 7L. In the following description, when the display devices 8R and 8L are collectively referred to as display devices 8, or when they are not distinguished from each other, they are referred to as display devices 8.

FIG. 4 is a block diagram of the in-vehicle device 1. The in-vehicle device 1 includes a control unit (CMSECU) 11. The control unit 11 is communicably connected to a plurality of control units (ECUs (Electric Control Units)) including a control unit (driving ECU) 12 and a control unit 13 (environment ECU) via an in-vehicle network NT. Each ECU includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may include multiple processors, storage devices, interfaces, and the like. Note that the number of ECUs and the functions they are responsible for can be designed as appropriate, and it is possible to divide them into smaller units than in this embodiment, or to integrate them.

The control unit 12 performs control related to driving of the vehicle V or provides driver support. The control unit control 11 is capable of acquiring information on the driving state of the vehicle V (going straight, turning right, turning left, changing lanes, etc.) from the control unit 12. The control unit 13 detects the surrounding environment of the vehicle V and handles air conditioning and the like. The control unit control 11 can acquire information such as outside temperature, humidity, weather, etc. from the control unit 13.

The control unit 11 controls the shooting of the shooting devices 2 and 3, controls the operation of the heater 4, controls the display of the display device 8, controls the operation of the electric pump 92 (that is, the injection unit 90), controls the drive of the drive unit 71, and controls the direction indicator. 72 blinking control, etc. The control unit 11 also receives operation instructions from the driver on the input device 14 . The input device 14 is, for example, a button type switch or a touch panel. The driver can instruct the operation of the injection unit 90 by operating the input device 14. Further, the control unit 11 can acquire the detection results of the pressure sensor 93. When the detection result of the pressure sensor 93 indicates high pressure, the cleaning liquid pipe near the injection nozzle 9 may be clogged due to freezing. In this case, it is possible to melt the ice by operating the heater 4.

<Example of control unit processing>
An example of processing by the control unit 11 will be described. FIG. 5 shows an example of operation control of the heater 4. Note that the illustrated control is repeatedly performed for each of the left and right heaters 4. In S1, it is determined whether the heater 4 is already in operation. If it is in operation, proceed to S6; if stopped, proceed to S2. In S2 to S5, processing related to starting the operation of the heater 4, that is, starting heating the photographing devices 2 and 3, is executed.

In S2, information is acquired from other control units and the like. For example, information on outside temperature, humidity, and weather is acquired from the control unit 13. Further, information on images taken by the photographing device 2 may be acquired. In S3, based on the information acquired in S2, it is determined whether the heating start conditions for the photographing devices 2 and 3 are satisfied. Here, for example, the possibility of freezing of the imaging devices 2 and 3 is estimated, and if the possibility of freezing is high, it is determined that the heating start condition is satisfied. If it is determined that the heating start condition is satisfied, the process proceeds to S4, and if it is determined that the heating start condition is not satisfied, the process is ended.

Specifically, if a certain amount of time has elapsed since the vehicle V started parking (for example, when it was first started in the morning), the outside temperature is below 0 degrees Celsius, and it has been raining or snowing now or a while ago, the camera cannot be photographed. In such a case, where there is a high possibility that the devices 2 and 3 will freeze, it is determined that the heating start conditions are satisfied. Further, when snow or ice is reflected in the images taken by the photographing devices 2 and 3, it is determined that the heating start condition is satisfied.

Further, when the injection unit 90 is operating, it is determined whether or not the cleaning liquid is being injected, and even if it is determined that the cleaning liquid is not being injected, it can be determined that the start condition is satisfied. This determination can be made based on the determination result of the pressure sensor 93. As described above, when the detection result of the pressure sensor 93 indicates high pressure, the cleaning liquid pipe near the injection nozzle 9 may be clogged due to freezing. In this case as well, the heater 4 is operated to enable spraying of the cleaning liquid.

In S4, the heater 4 is energized to start generating heat. As a result, the photographing devices 2 and 3 are heated, and ice melting is promoted. In S5, measurement of the heating time is started.

In S6 to S8, processing related to terminating the operation of the heater 4 is executed. In S6, it is determined whether the heating end conditions are satisfied. Here, for example, when the heating time reaches a predetermined time, it is determined that the heating end condition is satisfied. If it is determined that the heating termination condition is satisfied, the process advances to S7 and the operation of the heater 4 is terminated. Further, in S8, the measurement of the heating time is ended.

