CN113370938A

CN113370938A - Vehicle-mounted vision acquisition module, cleaning device thereof and unmanned vehicle

Info

Publication number: CN113370938A
Application number: CN202110729749.XA
Authority: CN
Inventors: 宁柯军
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-10

Abstract

The utility model relates to a vehicle-mounted vision acquisition module and cleaning device, unmanned car thereof. Rotatable rotatory vision acquisition module's cleaning device, including stator base, printing opacity casing, drive arrangement and belt drive, the printing opacity casing is rotationally installed on the stator base for on-vehicle vision acquisition subassembly is established to the cover, drive arrangement sets up on the stator base and be located the outside of printing opacity casing, belt drive's input with drive arrangement links to each other, belt drive's output with the printing opacity casing links to each other, drive arrangement passes through the belt drive the printing opacity casing rotates. The transmission between the light-transmitting shell and the driving device is realized through the belt transmission device, the belt transmission device is relatively simple in structure and low in cost, part of vibration energy can be absorbed in the transmission, the vibration caused in the transmission can be reduced, and the light-transmitting shell can rotate more stably.

Description

Vehicle-mounted vision acquisition module, cleaning device thereof and unmanned vehicle

Technical Field

The utility model relates to a technical field of subassembly is gathered to on-vehicle vision, specifically relates to a module is gathered to on-vehicle vision and cleaning device, unmanned car thereof.

Background

Generally, the outside of a vehicle, such as an unmanned vehicle or a passenger vehicle with an unmanned driving assistance system, requires a plurality of on-board vision acquisition components, such as cameras, for sensing and monitoring the external environment of the vehicle and generating control decisions, which in turn provide a reference for the driving of the vehicle. Because on-vehicle vision acquisition assembly sets up in the outside of vehicle, can set up the installation cover generally and be used for concentrating the installation and protect a plurality of on-vehicle vision acquisition assemblies, nevertheless the installation cover exposes adsorbs filths such as floating dust, rainwater easily in the external world, can arouse sensitization and image distortion problem, can seriously influence the processing result of computer vision, and then leads to vehicle control to make mistakes. In order to ensure the collection effect of the vehicle-mounted vision collection assembly, in recent years, a part of high-grade vehicles with Advanced Driving Assistance System (Advanced Driving Assistance System) functions are paying attention to the self-cleaning problem of the vehicle-mounted vision collection assembly, and specifically, the self-cleaning problem is the dirt/water hanging problem of the vehicle-mounted vision collection assembly cleaned by technologies such as water spraying, air spraying, micro windscreen wipers and the like. Although the water spraying and air spraying scheme has good effect, the design of a water pump and a pipeline is involved, and the implementation and the daily maintenance are relatively complex and have high requirements; the miniature windscreen wiper relates to the complexity of an actuating mechanism and the service life of parts, and is high in overall cost.

Disclosure of Invention

The utility model aims at providing a module is gathered to on-vehicle vision and cleaning device, unmanned car thereof, this subassembly is gathered to on-vehicle vision simple structure, and is with low costs, and the transmission is steady to solve the above-mentioned problem that exists in the correlation technique partially.

In order to realize the above-mentioned purpose, the utility model provides a cleaning device of on-vehicle vision acquisition module, including stator base, printing opacity casing, drive arrangement and belt drive, the printing opacity casing is rotationally installed on the stator base for on-vehicle vision acquisition module is established to the cover, drive arrangement sets up on the stator base and be located the outside of printing opacity casing, belt drive arrangement's input with drive arrangement links to each other, belt drive arrangement's output with the printing opacity casing links to each other, drive arrangement passes through the belt drive arrangement drive the printing opacity casing rotates.

Optionally, the belt transmission device includes a first belt pulley, a second belt pulley, and a transmission belt, the first belt pulley is fixed on the light-transmitting housing and is coaxially arranged with the rotation axis of the light-transmitting housing, the second belt pulley is fixed at the output end of the driving device, the rotation axes of the first belt pulley and the second belt pulley are arranged in parallel, and the transmission belt is sleeved on the first belt pulley and the second belt pulley.

Optionally, the stator base includes base plate, first installation department and second installation department are in the homonymy interval arrangement of base plate, first installation department is used for the installation the printing opacity casing, the second installation department is used for the installation drive arrangement.

