CN110341655B - Vehicle-mounted sensor cleaning system and sensing system - Google Patents
Vehicle-mounted sensor cleaning system and sensing system Download PDFInfo
- Publication number
- CN110341655B CN110341655B CN201910481790.2A CN201910481790A CN110341655B CN 110341655 B CN110341655 B CN 110341655B CN 201910481790 A CN201910481790 A CN 201910481790A CN 110341655 B CN110341655 B CN 110341655B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- sensor
- cleaning
- mounted sensor
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/62—Other vehicle fittings for cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Devices For Checking Fares Or Tickets At Control Points (AREA)
Abstract
The application relates to a vehicle-mounted sensor cleaning system and a sensing system, wherein the vehicle-mounted sensor cleaning system comprises a control device and a cleaning device, wherein the control device is fixed on a vehicle body and used for pushing the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or collecting the cleaning device and/or the vehicle-mounted sensor into the vehicle body according to a control command, so that the cleaning device can clean the vehicle-mounted sensor. Adopt above-mentioned vehicle-mounted sensor cleaning system can promote the clear convenience of sensor.
Description
Technical Field
The application relates to the technical field of automation, in particular to a vehicle-mounted sensor cleaning system and a sensing system.
Background
Sensors such as cameras, laser radars and millimeter wave radars are important sensing devices in the field of autopilot. At present, the sensor is mounted on an automatic driving vehicle in a mode that the sensor is fixed on the roof or front and rear main and auxiliary glass, and is exposed in a severe environment to cause easy stain deposition, so that the emission and the receiving of signals of the sensor are influenced.
The traditional sensor cleaning method mainly relies on manual cleaning, and a cleaner can manually clean the vehicle-mounted sensor in a non-working state of a vehicle.
However, the cleaning of the sensor using the above method is not convenient.
Disclosure of Invention
In view of the above, it is necessary to provide an in-vehicle sensor cleaning system and a sensing system in order to solve the above technical problems.
An on-board sensor cleaning system, the system comprising: a control device and a cleaning device;
the control device is fixed on the vehicle body and used for pushing the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or collecting the cleaning device and/or the vehicle-mounted sensor into the vehicle body according to a control command, so that the cleaning device can clean the vehicle-mounted sensor.
In one embodiment, the control device comprises a communication module and a sensor lifting module; the communication module is electrically connected with the sensor lifting module;
the communication module receives a starting instruction or a standby instruction sent by the vehicle-mounted control system;
the sensor lifting module pushes the vehicle-mounted sensor out of the vehicle body according to the starting instruction; or according to the standby instruction, the vehicle-mounted sensor is collected into the vehicle body.
In one embodiment, the cleaning device is arranged inside the vehicle body and cleans the vehicle-mounted sensor when the sensor lifting module pushes the vehicle-mounted sensor out of the vehicle body or retracts the vehicle-mounted sensor into the vehicle body.
In one embodiment, the control device further comprises a cleaning control module and a cleaning device lifting module;
the cleaning device lifting module is connected with the cleaning control module and the cleaning device;
the cleaning control module sends a cleaning instruction to the cleaning device lifting module according to the environmental information acquired by the vehicle-mounted sensor;
and the cleaning device lifting module pushes the cleaning device out of the vehicle body according to the cleaning instruction, so that the cleaning device cleans the vehicle-mounted sensor.
In one embodiment, the cleaning control module analyzes the environmental information and determines a scanning information missing area in a scanning range of the vehicle-mounted sensor; and sending a cleaning instruction to the cleaning device lifting module according to the scanning information missing area.
In one embodiment, the cleaning control module sends a cleaning instruction to the cleaning device lifting module when the scanning information missing area is larger than a preset area threshold value.
In one embodiment, the cleaning device comprises at least 1 strip-shaped cleaning unit;
the cleaning device lifting module is used for pushing the strip-shaped cleaning unit matched with the scanning information missing area out of the vehicle body according to the cleaning instruction, so that the strip-shaped cleaning unit can clean the scanning information missing area.
In one embodiment, the system further comprises a sensor protection device;
the sensor protection device is located on the top of the vehicle-mounted sensor and used for protecting the vehicle-mounted sensor.