FIG. 6 shows an example of operation control of the injection unit 90 (electric pump 92). Note that the illustrated control is repeatedly performed for each of the left and right injection units 90. That is, the operation control of the injection unit 90 corresponding to the monitoring unit 7R and the operation control of the injection unit 90 corresponding to the monitoring unit 7L are performed independently.

In S11, it is determined whether the cleaning conditions for the imaging devices 2 and 3 are satisfied. In the case of the present embodiment, it is determined that the cleaning conditions are satisfied when the driver instructs the input device 14 to operate. However, for example, when dirt is reflected in the images taken by the photographing devices 2 and 3, it may be determined that the cleaning conditions are satisfied in order to automatically perform cleaning. If it is determined that the cleaning conditions are met, the process advances to S12.

In S12, it is determined whether the monitoring unit 7 is in the storage position. If the monitoring unit 7 is in the storage position, the cleaning liquid will not reach the photographing devices 2 and 3 appropriately, so the process is terminated in order to prohibit the operation of the injection unit 90. If the monitoring unit 7 is not in the storage state (in the case of the photographing position), the process advances to S13. Note that even if the monitoring unit 7 is in the storage position, the heater 4 can be operated. By operating the heater 4, it is possible to eliminate ice on the photographing devices 2 and 3 while the vehicle is parked.

In S13, it is determined whether the vehicle V is changing course. For example, based on the information obtained from the control unit 12, it is detected that the vehicle V is turning right, turning left, changing lanes, or that the driver has operated the turn signal activation lever. In this case, it is determined that it is time to change course. When the cleaning liquid is injected when the vehicle changes course, the cleaning liquid is reflected in the photographed image of the photographing device 2, and as a result, the driver's ability to monitor the surroundings based on the photographed image deteriorates. Therefore, the process is terminated in order to prohibit the operation of the injection unit 90 during the course change. If the vehicle V is not changing course, the process advances to S14.
In S14, it is determined whether the heater 4 is in operation. If it is in operation, proceed to S17; if not, proceed to S15. In S15, it is determined whether the vehicle speed of the vehicle V is higher than a predetermined speed (for example, 30 km or higher). If the vehicle speed is greater than or equal to the predetermined speed, the process proceeds to S19; if the vehicle speed is less than the predetermined speed, the process proceeds to S16.

In S16 and S19, the injection unit 90 is activated. In the case of this embodiment, two types of operating modes with different injection pressures can be selected. In S16, normal operation is performed with the motor of the electric pump 92 at a relatively low rotation speed. This is an operating mode in which the injection pressure of cleaning liquid is relatively low. In S19, high-pressure operation is performed in which the motor of the electric pump 92 is rotated at a relatively high rotation speed. This is an operating mode in which the injection pressure of the cleaning liquid is relatively high.

The injection unit 90 of this embodiment injects cleaning liquid toward the front of the vehicle V. When the vehicle speed is high and the injection pressure is low, the pressure of the cleaning liquid when it reaches the photographing devices 2 and 3 decreases due to the influence of wind pressure, and the dirt removal performance decreases. On the other hand, when the vehicle speed is slow and the injection pressure is high, a large amount of the cleaning liquid sprayed to the photographing devices 2 and 3 will be scattered around. Therefore, the injection pressure of the cleaning fluid is changed according to the vehicle speed. Of course, it is also possible to employ a single injection pressure.

Next, processing while the heater 4 is in operation will be explained. In S17, it is determined whether a first time has elapsed since the start of operation of the heater 4, based on the heating time measured in S5. If the time has elapsed, the process advances to S18; if the time has not elapsed, the process ends. The first time is, for example, a time within a range of about 1 minute to 3 minutes. Immediately after the heater 4 is activated, if cleaning liquid adheres to the imaging devices 2 and 3, the heat generated by the heater 4 is likely to be taken away and ice melting will not be promoted. Therefore, the process is terminated in order to prohibit the operation of the injection unit 90 from the start of the operation of the heater 4 until the first period of time has elapsed.