Optionally, the first installation department includes support portion and pivot portion, the one end of pivot portion is fixed on the base plate, support portion fixes the other end of pivot portion, support portion constructs for platelike, just support portion with pivot portion dislocation arrangement, in order with pivot portion encloses jointly and closes out the installation the space of subassembly is gathered to on-vehicle vision, the printing opacity casing is rotationally established in pivot portion, and will support portion covers and establishes inside it.

Optionally, the light-transmitting shell comprises a light-transmitting cavity and an installation cavity, the light-transmitting cavity is used for accommodating the support part and the vehicle-mounted vision acquisition assembly, a bearing is arranged in the installation cavity, the light-transmitting shell is rotatably installed on the rotating shaft part through the bearing, and the belt transmission device is connected with the outer surface of the installation cavity.

Optionally, a wire passing hole is formed in the rotating shaft portion, the wire passing hole penetrates through the rotating shaft portion along an axis of the rotating shaft portion, a through hole corresponding to the wire passing hole is formed in the base plate, and the wire passing hole and the through hole are used for accommodating a wire harness of the vehicle-mounted vision acquisition assembly.

Optionally, the second installation department is including the supporting part and the mount table of structure for the L type, the supporting part with the base plate is fixed, the mount table with the supporting part link to each other and with base plate parallel arrangement, be formed with on the mount table and dodge the hole, drive arrangement arranges the lateral surface of mount table, drive arrangement's output passes dodge the hole and be located the medial surface of mount table.

Optionally, the cleaning device further comprises a scraping member disposed outside the light-transmissive housing, one side of the scraping member being attached to the light-transmissive housing and being movable relative to the outer surface of the light-transmissive housing when the light-transmissive housing rotates.

Optionally, the number of the scraping pieces is two, and the scraping pieces are arranged on the front side of the light-transmitting shell at intervals to form a window for avoiding a collected visual range, and the light-transmitting shell abuts against the edge of the window.

Another aspect of the present disclosure also provides a vehicle-mounted vision acquisition module, including a vehicle-mounted vision acquisition assembly and an active cleaning device of the vehicle-mounted vision acquisition module as described above.

Yet another aspect of the present disclosure also provides an unmanned vehicle comprising the vehicle-mounted vision acquisition module as described above.

Through above-mentioned technical scheme, the cleaning device of on-vehicle vision acquisition module in this embodiment of the disclosure is through rotationally installing the printing opacity casing on the stator base to rotate through the drive arrangement drive, the printing opacity casing is rotating the in-process, and filths such as attached water droplet of its surface, floating dust can break away from the printing opacity casing under the effect of centrifugal force, thereby reach the effect of clean printing opacity casing surface. In addition, the transmission between the light-transmitting shell and the driving device is realized through a belt transmission device, the belt transmission device has a relatively simple structure and low cost, and can absorb a part of vibration energy in transmission, so that the vibration caused in the transmission can be reduced, and the light-transmitting shell can rotate more stably; the belt drive also has the advantage of remote drive, for example, the spacing between the drive and the light-transmitting housing can be adapted to the environment of the external installation without increasing the structural complexity of the belt drive.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a side view of a vehicle vision acquisition module in an embodiment of the present disclosure;

fig. 2 is a structural top view of the vehicle-mounted vision acquisition module in the embodiment of the present disclosure.

Description of the reference numerals

1. A stator base; 11. a substrate; 12. a first mounting portion; 121. a bracket part; 122. a rotating shaft part; 123. a wire passing hole; 13. a second mounting portion; 131. a support portion; 132. an installation table; 2. a light-transmissive housing; 21. a light-transmitting cavity; 22. installing a cavity; 23. a bearing; 3. a drive device; 4. a belt drive; 41. a first pulley; 42. a second pulley; 43. a transmission belt; 5. a scraping member; 51. an outer support; 6. vehicle-mounted vision acquisition assembly.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, the use of directional terms such as "inner" and "outer" in the context of the present disclosure, unless otherwise indicated, refers to "inner" and "outer" relative to the contour of the component or structure itself. In addition, it is to be understood that the terms "first," "second," and the like are used for distinguishing one element from another, and are not necessarily order nor importance. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