In one embodiment, the sensor protection device is locked with the vehicle body when the sensor lifting module retracts the vehicle-mounted sensor into the vehicle body.
A sensing system, the system comprising: a vehicle-mounted sensor and the vehicle-mounted sensor cleaning system; the vehicle-mounted sensor is connected with the vehicle-mounted sensor cleaning system;
the vehicle-mounted sensor is used for information of the environment where the sensing system is located.
The vehicle-mounted sensor cleaning system and the sensing system comprise a control device and a cleaning device, wherein the control device is fixed on the vehicle body and used for pushing the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or collecting the cleaning device and/or the vehicle-mounted sensor into the vehicle body according to a control command so that the cleaning device can clean the vehicle-mounted sensor. Because the control device pushes the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or takes the vehicle-mounted sensor into the vehicle body according to the control instruction, the relative position of the cleaning device and the vehicle-mounted sensor is adjusted, so that when the vehicle-mounted sensor works or is in standby, the vehicle-mounted sensor cleaning system can conveniently clean the sensor according to the control instruction, and the convenience for cleaning the sensor is improved.
Drawings
FIG. 1 is a diagram of an exemplary environment in which an in-vehicle sensor cleaning system may be used;
FIG. 2 is a schematic diagram of the configuration of an in-vehicle sensor cleaning system in one embodiment;
FIG. 3 is a schematic diagram of an alternative embodiment of an in-vehicle sensor cleaning system;
FIG. 4 is a schematic diagram of an alternative embodiment of an in-vehicle sensor cleaning system;
FIG. 5 is a schematic diagram of an alternative embodiment of an on-board sensor cleaning system;
FIG. 6 is a schematic diagram of a sensing system in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle-mounted sensor cleaning system provided by the embodiment of the application can be applied to the application environment shown in FIG. 1. The vehicle-mounted sensor cleaning system 100 is connected with a vehicle body 120 and is used for cleaning the vehicle-mounted sensor 110; the vehicle body 120 may be a vehicle body of an intelligent vehicle such as an unmanned vehicle, or may be a vehicle body of a non-intelligent vehicle, and the type of the vehicle body is not limited herein.
Fig. 2 is a schematic structural diagram of an in-vehicle sensor cleaning system according to an embodiment, and as shown in fig. 2, the in-vehicle sensor cleaning system 100 includes: a control device 10 and a cleaning device 20; the control device 10 is fixed to the vehicle body 120, and is used for pushing the cleaning device 20 and/or the vehicle-mounted sensor 110 out of the vehicle body or receiving the cleaning device 20 and/or the vehicle-mounted sensor 110 into the vehicle body according to a control command, and controlling the cleaning device 20 to be positioned outside the vehicle-mounted sensor 110 according to the control command, so that the cleaning device 20 cleans the vehicle-mounted sensor 110.
Specifically, the control device 10 may be fixed to the vehicle body 120 by a screw-fitting method, or may be fixed to the vehicle body by welding or the like, and the fixing method is not limited herein; the control device 10 may be fixed to the top of the vehicle body 120 or may be fixed to the bottom of the vehicle body 120 according to the position of the in-vehicle sensor 110, and the fixing position of the control device 10 is not limited herein.
The control command may be a work command sent by the vehicle-mounted control platform, may be a command for controlling when the vehicle-mounted sensor cleaning system 100 cleans the vehicle-mounted sensor 110, or may be a command for controlling a cleaning manner of the vehicle-mounted sensor cleaning system 100, and the type of the control command is not limited herein. The control device 10 may be implemented by using a hydraulic lifting device or an air lifting device when pushing the cleaning device 20 and/or the in-vehicle sensor 110 out of the vehicle body or retracting the cleaning device 20 and/or the in-vehicle sensor 110 into the vehicle body according to a control command, and the moving manner of the cleaning device 20 and/or the in-vehicle sensor 110 by the control device 10 is not limited herein.