In S17, based on the heating time measured in S5, it is determined whether a second time has elapsed after the first time has elapsed since the start of operation of the heater 4. If the time has elapsed, the process advances to S16; if the time has not elapsed, the process advances to S19. The second time is, for example, a time within a range of about 1 minute to 2 minutes.

At the stage where the first period of time has elapsed from the start of operation of the heater 4, it is considered that the ice in the photographing devices 2 and 3 has progressed to some extent, and the icing has changed to a sherbet state in which ice and water are mixed. Therefore, in this case, adhering sherbet can be effectively removed by using the spray pressure of the cleaning liquid. Therefore, the high pressure operation of S19 is performed. On the other hand, after the second period of time has elapsed, it is considered that the icing has mostly changed to water. Therefore, in this case, it may be the same as normal cleaning. Therefore, the normal operation of S16 is performed. The process ends with the above steps.

FIG. 7A is a timing chart showing an example of the operation of the heater 4 and the injection unit 90, and illustrates an example of the progress of the processes of S14, S17, and S18 in FIG. In this example, there is ice on the imaging devices 2 and 3, and the heater 4 starts operating at time T0. Even if the cleaning conditions are satisfied until time T1 corresponding to the first time (S11), the operation of the injection unit 90 is prohibited and the cleaning liquid is not injected (S17). The ice attached to the photographing devices 2 and 3 gradually turns into sherbet.

After the time T1 has elapsed, until the time T2 corresponding to the second time, if the cleaning condition is satisfied (S11), the injection unit 90 is operated, particularly at high pressure (S18, S19). As a result, the sherbet adhering to the photographing devices 2 and 3 is removed by the jetting pressure. Only water remains in the photographing devices 2 and 3.

After the time T2 has elapsed, if the cleaning conditions are met (S11), the injection unit 90 is operated, and in particular, it is set to normal operation (S18, S16).
<Second embodiment>
In the first embodiment, as an example of regulating the operation of the injection unit 90 while the heater 4 is in operation, the operation of the injection unit 90 is prohibited from the start of operation of the heater 4 until a first time elapses; The injection unit 90 was operated at high pressure during the second time period after the elapse of the time period. However, the mode of operation regulation is not limited to this. For example, while the heater 4 is in operation, the operation of the injection unit 90 may be prohibited for the entire period. Further, for example, the injection pressure of the injection unit 90 is set to three levels, and the injection pressure is set to the lowest pressure from the start of operation of the heater 4 until a first time period elapses, and from the elapse of the first time period to a second time period. The maximum pressure may be used between, and the intermediate pressure may be used during normal times.

<Third embodiment>
In the first embodiment, the output of the heater 4 is a single output, but a normal output and a strong output may be selectable. The difference in output can be controlled by the amount of electricity applied to the heater 4, for example, by PWM control.

FIG. 7(B) is a timing chart showing an example of the operation of the heater 4 and the injection unit 90 in this embodiment. The operation of the heater 4 is started at time T0, and the heater 4 is operated with a strong output until time T1 corresponding to the first time. Since the amount of heat generated by the heater 4 is large, the heating ability of the photographing devices 2 and 3 is increased. After time T1 has elapsed, the heater 4 is switched to normal output. Reduces power consumption. The control of the injection unit 90 is the same as the example of FIG. 7(A).

<Summary of embodiments>
The above embodiments disclose at least the following devices.

1. The device of the above embodiment (for example, 1) is
A device mounted on a moving body,
Photographing means (2, 3) for photographing an image of the surroundings of the moving object;
a heater (4) that heats the photographing means;
an injection means (90) for injecting a cleaning liquid to the photographing means;
A control means (11) is provided for regulating operation of the injection means when the heater is operating.
According to this embodiment, it is possible to remove dirt from a photographing device of a moving object and prevent it from freezing.

2. In the above embodiment,
The control means includes:
The operation of the injection means is prohibited for a first time from the start of operation of the heater (S17).
According to this embodiment, by prohibiting the operation of the injection means immediately after the heater is activated, it is possible to prevent the cleaning liquid from interfering with ice melting.

3. In the above embodiment,
The control means includes:
The injection pressure of the cleaning liquid by the injection means can be controlled to a first injection pressure and a second injection pressure higher than the first injection pressure (S16, S19),
The control means includes:
When the injection means is operated during a second time after the first time has elapsed, the injection pressure of the cleaning liquid is controlled to the second injection pressure (S18, S19).
According to this embodiment, the ice that has changed into a sherbet-like state can be effectively removed by the jetting pressure of the cleaning liquid.