The embodiment of the present disclosure provides a cleaning device for a vehicle-mounted vision acquisition module, wherein the vehicle-mounted vision acquisition module includes a vehicle-mounted vision acquisition assembly 6, the vehicle-mounted vision acquisition assembly 6 refers to a device capable of acquiring and storing images, for example, a camera, a radar, an infrared instrument, a laser sensor, etc., and an active cleaning device for the vehicle-mounted vision acquisition module is mainly a device for installing and integrating the vehicle-mounted vision acquisition assembly 6. As shown in fig. 1 and fig. 2, the cleaning device of the vehicle-mounted vision acquisition module in the embodiment of the present disclosure includes a stator base 1, a light-transmitting housing 2, a driving device 3 and a belt transmission device 4, where the light-transmitting housing 2 is rotatably installed on the stator base 1 and is used for covering the vehicle-mounted vision acquisition module 6, the driving device 3 is installed on the stator base 1 and is located outside the light-transmitting housing 2, an input end of the belt transmission device 4 is connected to the driving device 3, an output end of the belt transmission device 4 is connected to the light-transmitting housing 2, and the driving device 3 drives the light-transmitting housing 2 to rotate through the belt transmission device 4.

Through above-mentioned technical scheme, the cleaning device of on-vehicle vision acquisition module in this embodiment of the disclosure is through rotationally installing printing opacity casing 2 on stator base 1 to through the drive of drive arrangement 3 rotation, printing opacity casing 2 is at the rotation in-process, and filths such as attached water droplet of its surface, floating dust can break away from printing opacity casing 2 under the effect of centrifugal force, thereby reach the effect of 2 surfaces of clean printing opacity casings. In addition, the transmission between the light-transmitting shell 2 and the driving device 3 is realized through the belt transmission device 4, the belt transmission device 4 has a relatively simple structure and low cost, and can absorb a part of vibration energy in the transmission process, so that the vibration caused in the transmission process can be reduced, and the light-transmitting shell 2 can rotate more stably; the belt drive 4 also has the advantage of remote drive, for example, the spacing between the drive 3 and the light-transmitting housing 2 can be adapted to the environment of the external installation without increasing the structural complexity of the belt drive 4.

In the embodiment of the present disclosure, the belt transmission device 4 may be any type of transmission device, and here, for example, the belt transmission device 4 with a relatively simple structure is taken as an example, as shown in fig. 2, the belt transmission device 4 includes a first belt pulley 41, a second belt pulley 42 and a transmission belt 43, the first belt pulley 41 is fixed on the light-transmitting casing 2 and is arranged coaxially with the rotation axis of the light-transmitting casing 2, the second belt pulley 42 is fixed on the output end of the driving device 3, the rotation axes of the first belt pulley 41 and the second belt pulley 42 are arranged in parallel, and the transmission belt 43 is sleeved on the first belt pulley 41 and the second belt pulley 42. Thus, the torque at the output end of the driving device 3 can be transmitted to the first belt wheel 41 through the transmission belt 43, and the first belt wheel 41 drives the light-transmitting shell 2 to rotate, so that the dirt attached to the outer surface of the first shell generates centrifugal force, and the cleaning effect is achieved. The first belt wheel 41 is disposed coaxially with the rotation axis of the transparent housing 2, so as to prevent the transparent housing 2 from generating an eccentric force and ensure the rotational stability thereof.

Alternatively, in an embodiment of the present disclosure, the first pulley 41 may be formed in a hollow ring shape, which may be sleeved on the outer surface of the light-transmitting housing 2, or in other embodiments, the first pulley 41 may also be a solid wheel fixed at the end of the light-transmitting housing 2, which is not limited by the present disclosure.

The driving device 3 can drive the light-transmitting shell 2 to rotate in a constant direction and a constant speed; or, the driving device 3 can also drive the transparent shell 2 to change the direction and rotate at a constant speed, that is, the transparent shell 2 is continuously switched between clockwise rotation and anticlockwise rotation, but the rotating speed is not changed, so that the centrifugal force borne by the dirt is continuously reversed, and the dirt is favorably separated from the transparent shell 2; or, the driving device 3 can also drive the light-transmitting housing 2 to rotate in a constant speed or a variable speed, that is, in the process of rotating the light-transmitting housing 2, the driving device 3 continuously changes the output rotating speed, so that the rotating speed of the light-transmitting housing 2 continuously changes, and the dirt is promoted to be rapidly separated from the light-transmitting housing 2. The present disclosure does not limit the rotational direction and rotational speed of the light-transmitting housing 2.

In one embodiment of the present disclosure, the driving device 3 may be an electric motor, a motor, or the like, which directly outputs torque, and directly transmits the torque to the light-transmissive housing 2 through the belt transmission device 4.