Specifically, when the cleaning device 20 cleans the in-vehicle sensor 110, the cleaning may be performed by contact friction using a cleaning material, such as a sponge, or may be performed by an ultrasonic cleaning method, or may be performed by flushing, and the cleaning method is not limited herein. The cleaning device 20 may be disposed outside the in-vehicle sensor 110, or may be disposed at the bottom of the in-vehicle sensor 110 or at another position, and the control device 10 may move the cleaning device to the outside of the in-vehicle sensor 110 according to a control command to clean the in-vehicle sensor 110 when cleaning is performed, and the position of the cleaning device 20 is not limited herein. The cleaning device 20 may have different shapes, for example, when the vehicle-mounted sensor 110 is cylindrical, the cleaning device 20 may be cylindrical wrapped outside the vehicle-mounted sensor 110, or may be a sheet-shaped cleaning block, and the cleaning device completes cleaning by rotating around the vehicle-mounted sensor 110 for one circle, and the specific shape of the cleaning device is not limited herein.
The vehicle-mounted sensor cleaning system comprises a control device and a cleaning device, wherein the control device is fixed on the vehicle body and used for pushing the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or collecting the cleaning device and/or the vehicle-mounted sensor into the vehicle body according to a control command, so that the cleaning device can clean the vehicle-mounted sensor. Because the control device pushes the cleaning device and/or the vehicle-mounted sensor out of the vehicle body or takes the vehicle-mounted sensor into the vehicle body according to the control instruction, the relative position of the cleaning device and the vehicle-mounted sensor is adjusted, so that when the vehicle-mounted sensor works or is in standby, the vehicle-mounted sensor cleaning system can conveniently clean the sensor according to the control instruction, and the convenience for cleaning the sensor is improved.
In the vehicle-mounted sensor cleaning system 100, the control device 10 can move the position of the cleaning device 10, and can push the cleaning device 10 to the outside of the vehicle body to clean the vehicle-mounted sensor 110 positioned outside the vehicle body; the position of the in-vehicle sensor 110 may be moved, the in-vehicle sensor 110 may be accommodated in the vehicle body, and the cleaning device 10 located in the vehicle body may clean the in-vehicle sensor 110. It should be noted that, only one cleaning scenario may be implemented in the same vehicle-mounted sensor cleaning system, or both cleaning scenarios may be implemented simultaneously, which is not limited herein.
Fig. 3 is a schematic structural diagram of a vehicle-mounted sensor cleaning system in another embodiment, which relates to a cleaning scenario in which the control device 10 moves the position of the vehicle-mounted sensor 110, and as shown in fig. 3, the control device 10 includes a communication module 101 and a sensor lifting module 102; the communication module 101 is electrically connected with the sensor lifting module 102; the communication module 101 receives a starting instruction or a standby instruction sent by a vehicle-mounted control system; the sensor lifting module 102 pushes the vehicle-mounted sensor 110 out of the vehicle body according to the starting instruction; or the in-vehicle sensor 110 is housed inside the vehicle body according to the standby instruction.
The communication module 101 and the sensor lifting module 102 may be connected by a cable, for example, the communication module 101 sends a control signal sent to the sensor lifting module 102 by the cable; the transmission may be performed by a wireless connection method such as bluetooth, and the connection method between the communication module 101 and the sensor lifting module 102 is not limited herein.
Specifically, the communication module 101 may receive the start instruction and the standby instruction sent by the vehicle-mounted control system through a wired connection, or may receive the start instruction and the standby instruction through a wireless connection such as bluetooth, and the receiving method is not limited herein. The communication module 101 can recognize the received start instruction or standby instruction, and then convert the start instruction and standby instruction into a lifting instruction which can be recognized by the sensor lifting module 102; whether the vehicle-mounted sensor 110 needs to be cleaned or not can be determined according to the starting instruction and the standby instruction, then a lifting instruction whether to lift the vehicle-mounted sensor 110 or not and an instruction how to lift the vehicle-mounted sensor 110 are sent to the sensor lifting module 102, for example, the vehicle-mounted sensor 110 is continuously lifted or the vehicle-mounted sensor 110 is lifted for a certain distance and stopped and then is continuously lifted; the processing method of the above-mentioned instruction is not limited herein.