4. In the above embodiment,
The control means includes:
determining whether the cleaning liquid is being injected from the injecting means when the injecting means is in operation (S3);
If it is determined that the fuel is not being injected, the heater is activated (S4).
According to this embodiment, clogging of pipes due to freezing can be eliminated.

5. In the above embodiment,
The photographing means is disposed movably between a photographing position and a retreat position,
When the photographing means is located at the retracted position, the control means prohibits the operation of the injection means, but allows the operation of the heater (S12).
According to this embodiment, freezing can be eliminated while avoiding inefficient injection of cleaning liquid.

6. In the above embodiment,
The control means prohibits the operation of the injection means when the moving body changes course (S13).
According to this embodiment, it is possible to prevent the cleaning liquid from being reflected in the photographed image and reducing the ability of the driver to monitor the surroundings.

7. In the above embodiment,
The photographing means includes a first photographing section (2) and a second photographing section (3) housed in a common housing (70),
The first photographing unit (2) is arranged to photograph a side of the vehicle,
The second photographing unit (3) is arranged to photograph the lower part of the housing (70),
The heater (4) is housed in the housing (70).
According to this embodiment, the first imaging section and the second imaging section can be heated by the common heater.

8. In the above embodiment,
The mobile object is a vehicle,
The photographing means (2, 3) is arranged on the side in front of the doors (6R, 6L) of the vehicle,
The injection ports (91, 92) of the injection means (90) are arranged on the side portion in front of the doors (6R, 6L) of the vehicle and behind the photographing means (2, 3). .
According to this embodiment, there is no need for wiring or piping between the door and the main body.

9. In the above embodiment,
Display means (8R, 8L) are provided for displaying images photographed by the photographing means.
According to this embodiment, the driver's ability to monitor surroundings can be improved.

10. The vehicle of the above embodiment is
This is a side mirrorless vehicle (V) equipped with the above device.

V vehicle, 1 in-vehicle device, 2 photographing device, 90 injection unit

Claims (8)

A device mounted on a moving body,
a photographing means for photographing an image of the surroundings of the moving object;
a heater that heats the photographing means;
Injection means for injecting cleaning liquid to the photographing means;
A control means for controlling the operation of the injection means ,
The control means includes:
The injection pressure of the cleaning liquid by the injection means can be controlled to a first injection pressure and a second injection pressure higher than the first injection pressure,
prohibiting the operation of the injection means for a first time period from the start of operation of the heater;
When the injection means is operated during a second time after the first time has elapsed while the heater is in operation, the injection pressure of the cleaning liquid is controlled to the second injection pressure,
When operating the injection means after the second time period has elapsed while the heater is in operation, controlling the injection pressure of the cleaning liquid to the first injection pressure;
A device characterized by: 2. The device according to claim 1 ,
The control means includes:
determining whether the cleaning liquid is being injected from the injecting means when the injecting means is in operation;
If it is determined that the injection is not being performed, operating the heater;
A device characterized by: The device according to claim 1 or claim 2 ,
The photographing means is disposed movably between a photographing position and a retreat position,
The control means prohibits the operation of the injection means while permitting the operation of the heater when the photographing means is located at the retracted position.
A device characterized by: The device according to any one of claims 1 to 3 ,
The control means prohibits the operation of the injection means when the moving body changes course.
A device characterized by: The device according to any one of claims 1 to 4 ,
The photographing means includes a first photographing section and a second photographing section housed in a common housing,
The first photographing unit is arranged to photograph a side of the moving body,
The second photographing unit is arranged to photograph the lower part of the housing,
the heater is housed in the housing;
A device characterized by: The device according to any one of claims 1 to 5 ,
The mobile object is a vehicle,
The photographing means is arranged on the side in front of the door of the vehicle,
The injection port of the injection means is arranged in the side part in front of the door of the vehicle and behind the photographing means,
A device characterized by: The device according to any one of claims 1 to 6 ,
comprising a display means for displaying an image photographed by the photographing means;
A device characterized by: A side mirrorless vehicle comprising the device according to any one of claims 1 to 7 .

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