As shown in fig. 2, in the embodiment of the present disclosure, the stator base 1 includes a substrate 11, a first mounting portion 12 and a second mounting portion 13, the first mounting portion 12 and the second mounting portion 13 are spaced apart from each other on the same side of the substrate 11, the first mounting portion 12 is used for mounting the light-transmitting housing 2, and the second mounting portion 13 is used for mounting the driving device 3. Through set up two installation departments on stator base 1, install printing opacity casing 2 and drive arrangement 3 respectively, can make printing opacity casing 2 and drive arrangement 3 not influence each other at the during operation, and when one of them breaks down, only need dismouting or change the party of trouble, reduced the degree of difficulty and the cost of maintenance and change.

An exemplary embodiment of the first and second mounting

portions

12 and 13 will be described in detail below with reference to fig. 2. In the embodiment of the present disclosure, the first mounting portion 12 includes a bracket portion 121 and a rotating shaft portion 122, one end of the rotating shaft portion 122 is fixed on the substrate 11, the bracket portion 121 is fixed at the other end of the rotating shaft portion 122, the bracket portion 121 is configured in a plate shape, and the bracket portion 121 and the rotating shaft portion 122 are arranged in a staggered manner so as to enclose a space for mounting the vehicle-mounted vision acquisition assembly 6 together with the rotating shaft portion 122, and the light-transmitting housing 2 is rotatably sleeved on the rotating shaft portion 122 and covers the bracket portion 121 therein. Here, the offset arrangement of the bracket part 121 and the rotating shaft part 122 means that the bracket part 121 is offset from the central axis of the rotating shaft part 122, and the two parts are not collinear. Through the setting of dislocation arrangement, can set aside the space that holds on-vehicle vision subassembly at the tip of pivot portion 122 to utilize the inside space of printing opacity casing 2 more rationally.

In an embodiment of the present disclosure, the light-transmitting housing 2 includes a light-transmitting cavity 21 and a mounting cavity 22, the light-transmitting cavity 21 is used for accommodating the bracket portion 121 and the vehicle-mounted vision acquisition assembly 6, a bearing 23 is disposed in the mounting cavity 22, the light-transmitting housing 2 is rotatably mounted on the rotating shaft portion 122 through the bearing 23, and the belt transmission device 4 is connected to an outer surface of the mounting cavity 22. With two cavitys of 2 atmospheres of printing opacity casings, prevent that the spare part in two cavitys from influencing each other, reduce the fault rate. The belt transmission device 4 may be formed in a hollow ring shape and fixed on the outer surface of the mounting cavity 22, so that after the belt transmission device 4 is actuated by the driving device 3, the belt transmission device 4 can drive the mounting cavity 22 to rotate, thereby driving the light-transmitting cavity 21 to rotate.

It should be understood that the cavity 21 and the mounting cavity 22 may be integrally formed of glass, transparent plastic, etc., or may be formed of different materials, which is not limited by the present disclosure. Illustratively, the cavity 21 is made of a light transmissive material to allow the vehicle-mounted vision acquisition assembly 6 to acquire external environmental information therethrough, while the mounting cavity 22 may be made of a light transmissive material or a non-light transmissive material, which the present disclosure does not limit.

In an alternative embodiment of the present disclosure, both the mounting cavity 22 and the light-transmitting cavity 21 may be formed in a cylindrical shape, and the diameter of the light-transmitting cavity 21 may be larger than that of the mounting cavity 22, so that a mounting space may be left for the belt transmission device 4 outside the mounting cavity 22.

In the embodiment of the present disclosure, the rotating shaft portion 122 is formed with a wire passing hole 123, the wire passing hole 123 penetrates through the rotating shaft portion 122 along an axis of the rotating shaft portion 122, the base plate 11 is provided with a through hole corresponding to the wire passing hole 123, and both the wire passing hole 123 and the through hole are used for accommodating a wiring harness of the vehicle-mounted vision acquisition assembly 6. Like this, the pencil of subassembly 6 is gathered to on-vehicle vision enters into the inside of printing opacity casing 2 from crossing wire hole 123, avoids printing opacity casing 2's rotation to influence the pencil, and can provide the protection for the pencil. The wire harness may be a power line of the vehicle-mounted vision acquisition assembly 6, or may be a signal line, etc., which is not limited in this disclosure.