After the communication module 101 receives the start instruction or the standby instruction, the sensor lifting module 102 may, according to the start instruction, firstly clean the vehicle-mounted sensor 110 by the cleaning module, for example, ultrasonically clean, and then push the vehicle-mounted sensor 110 out of the vehicle body, so that the vehicle-mounted sensor 110 may collect information around the vehicle outside the vehicle body; the in-vehicle sensor 110 may be cleaned by an ultrasonic cleaning method or the like after the in-vehicle sensor 110 is received in the vehicle body in response to the standby command.
Alternatively, the cleaning device 20 is provided inside the vehicle body, and the cleaning device 20 cleans the in-vehicle sensor 110 when the sensor elevation module 102 pushes the in-vehicle sensor 110 out of the vehicle body or retracts the in-vehicle sensor 110 into the vehicle body.
Specifically, the in-vehicle sensor 110 is cleaned by rubbing the cleaning material in the cleaning device 20 while the in-vehicle sensor 110 is pushed out of the vehicle body; the in-vehicle sensor 110 is cleaned during the incoming process by also being rubbed by the cleaning material in the cleaning device 20.
Taking an on-board sensor cleaning system as an example, the sensor lifting module 102 can move the position of the on-board sensor 110, the on-board sensor 110 is of a cylindrical structure and is located inside the vehicle body in a standby state; when the communication module 101 receives a start instruction sent by the vehicle-mounted control system, a moving instruction of the sensor lifting module 102 is generated according to the start instruction, so that the sensor lifting module 102 pushes the vehicle-mounted sensor 110 to the outside of the vehicle body, and the vehicle-mounted sensor 110 is cleaned by friction through cleaning materials in the cleaning device 20 surrounding the vehicle-mounted sensor 110 during moving.
The vehicle-mounted sensor cleaning system can move the position of the vehicle-mounted sensor to clean the vehicle-mounted sensor according to the starting instruction and the standby instruction, so that the vehicle-mounted sensor can be cleaned once when being started and standby every time, the cleanliness of the vehicle-mounted sensor can be kept, and the information acquisition performance of the vehicle-mounted sensor cannot be influenced by dirt on the vehicle-mounted sensor; further, the vehicle-mounted sensor is retracted into the vehicle body, so that the vehicle-mounted sensor can be protected under the standby condition, and the external force damage is avoided.
Fig. 4 is a schematic structural diagram of an on-board sensor cleaning system in another embodiment, which relates to a cleaning scene in which the control device 10 moves the position of the cleaning device 10, and as shown in fig. 4, the control device 10 further includes a cleaning control module 103 and a cleaning device lifting module 104; the cleaning device lifting module 104 is connected with the cleaning control module 103 and the cleaning device 20; the cleaning control module 103 sends a cleaning instruction to the cleaning device lifting module 104 according to the environmental information collected by the vehicle-mounted sensor 110; the cleaning device lifting module 104 pushes the cleaning device 20 out of the vehicle body according to the cleaning instruction, so that the cleaning device 20 cleans the in-vehicle sensor 110.
Specifically, when the vehicle-mounted sensor 110 is in the operating mode, the integrity of the information collected by the vehicle-mounted sensor may be affected by the fact that the vehicle-mounted sensor 110 is collected into the vehicle body for cleaning, and at this time, the cleaning device 20 may be pushed out of the vehicle body to clean the vehicle-mounted sensor 110.
The environmental information collected by the vehicle-mounted sensor 110 may be point cloud data collected by a laser radar, or may also be image information collected by a camera, and the type of the environmental information is not limited herein. The cleaning control module 103 may analyze the environmental information, and if the environmental information acquired by the sensor is incomplete, or it is determined that the environmental information is wrong due to the cleanliness of the vehicle-mounted sensor 110, the cleaning control module 103 may consider that the vehicle-mounted sensor 110 needs to be cleaned, and the analysis manner of the environmental information is not limited herein; further, when it is determined that the vehicle-mounted sensor 110 needs to be cleaned, a cleaning instruction may be sent to the cleaning device lifting module 104, where the cleaning instruction may include when the vehicle-mounted sensor 110 is to be cleaned, and may further include which area of the vehicle-mounted sensor 110 is to be cleaned, and the specific content of the cleaning instruction is not limited herein.