With continued reference to fig. 2, the second mounting portion 13 is mainly used for mounting the driving device 3, and the configuration thereof may be adaptively designed according to the driving device 3, in an embodiment of the present disclosure, the second mounting portion 13 includes a supporting portion 131 configured in an L shape and a mounting table 132, the supporting portion 131 is fixed to the substrate 11, the mounting table 132 is connected to the supporting portion 131 and arranged in parallel with the substrate 11, a relief hole is formed on the mounting table 132, the driving device 3 is arranged on an outer side surface of the mounting table 132, and an output end of the driving device 3 passes through the relief hole and is located on the inner side surface of the mounting table 132. According to the structural feature of the second mounting portion 13, a certain limited space is enclosed by three surfaces of the supporting portion 131, the mounting table 132 and the substrate 11, and an avoiding hole is formed in the mounting table 132 to avoid the output end of the driving device 3, so that the output end of the driving device 3 can extend into the limited space, and thus, the belt transmission device 4 can be mounted in the limited space, and a certain protection effect can be provided for the belt transmission device 4 through the second mounting portion 13 and the base. And this arrangement can make the output of drive arrangement 3 be closer to the installation cavity 22 of printing opacity casing 2, is convenient for install belt drive arrangement 4 for spatial layout is more reasonable.

As shown in fig. 1, in the embodiment of the present disclosure, the cleaning device further includes a scraping member 5, the scraping member 5 is disposed outside the light-transmitting housing 2, and one side of the scraping member 5 is attached to the light-transmitting housing 2 and can move relative to the outer surface of the light-transmitting housing 2 when the light-transmitting housing 2 rotates. In this way, when the transparent housing 2 needs to be cleaned, not only can the dirt be thrown out by centrifugal force only by rotating the transparent housing 2, but also the transparent housing 2 can be scraped by the relative movement between the scraping member 5 and the transparent housing 2, so that it is cleaned.

Optionally, the scraping member 5 may be provided with soft scraping structures such as rags and rubber, which are attached to the surface of the light-transmitting casing 2 when the scraping member 5 is in the scraping position, and the soft scraping structures may enable the light-transmitting casing 2 to be cleaned more thoroughly without scratching the light-transmitting casing 2.

In one embodiment of the present disclosure, as shown in fig. 1, the number of the scraping members 5 is two, and the scraping members 5 are disposed at intervals on the front side of the light-transmitting housing 2 to form a window for avoiding the collection of the visual range, and the light-transmitting housing 2 abuts on the edge of the window. The collection visual range refers to the angle range which can be related to and shot by the visual collection assembly, and the scraping piece 5 can be arranged outside the collection visual range to avoid influencing the shooting range of the visual collection assembly. The front side of the light-transmitting housing 2 refers to the collection direction of the on-board vision collection assembly 6.

Through setting up two scrapers 5, can simulate the eyelid fixed arrangement of animal in the front side of printing opacity casing 2, like this, when drive arrangement 3 drive printing opacity casing 2 rotated, printing opacity casing 2 realized cleaning through two scrapers 5, can to a great extent improve clean effect.

In the embodiment of the present disclosure, the scraping element 5 may be disposed on the external support 51, where the external support 51 may be a vehicle body shell or other external components, or may also be a specially designed support, a window is opened on the external support 51, the scraping elements 5 are respectively disposed at edges of the window, the mounting position of the stator base 1 enables the light-transmitting housing 2 to abut against the scraping element 5, and when the light-transmitting housing 2 rotates, the scraping element 5 and the light-transmitting housing 2 can move relatively to each other to achieve a cleaning effect.

Another embodiment of the present disclosure further provides a vehicle-mounted vision acquisition module, as shown in fig. 1 and fig. 2, which includes a vehicle-mounted vision acquisition assembly 6 and the active cleaning device of the vehicle-mounted vision acquisition module described above. The active cleaning device of the vehicle-mounted vision acquisition module is good in cleaning effect, and the vehicle-mounted vision module is simple in structure and low in cost.

Yet another embodiment of the present disclosure also provides an unmanned vehicle including the vehicle-mounted vision acquisition module as described above.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. The utility model provides a cleaning device of module is gathered to on-vehicle vision, its characterized in that, includes stator base (1), printing opacity casing (2), drive arrangement (3) and belt drive (4), printing opacity casing (2) rotationally install on stator base (1) for on-vehicle vision collection subassembly (6) is established to the cover, drive arrangement (3) set up on stator base (1) and be located the outside of printing opacity casing (2), the input of belt drive (4) with drive arrangement (3) link to each other, the output of belt drive (4) with printing opacity casing (2) link to each other, drive arrangement (3) pass through belt drive (4) drive printing opacity casing (2) rotate.