Alternatively, the cleaning control module 103 may analyze the environmental information to determine a scanning information missing region within the scanning range of the in-vehicle sensor 110; and sends a cleaning command to the cleaning device 20 lifting module according to the scanning information missing region.
Specifically, the cleaning control module 103 may establish a coordinate system of a scanning range thereof, and perform registration between the collected environment information and the coordinate system, for example, may perform registration between image data collected by the camera and the coordinate system, and perform registration between a scanning area of the vehicle-mounted sensor 110 and the coordinate system, to determine which partial image data is scanned by the scanning area of the vehicle-mounted sensor 110, and which area in the scanning range corresponds, such as a road on the left side of the vehicle or a road in front of the vehicle. The cleaning control module 103 may determine whether there is image information in the scanning range that does not correspond to the area a according to the coordinate correspondence relationship, and then determine which scanning area B of the in-vehicle sensor 110 scans the image information of the area a, that is, a scanning information missing area.
After determining the scanning information missing area, the cleaning control module 103 may directly generate a cleaning instruction including information of the scanning information missing area, and send the cleaning instruction to the cleaning device lifting module; the area with missing scanning information may be further analyzed to determine whether cleaning is necessary for the in-vehicle sensor 110, or whether cleaning may affect vehicle driving, for example, if the area of the area with missing scanning information is small, or the environmental information corresponding to the area does not affect the determination of the in-vehicle control system, the area may not be cleaned. Further, when the scanning information missing region determined by the cleaning device control module 103 is more than one region, the cleaning control module 103 may determine which scanning information missing region has the largest area according to the size of the information missing region in the coordinate system, and then further determine to send a cleaning instruction to the cleaning device lifting module when the largest scanning information missing region is greater than a preset region threshold.
After receiving the cleaning instruction, the cleaning device lifting module 104 may push the cleaning device 20 out of the vehicle body according to the cleaning instruction, so that the cleaning device 20 cleans the vehicle-mounted sensor 110. The cleaning device lifting module 104 may lift the cleaning device 20 to a height at which the scanning information missing region is located, or may push the cleaning device at the position at which the scanning information missing region is located out of the vehicle body.
Optionally, the cleaning device 20 comprises at least 1 strip-shaped cleaning unit 201; the cleaning device lifting module is used for pushing the strip-shaped cleaning unit matched with the scanning information missing area out of the vehicle body according to a cleaning instruction, so that the strip-shaped cleaning unit can clean the scanning information missing area.
According to the vehicle-mounted sensor cleaning system, when the vehicle-mounted sensor is in a working state, the cleaning module can be pushed out of the vehicle body according to the environment information scanned by the vehicle-mounted sensor when the environment information is incomplete, so that the vehicle-mounted sensor can be cleaned, and the cleaning of the sensor in the working state is more flexible; furthermore, the cleaning unit in the cleaning device can be used for cleaning the scanning information missing area, so that the influence of cleaning on the work of the vehicle-mounted sensor is reduced to the maximum extent.
In one embodiment, as shown in FIG. 5, the in-vehicle sensor cleaning system further includes a sensor protection device 30; the sensor protection device 30 is located on top of the in-vehicle sensor 110 for protecting the in-vehicle sensor 110.
Specifically, the sensor protection device 30 may be connected to the control device, may be connected to the in-vehicle sensor, may be pushed out of the vehicle body together with the in-vehicle sensor 110 when the in-vehicle sensor 110 is pushed outside the vehicle body, or may be fixed to the vehicle body at all times, and the fixing method of the sensor protection device 30 is not limited herein.
The sensor protector 30 may be circular arc-shaped or square, and the specific shape of the sensor protector 30 is not limited herein.
Further, the sensor protection device 30 can be locked with the vehicle body when the sensor elevation module 102 receives the in-vehicle sensor 110 into the vehicle body. The locking manner may be a magnetic locking manner, and may also be a locking manner by a connecting member, which is not limited herein.