2. The cleaning device of the vehicle-mounted vision acquisition module according to claim 1, wherein the belt transmission device (4) comprises a first belt pulley (41), a second belt pulley (42) and a transmission belt (43), the first belt pulley (41) is fixed on the light-transmitting shell (2) and is coaxially arranged with the rotation axis of the light-transmitting shell (2), the second belt pulley (42) is fixed on the output end of the driving device (3), the rotation axes of the first belt pulley (41) and the second belt pulley (42) are arranged in parallel, and the transmission belt (43) is sleeved on the first belt pulley (41) and the second belt pulley (42).

3. The cleaning device of the vehicle-mounted vision acquisition module as defined in claim 1, wherein the stator base (1) comprises a substrate (11), a first mounting part (12) and a second mounting part (13), the first mounting part (12) and the second mounting part (13) are arranged on the same side of the substrate (11) at intervals, the first mounting part (12) is used for mounting the light-transmitting shell (2), and the second mounting part (13) is used for mounting the driving device (3).

4. The cleaning device for the vehicle-mounted vision acquisition module according to claim 3, wherein the first mounting portion (12) comprises a bracket portion (121) and a rotating shaft portion (122), one end of the rotating shaft portion (122) is fixed on the base plate (11), the bracket portion (121) is fixed at the other end of the rotating shaft portion (122), the bracket portion (121) is plate-shaped, the bracket portion (121) and the rotating shaft portion (122) are arranged in a staggered manner to jointly enclose a space for mounting the vehicle-mounted vision acquisition module (6) with the rotating shaft portion (122), and the light-transmitting shell (2) is rotatably sleeved on the rotating shaft portion (122) and covers the bracket portion (121) inside.

5. The cleaning device for the vehicle-mounted vision acquisition module according to claim 4, wherein the light-transmitting shell (2) comprises a light-transmitting cavity (21) and a mounting cavity (22), the light-transmitting cavity (21) is used for accommodating the support portion (121) and the vehicle-mounted vision acquisition module (6), a bearing (23) is arranged in the mounting cavity (22), the light-transmitting shell (2) is rotatably mounted on the rotating shaft portion (122) through the bearing (23), and the belt transmission device (4) is connected with the outer surface of the mounting cavity (22).

6. The cleaning device for the vehicle-mounted vision acquisition module according to claim 5, wherein a wire passing hole (123) is formed in the rotating shaft portion (122), the wire passing hole (123) penetrates through the rotating shaft portion (122) along an axis of the rotating shaft portion (122), a through hole corresponding to the wire passing hole (123) is formed in the base plate (11), and the wire passing hole (123) and the through hole are used for accommodating a wiring harness of the vehicle-mounted vision acquisition assembly (6).

7. The cleaning device of the vehicle-mounted vision acquisition module according to claim 3, wherein the second mounting portion (13) comprises a supporting portion (131) and a mounting table (132) which are L-shaped, the supporting portion (131) is fixed to the substrate (11), the mounting table (132) is connected to the supporting portion (131) and arranged in parallel to the substrate (11), an avoiding hole is formed in the mounting table (132), the driving device (3) is arranged on the outer side face of the mounting table (132), and the output end of the driving device (3) penetrates through the avoiding hole and is located on the inner side face of the mounting table (132).

8. The cleaning device of the vehicle-mounted vision acquisition module set according to claim 1, characterized in that the cleaning device further comprises a scraping piece (5), the scraping piece (5) is arranged at the outer side of the light-transmitting shell (2), one side of the scraping piece (5) is attached to the light-transmitting shell (2) and can move relative to the outer surface of the light-transmitting shell (2) when the light-transmitting shell (2) rotates.

9. The cleaning device of the vehicle-mounted vision collection module according to claim 8, wherein the number of the scraping members (5) is two, and the scraping members (5) are arranged at intervals on the front side of the light-transmitting shell (2) to form a window avoiding a collection vision range, and the light-transmitting shell (2) abuts against the edge of the window.

10. An on-board vision acquisition module, characterized by comprising an on-board vision acquisition assembly (6) and an active cleaning device of the on-board vision acquisition module according to any one of claims 1-9.

11. An unmanned vehicle, comprising the on-board vision acquisition module of claim 10.