According to the vehicle sensor cleaning system, the sensor cleaning device can protect the vehicle-mounted sensor from being damaged by external force; furthermore, when the vehicle-mounted sensor is retracted into the vehicle body, the vehicle-mounted sensor can be locked with the vehicle body, so that the vehicle-mounted sensor can be kept clean without being polluted by rainwater, dust and the like.
A sensing system, as illustrated in fig. 6, comprising: an in-vehicle sensor 110 and an in-vehicle sensor cleaning system 100; the in-vehicle sensor 110 is connected to the in-vehicle sensor cleaning system 100; the vehicle-mounted sensor 110 is used for collecting information of an environment where the sensing system is located.
The implementation principle and implementation effect of the vehicle-mounted sensor cleaning system in the sensing system are similar to those of the above embodiments, and are not described herein again.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An on-board sensor cleaning system, the system comprising: a control device and a cleaning device;
the control device is fixed on the vehicle body and used for pushing the vehicle-mounted sensor out of the vehicle body or retracting the vehicle-mounted sensor into the vehicle body according to a control command, so that the cleaning device can clean the vehicle-mounted sensor;
the control device comprises a cleaning control module and a cleaning device lifting module, and the cleaning device lifting module is connected with the cleaning control module and the cleaning device;
the cleaning control module is used for analyzing the environmental information acquired by the vehicle-mounted sensor, determining a scanning information missing area in a scanning range of the vehicle-mounted sensor, and sending a cleaning instruction to the cleaning device lifting module according to the scanning information missing area;
the cleaning device comprises at least 1 strip-shaped cleaning unit;
and the cleaning device lifting module is used for pushing the strip-shaped cleaning unit matched with the scanning information missing area out of the vehicle body according to the cleaning instruction so as to enable the strip-shaped cleaning unit to clean the scanning information missing area.
2. The system of claim 1, wherein the control device further comprises a communication module and a sensor lift module; the communication module is electrically connected with the sensor lifting module;
the communication module receives a starting instruction or a standby instruction sent by the vehicle-mounted control system;
the sensor lifting module pushes the vehicle-mounted sensor out of the vehicle body according to the starting instruction; or according to the standby instruction, the vehicle-mounted sensor is collected into the vehicle body.
3. The system of claim 2, wherein the cleaning device is disposed inside the vehicle body, and the cleaning device cleans the on-board sensor when the sensor lifting module pushes the on-board sensor out of or into the vehicle body.
4. The system of claim 1, wherein the cleaning control module sends a cleaning command to the cleaning device lifting module when the scan information missing area is greater than a preset area threshold.
5. The system of any one of claims 2-4, further comprising a sensor protection device;
the sensor protection device is located on the top of the vehicle-mounted sensor and used for protecting the vehicle-mounted sensor.
6. The system of claim 5, wherein the sensor protection device locks with the vehicle body when the sensor lifting module retracts the onboard sensor into the vehicle body.
7. A system according to any of claims 2-4, wherein the cleaning means is ultrasonic cleaning.
8. The system of any one of claims 2-4, wherein the cleaning control module is configured to establish a coordinate system of a scanning range of the vehicle-mounted sensor, and to align the environmental information with the coordinate system to obtain the scanning information missing region.
9. The system of any one of claims 2-4, wherein the cleaning device lifting module is further configured to control the strip-shaped cleaning unit to complete cleaning by rotating around the vehicle-mounted sensor for one circle.
10. A sensing system, the system comprising: an onboard sensor and an onboard sensor cleaning system as claimed in any one of claims 1-9; the vehicle-mounted sensor is connected with the vehicle-mounted sensor cleaning system;
the vehicle-mounted sensor is used for acquiring the information of the environment where the sensing system is located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481790.2A CN110341655B (en) | 2019-06-04 | 2019-06-04 | Vehicle-mounted sensor cleaning system and sensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481790.2A CN110341655B (en) | 2019-06-04 | 2019-06-04 | Vehicle-mounted sensor cleaning system and sensing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110341655A CN110341655A (en) | 2019-10-18 |
| CN110341655B true CN110341655B (en) | 2021-02-05 |
Family
ID=68181500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910481790.2A Active CN110341655B (en) | 2019-06-04 | 2019-06-04 | Vehicle-mounted sensor cleaning system and sensing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110341655B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110901593B (en) * | 2019-11-20 | 2021-06-04 | 北京百度网讯科技有限公司 | Radar cleaning device for vehicle and vehicle |
| CN111391791B (en) * | 2020-03-20 | 2021-08-27 | 三一智矿科技有限公司 | Sensor cleaning method and device, unmanned vehicle for mine and readable storage medium |
| CN113941542A (en) * | 2020-07-17 | 2022-01-18 | 江苏日盈电子股份有限公司 | Lifting type radar cleaning equipment and method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6527871B1 (en) * | 2000-05-04 | 2003-03-04 | Brian P. Hanson | Wet weather vision improvement system and method for video and television camera, and other viewing and imaging equipment |
| DE102006024693A1 (en) * | 2006-05-19 | 2007-11-22 | Siemens Ag | Method and device for cleaning a sensor based on electromagnetic radiation |
| JP5056919B2 (en) * | 2009-09-29 | 2012-10-24 | 株式会社デンソー | In-vehicle optical sensor cover and in-vehicle optical sensor device |
| JP5803831B2 (en) * | 2012-07-23 | 2015-11-04 | 株式会社デンソー | In-vehicle optical sensor cleaning device |
| DE102012019035A1 (en) * | 2012-09-27 | 2014-03-27 | GM Global Technology Operations LLC (n. d. Ges. d. Staates Delaware) | Cleaning device for a disc element of a vehicle and vehicle |
| FR3031919B1 (en) * | 2015-01-22 | 2020-01-03 | Valeo Systemes D'essuyage | DEVICE FOR CLEANING A DRIVING CAMERA FOR A VEHICLE |
| CN107499285A (en) * | 2017-08-24 | 2017-12-22 | 北京欧百拓信息科技发展有限公司 | The automatic cleaning apparatus of vehicle environment detecting sensor |
| US20190106085A1 (en) * | 2017-10-10 | 2019-04-11 | GM Global Technology Operations LLC | System and method for automated decontamination of vehicle optical sensor lens covers |
-
2019
- 2019-06-04 CN CN201910481790.2A patent/CN110341655B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110341655A (en) | 2019-10-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110341655B (en) | Vehicle-mounted sensor cleaning system and sensing system | |
| JP5124351B2 (en) | Vehicle operation system | |
| CN103605365B (en) | The entire roboticized work method that substation equipment filth is patrolled and examined, judges and cleaned | |
| US10664974B2 (en) | System and method for object detection using edge characteristics | |
| US20060115160A1 (en) | Method and apparatus for detecting corner | |
| US11409306B2 (en) | Movement robot | |
| CN109797691A (en) | Unmanned sweeper and its travelling-crane method | |
| CN110850885A (en) | Autonomous robot | |
| DE102010037100A1 (en) | Automatically movable device | |
| CN101337536A (en) | Vehicle device and method for determining vehicle-distance | |
| JP5775965B2 (en) | Stereo camera system and moving body | |
| CN110955249A (en) | Method and device for robot to pass through obstacle, storage medium and electronic device | |
| CN108732573B (en) | Parking space detection method and parking space detection system | |
| US20200191951A1 (en) | Under vehicle inspection | |
| CN209319821U (en) | A kind of converter station protection room crusing robot | |
| US20190348857A1 (en) | Jump start drone | |
| CN113364074A (en) | Charging mobile device and charging system | |
| CN108594827B (en) | Control system | |
| JP4745159B2 (en) | Mobile robot | |
| JP3626461B2 (en) | Ground surface inspection method, ground surface inspection system, and ground surface inspection device | |
| CN112748721A (en) | Visual robot and cleaning control method, system and chip thereof | |
| CN116076078A (en) | Vehicle control device, vehicle control method, and vehicle control program | |
| KR100264832B1 (en) | Robot cleaner control device using computer and its method | |
| CN109443201B (en) | Pallet identification method based on S300 laser scanning sensor | |
| JP2008030619A (en) | Kinds-of-road-division-line sorting system and road-division-line recognition sytem |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |