CN114798592B

CN114798592B - Vehicle environment-aware component cleaning system, method and vehicle

Info

Publication number: CN114798592B
Application number: CN202210427231.5A
Authority: CN
Inventors: 顾一新
Original assignee: Guangdong Zhengyang Sensor Technology Co ltd
Current assignee: Guangdong Zhengyang Sensor Technology Co ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2024-04-12
Anticipated expiration: 2042-04-21
Also published as: CN114798592A

Abstract

The invention discloses a vehicle environment sensing component cleaning system, a vehicle environment sensing component cleaning method and a vehicle. The vehicle environment sensing component cleaning system comprises a common rail module, a nozzle, an air supply module, a liquid supply module and a control module; the common rail module is internally provided with a common rail cavity, and the common rail cavity is provided with a liquid inlet path, a gas outlet path and a liquid outlet path; the liquid supply module is communicated with the liquid inlet path, and the air supply module is communicated with the air inlet path; the common rail module comprises a switch submodule, and the switch submodule is used for controlling liquid inlet, liquid outlet and gas outlet of the liquid inlet channel, the gas outlet channel and the liquid outlet channel; the control module is electrically connected with the switch sub-module, the liquid supply module and the air supply module and is used for controlling the common rail cavity to switch between liquid storage and air storage; the air outlet channel and the liquid outlet channel are both communicated with the nozzle, and the nozzle is used for sequentially spraying liquid and gas in the common rail cavity to the environment sensing component for cleaning. By adopting the scheme, the safety of the vehicle in the running process is improved.

Description

Vehicle environment-aware component cleaning system, method and vehicle

Technical Field

The embodiment of the invention relates to the technical field of cleaning devices, in particular to a vehicle environment sensing part cleaning system and method and a vehicle.

Background

With the increasing development of the intelligent driving industry and the increasing demand for driving safety, in order to accurately sense the surrounding environment, a plurality of environment sensing components such as vehicle-mounted cameras and radars, for example, rearview cameras for reversing, panoramic parking cameras, etc. are arranged on the vehicle. The vehicle-mounted camera and the radar can assist a driver to sense the surrounding environment, so that the driving safety is improved, and the image provided by the camera needs to be clear and free of shielding in order to make the assistance as effective as possible, so that the surface of the camera arranged outside the vehicle is required to be clean. However, as the camera is installed outside the vehicle and exposed in a severe environment, under the condition that the automobile is in a muddy road or overcast and rainy road in the driving process, stains, dust, liquid drops, silt, greasy dirt and the like inevitably cover the surface of the camera to influence the information acquisition of the camera, the perception capability is reduced, and the recognition error of obstacles is large or the obstacles cannot be recognized to cause safety accidents. The traditional vehicle camera and radar are not provided with a cleaning device, the camera and radar are inconvenient to wipe in the running process of the vehicle, and when the sensing area is dirty, manual cleaning is mostly adopted, so that the operation difficulty is high, and the running safety of the vehicle is generally influenced by the cleaning effect.

Disclosure of Invention

The invention provides a vehicle environment sensing part cleaning system and method and a vehicle, and aims to solve the problem that the vehicle running safety is easily affected due to the fact that the environment sensing part is inconvenient to wipe in the running process of the vehicle.

According to an aspect of the present invention, there is provided a vehicle environment sensing component cleaning system including a common rail module, a nozzle, a gas supply module, a liquid supply module, and a control module;

a common rail cavity is arranged in the common rail module, and is provided with a liquid inlet path, a gas outlet path and a liquid outlet path;

the liquid supply module is communicated with the liquid inlet path, and the air supply module is communicated with the air inlet path;

the common rail module comprises a switch sub-module, wherein the switch sub-module is used for controlling liquid inlet, liquid outlet and gas outlet of the liquid inlet channel, the gas outlet channel and the liquid outlet channel;

the control module is electrically connected with the switch sub-module, the liquid supply module and the air supply module, and is used for controlling the common rail cavity to switch between liquid storage and air storage;

the air outlet channel and the liquid outlet channel are communicated with the nozzle, and the nozzle is used for sequentially spraying liquid and gas in the common rail cavity to the environment sensing component for cleaning.

In an alternative embodiment of the invention, the switching submodule comprises at least one of the following:

the liquid inlet control unit is used for controlling liquid inlet of the liquid inlet path;

an intake control unit for controlling intake air of the intake passage;

the liquid outlet control unit is used for controlling liquid outlet of the liquid outlet channel;

and the air outlet control unit is used for controlling the air outlet of the air outlet path.

In an alternative embodiment of the invention, the tapping control unit comprises a plurality of tapping control subunits;

the liquid outlet channel comprises a plurality of liquid outlet branches, and a plurality of liquid outlet control sub-units are used for controlling liquid outlet of the liquid outlet branches in a one-to-one correspondence manner;

and/or the air outlet control unit comprises a plurality of air outlet control sub-units;

the air outlet path comprises a plurality of air outlet branches, and a plurality of air outlet control sub-units are used for controlling air outlet of the air outlet branches in a one-to-one correspondence mode.

In an alternative embodiment of the invention, the liquid supply module comprises a liquid storage tank and an electric pump, wherein the liquid storage tank is provided with a liquid supply port, and the liquid supply port is communicated with the liquid inlet path through the electric pump;

the control module is electrically connected with the electric pump and used for controlling the working state of the electric pump;

The vehicle environment sensing component cleaning system further comprises a liquid level detection piece, wherein the liquid level detection piece is used for detecting the liquid level height of the liquid storage tank;

the control module is electrically connected with the liquid level detection piece and is used for acquiring the liquid level height detected by the liquid level detection piece.

In an alternative embodiment of the present invention, the vehicle context awareness component cleaning system further includes a first pressure detecting member for detecting a pressure inside the common rail chamber;

the common rail module further comprises a pressure relief unit, the common rail cavity is provided with a backflow liquid outlet, the liquid storage tank is provided with a backflow liquid inlet, a backflow pipeline is arranged between the backflow liquid outlet and the backflow liquid inlet and is communicated through the backflow pipeline, and the pressure relief unit is used for controlling the opening and closing of the backflow pipeline;

the control module is electrically connected with the first pressure detection part and the pressure relief unit, and is used for controlling the pressure relief unit based on the pressure in the common rail cavity detected by the first pressure detection part so that the pressure in the common rail cavity meets a preset pressure rule.

In an alternative embodiment of the invention, a flow guiding piece extending downwards from the top is arranged in the liquid storage tank, a backflow guiding piece is also arranged in the liquid storage tank, and the backflow guiding piece is provided with a guiding channel which is communicated with the backflow liquid inlet;

The extending direction of the guide channel is opposite to the surface of the guide piece.

In an alternative embodiment of the present invention, the air supply module includes an air pump and an air tank, the air tank has an air supply port, the air supply port is communicated with the air inlet path, the air pump is connected with the air tank, and the air pump is used for controlling the air tank to supply air to the air inlet path; the air pump is electrically connected with the control module, and the control module is used for controlling the working state of the air pump.

In an alternative embodiment of the present invention, the vehicle environment sensing component cleaning system further includes a second pressure detecting member for detecting the air pressure of the air tank;

the control module is electrically connected with the second pressure detection part and is used for acquiring the air pressure of the air storage tank.

In an alternative embodiment of the present invention, the vehicle environment sensing component cleaning system further includes a heating module, a temperature detecting member for covering the environment sensing component, and a cover for detecting a cover temperature;

the heating module and the temperature detection piece are electrically connected with the control module, and the control module is used for controlling the heating module to heat the cover based on the cover temperature detected by the temperature detection piece.

In an alternative embodiment of the present invention, the vehicle environment sensing component cleaning system further includes a telescopic mechanism and a driving member, the control module is electrically connected with the driving member, the driving member is connected with the telescopic mechanism, and the control module is used for driving the telescopic mechanism to stretch through the driving member;

the telescopic mechanism is connected with the nozzle and is used for respectively conveying the nozzle to a cleaning position and a retracting position during telescopic operation.

In an alternative embodiment of the invention, the control module comprises a CAN module and/or a wireless transmission module.

According to another aspect of the present invention, there is provided a vehicle comprising a vehicle body having an environmental awareness component and a vehicle environmental awareness component cleaning system according to any of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a vehicle environment sensing component cleaning method applied to the vehicle environment sensing component cleaning system according to any one of the embodiments of the present invention, the method including:

the switch sub-module and the liquid supply module are controlled to enable the common rail cavity to start liquid inlet through the liquid inlet path;

determining whether the common rail cavity is full of liquid, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through a liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean an environment sensing part;

Controlling the switch sub-module and the air supply module to enable liquid in the common rail cavity to be discharged and air to start to enter through an air inlet path;

and determining whether the common rail cavity is full of gas, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the gas outlet route nozzle when the common rail cavity is full of gas so as to clean the environment sensing component.

In an alternative embodiment of the present invention, after determining whether the common rail cavity is full of gas, and controlling the switch sub-module to make the gas in the common rail cavity be ejected through the air outlet routing nozzle to clean the environmental sensing component when the common rail cavity is full of gas, the method further includes:

controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path;

determining whether the common rail cavity is full of liquid;

determining whether a cleaning instruction is acquired;

and when the common rail cavity is full of liquid and a cleaning instruction is acquired, the step of controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle so as to clean the environment sensing component is executed.

According to another aspect of the present invention, there is provided a vehicle environment sensing component cleaning apparatus including:

the liquid inlet control module is used for controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path;

The liquid filling determining module is used for determining whether the common rail cavity is full of liquid or not, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing part;

the air inlet control module is used for controlling the switch sub-module and the air supply module to enable liquid in the common rail cavity to be discharged and air to start to enter through an air inlet path;

and the inflation determining module is used for determining whether the common rail cavity is full of gas or not, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the air outlet route nozzle when the common rail cavity is full of gas so as to clean the environment sensing part.

According to the technical scheme, the common rail module, the nozzle, the air supply module, the liquid supply module and the control module are arranged, and the control module can enable the common rail cavity of the common rail module to be switched between liquid and gas, so that the nozzle can spray out liquid and gas under different conditions or at different times, and therefore in the running process of a vehicle, the environment sensing part can be sprayed out of liquid for cleaning, then the environment sensing part is sprayed out of gas for blow-drying, residual moisture is prevented from interfering the sensing of the environment by the environment sensing part, the problem that the environment sensing part is inconvenient to wipe in the running process of the vehicle, the running safety of the vehicle is easy to be influenced is solved, and the safety in the running process of the vehicle is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of a vehicle environment awareness component cleaning system according to an embodiment of the present invention;

fig. 2 is a schematic connection diagram of a gas supply module and a liquid supply module to a common rail module according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of another vehicle environment-aware component cleaning system according to an embodiment of the present invention;

FIG. 4 is a schematic cross-sectional view of the tank of FIG. 3;

FIG. 5 is a block diagram of another vehicle context awareness component cleaning system according to an embodiment of the present invention;

FIG. 6 is a flow chart of a method for cleaning a vehicle environment-friendly component according to a third embodiment of the invention;

FIG. 7 is a flowchart of a method for cleaning a vehicle environment-friendly component according to a fourth embodiment of the invention;

FIG. 8 is a flowchart of a method for cleaning a vehicle environment-friendly component according to a fifth embodiment of the invention;

FIG. 9 is a flowchart showing a step of determining whether the common rail chamber is full of liquid based on the pressure information and the liquid level information according to the fifth embodiment of the present invention;

FIG. 10 is a flowchart of a fifth embodiment of the present invention for controlling the air pressure of the air tank to be maintained at a preset air pressure value during the air intake process;

FIG. 11 is a flowchart showing a step of determining whether the common rail chamber is full of gas based on the pressure information and the liquid level height information according to the fifth embodiment of the present invention;

FIG. 12 is a schematic view showing a structure of a vehicle environment sensing component cleaning apparatus according to a sixth embodiment of the present invention;

fig. 13 is a schematic structural view of an electronic device implementing a method for cleaning a vehicle environment sensing part according to an embodiment of the present invention.

Wherein: 1. a common rail module; 11. a liquid inlet path; 12. an air inlet path; 13. an air outlet path; 131. an air outlet branch; 14. a liquid outlet channel; 141. a liquid outlet branch circuit; 15. a switch sub-module; 151. a liquid inlet control unit; 152. an intake control unit; 153. a liquid outlet control unit; 1531. a liquid outlet control sub-unit; 154. an air outlet control unit; 1541. an air outlet control sub-unit; 16. a pressure relief unit; 17. a first pressure detecting member; 2. a nozzle; 3. a gas supply module; 31. an air pump; 32. a gas storage tank; 321. a second pressure detecting member; 4. a liquid supply module; 41. a liquid storage tank; 411. a liquid level detecting member; 412. a reflux liquid inlet; 413. a flow guide; 414. a return guide; 415. a guide channel; 42. an electric pump; 5. a control module; 51. a CAN module; 52. a wireless transmission module; 6. a telescoping mechanism; 7. a driving member; 8. a heating module; 9. a cover; 10. a temperature detecting member; 20. a return line; 100. a liquid inlet control module; 200. a charging determination module; 300. an air intake control module; 400. and an inflation determination module.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a schematic structural diagram of a vehicle environment sensing component cleaning system according to an embodiment of the present invention, where the embodiment is applicable to a situation of cleaning an environment sensing component on a running vehicle, where the environment sensing component is a component capable of sensing a surrounding environment, for example, a vehicle-mounted camera, a radar, etc., and the vehicle-mounted camera may be a back-up rear-view camera, a panoramic parking camera, etc. As shown in fig. 1, the vehicle environment sensing component cleaning system includes a common rail module 1, a nozzle 2, a gas supply module 3, a liquid supply module 4, and a control module 5.

A common rail cavity is arranged in the common rail module 1 and is provided with a liquid inlet path 11, an air inlet path 12, an air outlet path 13 and a liquid outlet path 14; the liquid supply module 4 is communicated with the liquid inlet path 11, and the air supply module 3 is communicated with the air inlet path 12. The liquid inlet path 11 refers to a path for liquid inlet of the common rail cavity, the air inlet path 12 refers to a path for air inlet of the common rail cavity, the air outlet path 13 refers to a path for air outlet of the common rail cavity, and the liquid outlet path 14 refers to a path for liquid outlet of the common rail cavity. The liquid supply module 4 is a module capable of delivering liquid, and since the liquid supply module 4 communicates with the liquid inlet passage 11, the liquid supply module 4 can deliver liquid to the common rail chamber through the liquid inlet passage 11. The gas supply module 3 is a module capable of supplying gas, and is configured such that the gas supply module 3 communicates with the gas inlet passage 12, and thus gas can be supplied to the common rail chamber through the gas inlet passage 12.

The common rail module 1 comprises a switch sub-module 15, and the switch sub-module 15 is used for controlling liquid inlet, liquid outlet and gas outlet of the liquid inlet channel 11, the gas inlet channel 12, the gas outlet channel 13 and the liquid outlet channel 14. The switch sub-module 15 is a module capable of controlling on and off of a passage, for example, when the liquid inlet passage 11 is opened, liquid can enter the common rail cavity through the liquid inlet passage 11, but when the liquid inlet passage 11 is closed, liquid cannot enter the common rail cavity through the liquid inlet passage 11. Because, by the switch sub-module 15, the liquid inlet, the liquid outlet, and the liquid outlet of the liquid inlet path 11, the gas inlet path 12, the gas outlet path 13, and the liquid outlet path 14 can be controlled.

The control module 5 is electrically connected with the switch sub-module 15, the liquid supply module 4 and the air supply module 3, and the control module 5 is used for controlling the common rail cavity to switch between liquid storage and air storage. Wherein, the common rail cavity is provided with a liquid inlet channel 11 and a liquid outlet channel 14 for liquid inlet and liquid outlet, and is also provided with a gas inlet channel 12 and a gas outlet channel 13 for gas inlet and gas outlet. Therefore, the control module 5 controls the switch sub-module 15 to control the on-off of different channels and controls the liquid supply and the gas supply of the liquid supply module 4 and the gas supply module 3, so that the liquid or the gas can be stored in the common rail cavity, namely, the liquid and the gas can be switched between the liquid storage and the gas storage. For example, the control module 5 controls the switch sub-module 15 to place the liquid inlet channel 11 in a communicating state, and controls the liquid supply module 4 to supply liquid to the common rail cavity through the liquid inlet channel 11, and at this time, the common rail cavity is filled with liquid. Then the switch sub-module 15 is controlled to enable the liquid inlet channel 11 to be in an off state, the switch sub-module 15 is controlled to enable the air inlet channel 12 to be in an on state and the air supply module 3 is controlled to supply air to the common rail cavity through the air inlet channel 12, residual liquid in the common rail cavity can be discharged through the liquid outlet channel 14, the common rail cavity can also be provided with a backflow liquid outlet, the residual liquid in the common rail cavity flows back into the liquid supply module 4 through the backflow liquid outlet, and the air in the common rail cavity can be filled with air by controlling the air supply module 3 to continuously supply air to the common rail cavity through the air inlet channel 12, so that the switching from liquid to air in the common rail cavity is realized. The process of proceeding with the liquid may also be performed again when the common rail chamber is filled with gas, so that the common rail chamber is switched from gas to liquid. By controlling the on/off of the different passages and controlling the liquid supply and gas supply of the liquid supply module 4 and the gas supply module 3, the common rail cavity can store liquid or gas, and the control method can be various and is not described in detail herein.

The air outlet channel 13 and the liquid outlet channel 14 are both communicated with the nozzle 2, and the nozzle 2 is used for sequentially spraying liquid and gas in the common rail cavity to the environment sensing component for cleaning. Since the gas outlet channel 13 and the liquid outlet channel 14 are both communicated with the nozzle 2, when the common rail cavity is filled with liquid, the liquid can be sprayed out of the nozzle 2 through the liquid outlet channel 14, but when the common rail cavity is filled with gas, the gas can be sprayed out of the nozzle 2 through the gas outlet channel 13, so that the nozzle 2 can sequentially spray the liquid and the gas in the common rail cavity to the environment sensing component for cleaning. The structure of the nozzle 2 can be various, for example, a liquid spraying port and a gas spraying port are formed in the nozzle 2, the liquid spraying port is communicated with a liquid inlet connector, a liquid outlet 14 is communicated with the liquid inlet connector, a gas supply interface is connected to the rear end of the gas spraying port, and a gas outlet 13 is communicated with the gas supply interface, so that the nozzle 2 can spray liquid through the liquid spraying port to wash the environment sensing part and then blow-dry the environment sensing part through the gas spraying port. Meanwhile, the nozzle 2 can be provided with a spray hole, the spray hole is communicated with an inlet joint, and the liquid outlet channel 14 and the gas outlet channel 13 are both communicated with the inlet joint, so that the nozzle 2 can spray liquid through the spray hole to wash the environment sensing part and then blow-dry the environment sensing part through the spray hole.

Above-mentioned scheme through setting up common rail module 1, nozzle 2, air feed module 3, confession liquid module 4 and control module 5, control module 5 can make the common rail chamber of common rail module 1 switch in liquid and gas, thereby nozzle 2 can be under different circumstances or different time blowout liquid and gas, thereby can be in the vehicle driving process, earlier clean environment perception part blowout liquid, then blow dry environment perception part blowout gas, prevent remaining moisture from interfering the perception of environment perception part to the environment, the inconvenient problem of wiping environment perception part in the vehicle driving process, the security of running of easy influence vehicle has been improved in the vehicle driving process. Meanwhile, the gas and the liquid can share the common rail cavity, and the gas and the liquid in the common rail cavity are switched when the vehicle environment sensing component cleaning system is used, so that the space is effectively utilized, and the volume of the vehicle environment sensing component cleaning system is reduced.

In an alternative embodiment of the present invention, as shown in fig. 2, the switch sub-module 15 includes at least one of the following:

the liquid inlet control unit 151 is configured to control liquid inlet of the liquid inlet path 11. The liquid inlet control unit 151 refers to a unit capable of controlling on and off of the liquid inlet path 11, and in a specific embodiment, the liquid inlet control unit 151 includes an electromagnetic valve, through which the on and off of the liquid inlet path 11 can be conveniently controlled, and thus the liquid inlet of the liquid inlet path 11 can be controlled.

An intake air control unit 152 for controlling intake air of the intake passage 12. The air intake control unit 152 refers to a unit capable of controlling on and off of the air intake path 12, and in a specific embodiment, the air intake control unit 152 includes an electromagnetic valve, through which the on and off of the air intake path 12 can be conveniently controlled, and thus the air intake of the air intake path 12 can be controlled.

The liquid outlet control unit 153 is configured to control the liquid outlet of the liquid outlet channel 14. The liquid outlet control unit 153 is a unit capable of controlling on and off of the liquid outlet 14, and in a specific embodiment, the liquid outlet control unit 153 includes an electromagnetic valve, through which the on and off of the liquid outlet 14 can be conveniently controlled, and thus the liquid outlet of the liquid outlet 14 can be controlled.

And an air outlet control unit 154 for controlling the air outlet of the air outlet channel 13. The gas outlet control unit 154 is a unit capable of controlling on and off of the gas outlet 13, and in a specific embodiment, the gas outlet control unit 154 includes an electromagnetic valve, through which the on and off of the gas outlet 13 can be conveniently controlled, and thus the gas outlet of the gas outlet 13 can be controlled.

On the basis of the above-described embodiment, the liquid discharge control unit 153 includes a plurality of liquid discharge control sub-units 1531; the liquid outlet 14 includes a plurality of liquid outlet branches 141, and a plurality of liquid outlet control sub-units 1531 are configured to control the liquid outlet of the plurality of liquid outlet branches 141 in a one-to-one correspondence.

The environmental sensing components may be various in types and may also be multiple in number, for example, including a rearview camera for reversing, a panoramic parking camera, a radar, etc., and the liquid outlet control unit 1531 may include an electromagnetic valve, through which the on/off of the liquid outlet path 141 can be conveniently controlled. By enabling the liquid outlet channel 14 to comprise a plurality of liquid outlet branches 141, different environment sensing components can be cleaned through different liquid outlet branches 141, and the application range is wide. And simultaneously, different liquid outlet branches 141 are opened or closed according to the use requirement so as to clean the designated environment sensing components, such as the cleaning target A, B, C, D shown in fig. 2, and the like, so that the flexibility in use is higher.

Illustratively, the context awareness component includes an importance awareness component and a base level awareness component; the importance level sensing means is a sensing means important for safety of a vehicle, such as a camera, a radar, and the like, which are related to safety. The basic level sensing means is a sensing means other than the importance level sensing means, which is weak in importance of safety, such as front windshield, rear windshield, and the like.

The plurality of liquid outlet branches 141 are divided into an important stage liquid outlet branch and a basic stage liquid outlet branch; the important level liquid outlet branch is used for discharging liquid through the nozzle 2 to clean the important level sensing part, and the basic level liquid outlet branch is used for discharging liquid through the nozzle 2 to clean the basic level sensing part. The number of the nozzles 2 may be plural, and the nozzles 2 communicating with the level-of-importance liquid-discharging branch may be opposite to the level-of-importance sensing member at the time of cleaning, so that the level-of-importance liquid-discharging branch can discharge liquid through the nozzles 2 to clean the level-of-importance sensing member. The nozzle 2 in communication with the base level outlet branch may be opposite the base level sensing means at the time of cleaning, so that the base level outlet branch can be discharged through the nozzle 2 to clean the base level sensing means.

In an alternative embodiment of the present invention, the outlet control unit 154 includes a plurality of outlet control sub-units 1541; the air outlet path 13 includes a plurality of air outlet branches 131, and a plurality of air outlet control sub-units 1541 are used for controlling air outlet of the plurality of air outlet branches 131 in a one-to-one correspondence manner. The environmental sensing components may be various in types and a plurality of in numbers, for example, the environmental sensing components include a rearview camera for backing a car, a panoramic parking camera, a radar, and the like, and the air outlet control unit 1541 may include an electromagnetic valve, so that the on and off of the air outlet branch can be conveniently controlled through the electromagnetic valve. By providing the air outlet 13 with a plurality of air outlet branches 131, different environmental sensing components can be blow-dried through different air outlet branches 131, such as the cleaning target A, B, C, D shown in fig. 2, and the like, and the application range is wide. Meanwhile, different air outlet branches 131 are opened or closed according to the use requirement so as to blow-dry the appointed environment sensing component, and the flexibility is higher during use.

On the basis of the above embodiment, the environment sensing part includes an importance level sensing part and a base level sensing part; the plurality of air outlet branches 131 are divided into an important-level air outlet branch for discharging air through the nozzle 2 to clean the important-level sensing part and a basic-level air outlet branch for discharging air through the nozzle 2 to clean the basic-level sensing part. The number of the nozzles 2 may be plural, and the nozzles 2 communicating with the important level air outlet branch may be opposite to the important level sensing part when cleaning, so that the important level air outlet branch can be used for blowing dry the important level sensing part through the air outlet of the nozzles 2. The nozzle 2 in communication with the base stage outlet branch may be opposite the base stage sensing member when cleaning, such that the base stage outlet branch is capable of venting air through the nozzle 2 to blow dry the base stage sensing member.

In an alternative embodiment of the invention, as shown in fig. 3, the liquid supply module 4 comprises a liquid storage tank 41 and an electric pump 42, wherein the liquid storage tank 41 is provided with a liquid supply port, and the liquid supply port is communicated with the liquid inlet path 11 through the electric pump 42; the control module 5 is electrically connected to the electric pump 42 and is used for controlling the working state of the electric pump 42. The liquid storage tank 41 is a container capable of storing liquid, and the stored liquid may be ordinary water or specific cleaning liquid, and is not particularly limited herein, but is exemplified. The operation state of the electric pump 42 refers to whether the electric pump 42 is started or stopped, and may include the rotation speed of the electric pump 42. Since the liquid supply port of the liquid tank 41 and the liquid inlet passage 11 are communicated with each other by the electric pump 42, the liquid stored in the liquid tank 41 can be supplied to the liquid inlet passage 11 by the electric pump 42 by controlling the operation state of the electric pump 42.

On the basis of the above-described embodiment, as shown in fig. 2 and 3, the vehicle environment sensing part cleaning system further includes a first pressure detecting member 17, the first pressure detecting member 17 being configured to detect the pressure inside the common rail chamber; the first pressure detecting member 17 refers to a member capable of detecting pressure, and in a specific embodiment, the first pressure detecting member 17 may include a pressure sensor, and a detecting portion of the pressure sensor may be disposed in the common rail chamber, so that the pressure inside the common rail chamber can be detected.

The common rail module 1 further comprises a pressure relief unit 16, the common rail cavity is provided with a backflow liquid outlet, the liquid storage tank 41 is provided with a backflow liquid inlet 412, a backflow pipeline 20 is arranged between the backflow liquid outlet and the backflow liquid inlet 412 and is communicated through the backflow pipeline 20, and the pressure relief unit 16 is used for controlling the opening and closing of the backflow pipeline 20. The pressure relief unit 16 is a unit capable of controlling the opening and closing of the return line 20, and in a specific embodiment, the pressure relief unit 16 may include a solenoid valve. When the return line 20 is opened, the common rail chamber communicates with the tank 41, so that the pressure inside the common rail chamber can be released, and a pressure relief function is performed. Meanwhile, the liquid in the common rail cavity can also flow back into the liquid storage tank 41 through the return pipeline 20, so that the waste of the liquid is effectively prevented.

The control module 5 is electrically connected with the first pressure detecting member 17 and the pressure relief unit 16, and is used for controlling the pressure relief unit 16 based on the pressure in the common rail cavity detected by the first pressure detecting member 17 so that the pressure in the common rail cavity meets a preset pressure rule. The pressure inside the common rail cavity can be detected by the first pressure detecting piece 17, and the pressure inside the common rail cavity can be released by the pressure releasing unit 16, so that the pressure inside the common rail cavity can be controlled by controlling the pressure releasing unit 16 based on the pressure inside the common rail cavity detected by the first pressure detecting piece 17, so that the pressure inside the common rail cavity meets the preset pressure rule, and the pressure regulating device is convenient to use. The preset pressure rule refers to a condition that the pressure in the common rail cavity should meet, for example, the pressure is constant at X when the common rail cavity is filled with liquid, and at this time, the pressure preset rule may be that the pressure is kept at X, and by controlling the pressure in the common rail cavity when liquid is fed, the pressure in the common rail cavity can be kept at X, so that the common rail cavity is ensured to be filled with liquid.

In an alternative embodiment of the present invention, as shown in fig. 3, the air supply module 3 includes an air pump 31 and an air tank 32, the air tank 32 has an air supply port, the air supply port is communicated with the air inlet channel 12, the air pump 31 is connected with the air tank 32, and the air pump 31 is used for controlling the air tank 32 to supply air to the air inlet channel 12; the air pump 31 is electrically connected with the control module 5, and the control module 5 is used for controlling the working state of the air pump 31. The air tank 32 is a container for storing air, the air pump 31 is a component capable of compressing air into the air tank 32, and the operation state of the air pump 31 is whether the air pump 31 is started or stopped, and may include the rotation speed of the air pump 31. By providing the air pump 31 and the air tank 32, air can be conveniently supplied to the air inlet path 12 when air supply is required.

On the basis of the above-described embodiment, the vehicle environment sensing part cleaning system further includes a second pressure detecting member 321, the second pressure detecting member 321 being configured to detect the air pressure of the air tank 32; the control module 5 is electrically connected to the second pressure detecting member 321, and is configured to obtain the air pressure of the air tank 32. The second pressure detecting member 321 is a member capable of detecting air pressure, and in a specific embodiment, the second pressure detecting member 321 is a pressure sensor, and a detecting portion of the pressure sensor is located inside the air tank 32, so that air pressure of the air tank 32 can be detected. The control module 5 can also control the working state of the air pump 31, and when the working state of the air pump 31 is changed, the air pressure inside the air tank 32 is also changed, so that the control module 5 can keep the air pressure inside the air tank 32 at a specific value by obtaining the air pressure data of the air tank 32 detected by the second pressure detecting piece 321 and then controlling the working state of the air pump 31.

In an alternative embodiment of the present invention, the vehicle environment sensing component cleaning system further includes a liquid level detection member 411, the liquid level detection member 411 being configured to detect a liquid level height of the liquid tank 41; the control module 5 is electrically connected with the liquid level detecting member 411 and is used for acquiring the liquid level height detected by the liquid level detecting member 411.

The liquid level detecting member 411 is a component capable of detecting the liquid level, and in a specific embodiment, the liquid level detecting member 411 may be a liquid level sensor, and the liquid level sensor is disposed inside the liquid storage tank 41, so that the liquid level inside the liquid storage tank 41 can be detected. Because the control module 5 is electrically connected with the liquid level detecting member 411, the control module 5 can obtain the liquid level detected by the liquid level detecting member 411, and then can be convenient to know whether the common rail cavity is full of liquid. By detecting, for example, the level of the tank 41 before the liquid is injected and the level of the tank 41 when the common rail chamber is full of liquid, it is indicated that the common rail chamber is most likely full of liquid when the level of the tank 41 decreases by the same amount as the volume of the common rail chamber.

In an alternative embodiment of the present invention, as shown in fig. 4, a flow guiding member 413 extending downward from the top is provided inside the liquid storage tank 41, and a backflow guiding member 414 is further provided inside the liquid storage tank 41, and the backflow guiding member 414 has a guiding channel 415, and the guiding channel 415 is communicated with the backflow liquid inlet 412; the extending direction of the guide passage 415 is opposite to the surface of the guide member 413.

The guide 413 may extend directly downward in the vertical direction, or may extend obliquely downward slightly, which is not particularly limited herein. Meanwhile, the guide 413 may be a square plate fixed to an inner upper wall of the tank 41, in which case a surface of the guide 413 refers to a surface opposite to the guide passage 415. While the flow guide 413 may be formed by an inwardly recessed groove in the outer wall of the tank 41, for example, in a specific embodiment, the outer wall of the upper portion of the tank 41 is inwardly recessed. The surface of the flow guide 413 is then the surface facing the guide channel 415 opposite the groove wall. The extending direction of the guide passage 415 may be a horizontal direction or may be slightly inclined, and the guide passage may extend downward from a direction communicating with the return liquid inlet 412 to a direction away from the return liquid inlet 412, and the specific inclination angle is not particularly limited herein. Through making the extending direction of guide channel 415 and the surface of guide piece 413 opposite, can get into guide channel 415 by backward flow inlet 412 when the liquid backward flow, then spout the surface of guide piece 413 and slowly fall to the liquid level again, reduce the fluctuation that the liquid level receives the impact to form, and then improved the accuracy of liquid level height that liquid level detection piece 411 detected.

In an alternative embodiment of the present invention, as shown in fig. 5, the vehicle environment sensing component cleaning system further includes a heating module 8, a temperature detecting member 10, and a cover 9, the cover 9 being provided to cover the environment sensing component, the temperature detecting member 10 being provided to detect a temperature of the cover 9; the heating module 8 and the temperature detecting member 10 are electrically connected with the control module 5, and the control module 5 is used for controlling the heating module 8 to heat the cover 9 based on the temperature of the cover 9 detected by the temperature detecting member 10.

The temperature detecting member 10 is a member capable of detecting temperature, for example, a temperature sensor, and the heating module 8 is a module capable of radiating heat, for example, the PTC heating module 8 may be a plurality of structures of the heating module 8, so long as the heating function can be achieved, and the structure is not particularly limited. The cover 9 is a cover 9 capable of protecting the environmental sensing member. The dynamic in north is cold, and the unavoidable icing phenomenon that can appear by snow of environment perception part, if directly wash with glass water and accomplish in the difficult section time, through heating cover 9 when the temperature is too low, played the effect that melts to the ice and snow of environment perception part cover to washing time and washing quality have been quickened, make clean more quick cleaner.

In an alternative embodiment of the present invention, the vehicle environment sensing component cleaning system further includes a telescoping mechanism 6 and a driving member 7, the control module 5 is electrically connected with the driving member 7, the driving member 7 is connected with the telescoping mechanism 6, and the control module 5 is used for driving the telescoping mechanism 6 to telescope through the driving member 7; a telescopic mechanism 6 is connected to the nozzle 2 for moving the nozzle 2 to the cleaning position and the retracted position, respectively, when telescopic.

The driving element 7 is a member capable of driving the telescopic mechanism 6 to expand and contract, and may be a common motor, for example. The telescopic mechanism 6 is a mechanism that can be extended and contracted, and is a member that can be extended and contracted by driving a motor, for example. The cleaning position refers to the position of the nozzle 2 when cleaning the environment sensing member, and the retracted position refers to the position of the nozzle 2 when not cleaning. For example, the nozzle 2 is located in the vehicle in the initial state, the telescopic mechanism 6 is in the retracted state, when cleaning is required, the control mechanism controls the driving piece 7 to drive the telescopic mechanism 6 to extend, the nozzle 2 is located at the cleaning position, for example, opposite to or above the environment sensing part, and liquid or gas sprayed by the nozzle 2 can be sprayed onto the environment sensing part for cleaning. Through this mode, can be convenient just stretch out nozzle 2 to clean position when needs are clean, compare fixed installation, the flexibility is high, can adjust according to different motorcycle types.

In an alternative embodiment of the invention, the control module 5 comprises a CAN module 51 and/or a wireless transmission module 52.

The CAN module 51 is an intelligent electronic control device for forwarding communication data between electronic control devices of the whole vehicle, so that the regional network control system of the vehicle-mounted electronic control device is realized by the whole vehicle. The control module 5 may communicate with the vehicle via the CAN module 51 in order to obtain a cleaning command sent by a driver on the vehicle via the vehicle to perform a cleaning process.

The wireless transmission module 52 (RF wireless module) is a module that performs wireless transmission using a wireless technology. It is widely used in the fields of computer wireless network, wireless communication, wireless control, etc. The wireless transmission module 52 can send the cleaning related information, the fault information of the vehicle environment sensing component cleaning system, whether the cleaning is normal or not, the cleaning completion command and the like to the intelligent device capable of wireless communication, and the intelligent device can be a smart phone, a smart watch, a computer, a smart bracelet and the like. Therefore, a driver or other passengers on the vehicle can acquire relevant cleaning information through the intelligent equipment, and the intelligent vehicle is convenient to use.

Example two

The second embodiment of the invention provides a vehicle, which comprises a vehicle body, wherein the vehicle body is provided with an environment sensing part and the vehicle environment sensing part cleaning system of any embodiment of the invention.

The vehicle environment sensing part cleaning system is arranged on the vehicle, so that the problem that the environment sensing part is inconvenient to wipe in the running process of the vehicle and the running safety of the vehicle is easily affected is solved, and the safety in the running process of the vehicle is improved.

On the basis of the above embodiment, the environment sensing part includes an importance level sensing part and a base level sensing part, and the importance level sensing part includes at least one of a security camera and a security radar. By classifying the environmental perception components, when the liquid amount of the liquid for cleaning is insufficient, the important perception components can be cleaned preferentially, so that the safety of the vehicle in the running process is ensured.

Example III

Fig. 6 is a flowchart of a method for cleaning a vehicle environment sensing component according to a third embodiment of the present invention, where the method may be performed by a vehicle environment sensing component cleaning device, which may be implemented in hardware and/or software, and the vehicle environment sensing component cleaning device may be configured in a control module. As shown in fig. 6, the method includes:

S110, controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid supply through the liquid supply path.

The switch sub-module is a module capable of controlling liquid inlet, liquid outlet and liquid outlet of the liquid inlet channel, the liquid outlet channel and the liquid outlet channel, and the liquid supply module is a module capable of conveying liquid, so that the liquid inlet channel is in a communicating state by controlling the switch sub-module and the liquid supply module, and the liquid supply module is started to work, so that the liquid supply module can continuously supply liquid to the common rail cavity through the liquid inlet channel, namely, the common rail cavity starts to supply liquid through the liquid inlet channel at the moment.

And S120, determining whether the common rail cavity is full of liquid, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing component.

After the common rail cavity is filled with liquid, the switch submodule can control the liquid outlet channel to be in a communicated state, so that the liquid in the common rail cavity can be discharged through the liquid outlet channel. The volume in the common rail cavity is fixed, and the output liquid can be ensured to be bubble-free when the common rail cavity is filled with liquid, so that the cleanliness during cleaning is ensured. The spraying time can be freely set according to the use requirement, for example, in a specific embodiment, 3 seconds can be used.

And S130, controlling the switch sub-module and the air supply module to enable the liquid in the common rail cavity to be discharged and air to start to enter through an air inlet path.

After the spraying of the liquid is finished, in order to avoid the influence of residual moisture on the sight of a driver, air injection can be carried out to blow the moisture on the environment sensing part to dry. Before air injection, air is required to be ensured to be in the common rail cavity, so that liquid in the common rail cavity is required to be discharged and air intake is started, and the switch submodule can be controlled to enable the air intake path to be in a communicated state and the air supply module to start air supply, so that the liquid in the common rail cavity can be discharged from the liquid outlet in the air intake process. The liquid outlet channel can be closed when the common rail cavity is communicated with the liquid storage tank of the liquid supply module through the return pipeline, so that the liquid in the common rail cavity is discharged into the liquid storage tank of the liquid supply module through the return pipeline.

And S140, determining whether the common rail cavity is full of gas, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the air outlet route nozzle when the common rail cavity is full of gas so as to clean the environment sensing component.

When the common rail cavity is filled with gas, the switch submodule can be controlled to enable the gas outlet pipeline to be in a communicated state, the gas in the common rail cavity can be sprayed out through the gas outlet pipeline nozzle, moisture on the environment sensing component can be dried to be cleaned, and the influence of moisture residue on the sight of a driver is effectively avoided.

According to the scheme, the switch sub-module and the liquid supply module are controlled to enable the common rail cavity to start liquid feeding through the liquid feeding path, then whether the common rail cavity is full of liquid is determined, when the common rail cavity is full of liquid, the switch sub-module is controlled to enable liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle so as to clean the environment sensing component, the switch sub-module and the air supply module are controlled to enable liquid in the common rail cavity to be discharged and air to start air inlet through the air inlet path, finally whether the common rail cavity is full of gas is determined, and when the common rail cavity is full of gas, the switch sub-module is controlled to enable air in the common rail cavity to be sprayed out through the air outlet route nozzle so as to clean the environment sensing component. Therefore, the nozzle can clean the liquid sprayed from the environment sensing part and blow-dry the gas sprayed from the environment sensing part in the running process of the vehicle, so that residual moisture is prevented from interfering the environment sensing part to sense the environment, the problem that the environment sensing part is inconvenient to wipe and the running safety of the vehicle is easily affected in the running process of the vehicle is solved, and the safety of the vehicle in the running process is improved. Meanwhile, the gas and the liquid can share the common rail cavity, and the gas and the liquid in the common rail cavity are switched when the vehicle environment sensing component cleaning system is used, so that the space is effectively utilized, and the volume of the vehicle environment sensing component cleaning system is reduced.

Example IV

Fig. 7 is a flowchart of a method for cleaning a vehicle environment sensing component according to a fourth embodiment of the present invention, which is an improvement of the previous embodiment, and as shown in fig. 7, the method for cleaning a vehicle environment sensing component specifically includes the following steps:

s210, controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid feeding through the liquid feeding path.

S220, determining whether the common rail cavity is full of liquid, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing component.

And S230, controlling the switch sub-module and the air supply module to enable the liquid in the common rail cavity to be discharged and air to start to enter through an air inlet path.

S240, determining whether the common rail cavity is full of gas, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the air outlet route nozzle when the common rail cavity is full of gas so as to clean the environment sensing component.

S250, controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid feeding through the liquid feeding path.

S260, determining whether the common rail cavity is full of liquid.

The common rail cavity can be filled with liquid again through the process of feeding the liquid again after air injection, so that the common rail cavity is convenient to prepare for the next cleaning.

S270, determining whether a cleaning instruction is acquired.

The cleaning instruction refers to an instruction which is sent by a driver or other personnel through intelligent equipment and used for indicating the cleaning system of the vehicle environment sensing part to clean, and also can be an instruction which is automatically generated when the cleaning system of the vehicle environment sensing part detects that the environment sensing part meets the cleaning requirement to clean. The cleaning instruction can be generated in various ways, and whether the cleaning process is required can be determined by determining whether the cleaning instruction is acquired.

And S280, when the common rail cavity is full of liquid and a cleaning instruction is acquired, executing the step of controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle so as to clean the environment sensing component.

When the common rail cavity is full of liquid and a cleaning instruction is acquired, the cleaning of the environment sensing component is required, so that the environment sensing component can be subjected to liquid spraying cleaning.

According to the scheme, through the process of feeding the liquid again after cleaning, the common rail cavity can be filled with the liquid again, so that preparation for next cleaning is facilitated, and the execution speed of next cleaning is improved.

In an alternative embodiment of the present invention, the control switch sub-module and the liquid supply module start liquid feeding from the common rail cavity through the liquid feeding path, including:

And controlling the liquid inlet control unit, the electric pump and the pressure relief unit to be opened so as to enable the common rail cavity to start liquid inlet through the liquid inlet path.

The pressure relief unit is opened to enable the pressure in the common rail cavity to be the same as the pressure in the liquid storage tank, and liquid in the liquid storage tank can be conveyed into the common rail cavity from the liquid inlet channel when the electric pump is started. Therefore, the common rail cavity can start to feed liquid through the liquid inlet path by controlling the liquid inlet control unit, the electric pump and the pressure relief unit to be opened.

In an alternative embodiment of the present invention, the controlling the switch sub-module and the air supply module to discharge the liquid in the common rail chamber and start air intake through the air intake path includes:

and controlling the air pump, the air inlet control unit and the pressure relief unit to be opened so as to discharge the liquid in the common rail cavity and start air inlet through the air inlet path.

The pressure relief unit is opened to enable the pressure in the common rail cavity to be the same as the pressure in the liquid storage tank, and the air in the air storage tank can be conveyed into the common rail cavity from the air inlet path when the air pump is started. Therefore, the common rail cavity can start to enter air through the air inlet channel by controlling the air pump, the air inlet control unit and the pressure relief unit to be opened.

Example five

FIG. 8 is a flowchart of a method for cleaning a vehicle environment-friendly component according to a fifth embodiment of the invention; the embodiment improves the previous embodiment, as shown in fig. 8, the method for cleaning the vehicle environment sensing component specifically includes the following steps:

s310, controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid supply through the liquid supply path.

S320, pressure information of the common rail cavity detected by the first pressure detecting piece is obtained in real time.

The first pressure detecting member may be a pressure sensor, and the acquiring manner may be to be electrically connected to the first pressure detecting member, so that pressure information of the common rail cavity detected by the first pressure detecting member may be acquired.

S330, acquiring liquid level height information of the liquid storage tank detected by the liquid level detection part in real time.

The liquid level detection piece can be a liquid level sensor, and the liquid level sensor can be arranged inside the liquid storage tank, so that the liquid level information of the liquid storage tank can be detected. The liquid level information detected by the liquid level detection part is acquired in various ways, for example, the liquid level information can be electrically connected with the liquid level detection part, and the liquid level information of the liquid storage tank detected by the liquid level detection part can be acquired.

And S340, determining whether the common rail cavity is full of liquid or not based on the pressure information and the liquid level height information, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing part.

The volume of the common rail cavity is fixed, liquid in the common rail cavity is sourced from the liquid storage tank, and the pressure of the gas filled in the common rail cavity is different from the pressure of the liquid filled in the common rail cavity, so that whether the liquid is filled in the common rail cavity or not can be determined according to the pressure information and the liquid level height information.

In a specific embodiment, as shown in fig. 9, the determining whether the common rail chamber is full of the liquid based on the pressure information and the liquid level height information includes:

s341, controlling the rotating speed of the electric pump in real time based on the pressure information of the common rail cavity, so that the pressure of the common rail cavity is kept at a preset pressure value.

The pressure in the common rail cavity is different from the pressure in the common rail cavity, so that the pressure can be controlled to be the pressure in the common rail cavity when the common rail cavity is full of liquid. In a specific embodiment, the preset pressure value may be 3Bar.

S342, determining the liquid level reduction amount of the water storage tank in the liquid feeding process based on the liquid level height information.

Wherein the liquid level reduction amount refers to the amount of water in the water storage tank delivered into the common rail cavity.

S343, acquiring current information of the electric pump.

The current information refers to the current when the electric pump works.

S344, determining whether the current information of the electric pump is a preset current value and determining whether the liquid level reduction of the liquid storage tank is equal to the common rail cavity volume.

S345, if the current information of the electric pump is a preset current value and the liquid level reduction amount of the liquid storage tank is equal to the volume of the common rail cavity, determining that the common rail cavity is full of liquid and free of bubbles.

When the electric pump current is a preset current value, and the liquid level reduction of the liquid storage tank is equal to the volume of the common rail cavity, the common rail cavity is filled with liquid and has no bubbles.

And S350, controlling the switch sub-module and the air supply module to enable the liquid in the common rail cavity to be discharged and air to start to enter through an air inlet path.

S360, controlling the air pressure of the air storage tank in the air inlet process to be kept at a preset air pressure value.

The pressure in the common rail cavity can be kept stable by controlling the air pressure of the air storage tank in the air inlet process to be kept at a preset air pressure value, so that stable pressure can be provided if a plurality of air outlet branches are used for air outlet.

In a specific embodiment, as shown in fig. 10, the controlling the air pressure of the air storage tank during the air intake process to be maintained at a preset air pressure value includes:

s361, acquiring the real-time air pressure value of the air storage tank detected by the second pressure detecting piece in real time.

S362, controlling the rotating speed of the air pump in real time based on the real-time air pressure value of the air storage tank so as to keep the real-time air pressure value of the air storage tank at a preset pressure value.

The second pressure detecting part may be a pressure sensor, through pressure closed-loop control, the rotation speed of the air pump is reduced when the pressure is high, the rotation speed of the air pump is increased when the pressure is low, and the real-time air pressure value of the air storage tank of the Bar can be kept at a preset pressure value, and in a specific embodiment, the preset pressure value may be 3Bar.

And S370, determining whether the common rail cavity is full of gas or not based on the pressure information and the liquid level height information, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the gas outlet routing nozzle when the common rail cavity is full of gas so as to clean the environment sensing component.

When the liquid in the common rail cavity is gradually reduced and the gas is gradually increased, the pressure is gradually increased and finally maintained at a certain specific pressure value, and meanwhile, the liquid discharged from the common rail cavity flows back into the liquid storage tank, so that whether the common rail cavity is full of the gas or not can be determined according to the pressure information and the liquid level height information.

In a specific embodiment, as shown in fig. 11, the determining whether the common rail chamber is full of gas based on the pressure information and the liquid level height information includes:

s371, determining the liquid level increment of the water storage tank based on the liquid level height information.

The liquid level increment of the liquid storage tank reflects the liquid quantity of the common rail cavity flowing back to the liquid storage tank.

S372, determining whether the pressure of the common rail cavity is a preset pressure value and determining whether the liquid level increase of the liquid storage tank is equal to the volume of the common rail cavity.

And S373, if the pressure of the common rail cavity is a preset pressure value and the liquid level increment of the liquid storage tank is equal to the volume of the common rail cavity, determining that the common rail cavity is full of gas and no liquid.

When the pressure of the common rail cavity is a preset pressure value and the liquid level increment of the liquid storage tank is equal to the volume of the common rail cavity, the common rail cavity is filled with gas and no liquid.

And S380, controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path.

S390, determining whether the common rail cavity is full of liquid.

S3100, determining whether a cleaning instruction is acquired.

And S3110, when the common rail cavity is full of liquid and a cleaning instruction is acquired, executing the step of controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle so as to clean the environment sensing component.

In an optional embodiment of the invention, after the acquiring, in real time, the liquid level height information of the liquid tank detected by the liquid level detecting element further includes:

determining whether the liquid level height information is smaller than a preset safe liquid level.

If yes, prohibiting the execution of the step of controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path;

if not, executing the step of controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid feeding through the liquid feeding path.

The preset safety liquid level refers to a liquid level which does not generate potential safety hazards to an executing component when the cleaning process is executed. In a specific embodiment, the preset safety level may be 0%. When the liquid level height information is smaller than the preset safe liquid level, the liquid supply module generally comprises an electric pump, and the electric pump is idle and damaged if started, the control switch sub-module and the liquid supply module are forbidden to execute at the moment to enable the common rail cavity to start the liquid feeding step through the liquid inlet channel, so that the idle and damaged electric pump can be effectively prevented, and the effect of protecting the electric pump is achieved.

On the basis of the above embodiment, the environment sensing part includes an importance sensing part.

After the liquid level information of the liquid storage tank detected by the liquid level detection part is obtained in real time, the method further comprises the following steps: determining whether the liquid level height information is greater than the preset safe liquid level and less than a preset sufficient liquid level.

If yes, the control switch submodule makes the liquid in the common rail cavity be sprayed out through a liquid outlet route nozzle to clean an environment sensing part, and the control switch submodule comprises:

and controlling the liquid outlet control sub-units corresponding to the important level liquid outlet branches to be opened so that liquid in the common rail cavity is sprayed out through the important level liquid outlet branch routing nozzles to clean the important level sensing parts.

And the control switch submodule makes the gas in the common rail cavity be sprayed out through an air outlet route nozzle so as to clean the environment sensing part, comprising:

and controlling the opening of the air outlet control sub-units corresponding to the important air outlet branches to enable the air in the common rail cavity to be sprayed out through the important air outlet branch routing nozzles so as to clean the important sensing parts.

The preset sufficient liquid level is the liquid level reached when the liquid in the water storage tank is enough to clean all environment sensing components. When the liquid level height information is larger than the preset safe liquid level and smaller than the preset sufficient liquid level, the liquid in the water storage tank can execute the cleaning process but cannot clean all environment sensing parts, so that only the important level sensing parts are cleaned at the moment, and the safety of the vehicle is effectively guaranteed under the condition that the liquid quantity is insufficient.

In an alternative embodiment of the present invention, before the control switch sub-module and the liquid supply module start the liquid feeding of the common rail cavity through the liquid feeding path, the method further includes:

and acquiring the temperature of the cover detected by the temperature detecting piece. The temperature detecting piece can be a temperature sensor, and the cover refers to a part which is covered outside the environment sensing part.

Determining whether the hood temperature is below a preset temperature.

If yes, the heating module is controlled to heat the cover.

Wherein, the dynamic is cold in north, and the unavoidable icing phenomenon that can appear by snow of environmental perception part, if directly wash with glass water and accomplish in the difficult section time, through heating the cover when the temperature is lower, played the effect that melts to environmental perception part cover ice and snow to cleaning time and cleaning quality have been accelerated, make clean more quick cleaner.

and controlling at least one of the switch sub-module, the air pump and the electric pump to perform self-checking, and outputting fault information after the self-checking.

The fault information refers to information reflecting fault conditions, and various output modes of the fault information can be transmitted to the intelligent equipment or the vehicle in a wireless mode, for example. Through the at least same self-checking in control switch submodule piece, air pump and the charge pump, can in time learn whether switch submodule piece, air pump and charge pump etc. have the damage through the self-checking to can in time learn whether vehicle environment perception part cleaning system has the trouble, so that navigating mate and other personnel also can in time learn the trouble condition of vehicle, in order to in time handle when having the trouble.

On the basis of the above embodiment, at least one of the control switch sub-module, the air pump and the electric pump is self-checked, and after the self-check detects a fault, fault information is output, including:

and acquiring a pulse signal fed back by at least one of the switch submodule, the air pump and the electric pump.

And determining whether the pulse signal meets a preset fault rule.

If yes, determining a fault and outputting fault information.

The preset fault rule refers to a rule which is met by the pulse signal during fault. The switch submodule generally comprises an electromagnetic valve, the opening and closing of the electromagnetic valve can generate corresponding pulse signals, (at the moment, the pulse signals refer to feedback signals generated in the opening and closing processes of the electromagnetic valve, for example, 0% duty ratio is low level, the valve is in a closed state, 100% duty ratio is high level, the valve is in an open state, when the system is started, the initial state is the closed valve based on working requirements, the feedback pulse signals are low level, the feedback pulse signals are normal, otherwise, the feedback pulse signals are abnormal, when a preset fault rule is that the pulse signals are high level, the abnormality is determined), and the air pump and the electric pump can also correspondingly feedback pulse signals when receiving control.

The control switch submodule is closed to close the common rail cavity. The switch submodule is used for controlling liquid inlet, liquid outlet and liquid outlet of the liquid inlet channel, the liquid outlet channel and the liquid outlet channel, so that when the liquid inlet channel, the liquid outlet channel and the liquid outlet channel are all closed, the common rail cavity can be in a closed state.

And acquiring pressure information of the common rail cavity detected by the first pressure detection part at a plurality of moments. The multiple moments are different moments after the common rail cavity is closed, for example, the first second, the second and the third second after the common rail cavity is closed, and the pressure of the common rail cavity is 3 moments.

It is determined whether or not the floating of the pressure information of the common rail chamber detected by the first pressure detecting member at a plurality of times exceeds a preset floating value. The preset floating value refers to a value which is smaller than the floating of the pressure information monitored at different moments when the common rail cavity is airtight.

If yes, determining that the air leakage fault is generated and outputting fault information. When the common rail cavity is in a closed state, the pressure difference value inside the common rail cavity at different moments is small, namely the floating is small, so that when the floating of the pressure information of the common rail cavity detected by the first pressure detecting pieces at a plurality of moments exceeds a preset floating value, the phenomenon that the common rail cavity is likely to leak is indicated, and the leakage fault is determined to be generated at the moment and the fault information is output. The fault information is the information reflecting the air leakage phenomenon, and the user can obtain the fault information to obtain the fault condition of the cleaning system, so that the cleaning system is convenient to process in time.

If not, the self-test is normal.

receiving an external control instruction and/or outputting system information in real time through a CAN module and a wireless transmission module, wherein the external control instruction comprises a cleaning instruction; the system information includes at least one of failure information, normal information, and cleaning completion information.

The vehicle environment sensing part cleaning system CAN be communicated with a vehicle through the CAN module, so that external control instructions issued by a user operating the vehicle to the vehicle environment sensing part cleaning system CAN be timely known, the vehicle environment sensing part cleaning system CAN be communicated with various intelligent devices capable of performing wireless communication through the wireless transmission module, and the external control instructions issued by the user through the devices CAN be obtained, so that the environment sensing part CAN be cleaned in time in response to the instructions. Meanwhile, system information can be output in different modes, so that a user can know the condition of the cleaning system of the vehicle environment sensing part in time.

And obtaining the perception information of the environment perception component.

And determining whether the perception information meets a preset cleaning rule.

If yes, generating a cleaning instruction.

The sensing information refers to information related to external environment, which is acquired by an environmental sensing component, for example, when the environmental sensing component is a camera, the sensing information may be image information acquired by the camera, that is, image information of the camera. The preset cleaning rules are rules which are satisfied by the sensing information when the environment sensing component needs cleaning. Through the mode, the environment sensing component can be automatically cleaned when the environment sensing component needs to be cleaned, and the environment sensing component is convenient to use.

On the basis of the above embodiment, the sensing information includes camera image information.

The determining whether the perceived information satisfies a preset cleaning rule includes:

and carrying out grey-scale processing on the camera image information.

And determining whether the average gray level of the camera image information is larger than a preset gray level value.

The graying process means that the image cannot see color information, at this time, each pixel has only one corresponding gray value, when the lens of the camera is blocked due to dirt, the gray of the blocked pixel value will increase, therefore, an averaging process can be performed, and when the average gray is greater than the preset gray value, the state is defined as the state needing cleaning. Therefore, by determining whether the average gray level of the camera image information is greater than a preset gray level value, it can be known whether cleaning is required. In a specific embodiment, the preset gray value is 153, and when the average gray is greater than or equal to 153 (i.e. the blocked rate is greater than or equal to 20%), the state is defined as a state requiring cleaning, and when the average gray is less than or equal to 128, the state is defined as a clean state.

Example six

FIG. 12 is a schematic view showing a structure of a vehicle environment sensing component cleaning apparatus according to a sixth embodiment of the present invention; as shown in fig. 12, the apparatus includes:

the liquid inlet control module 100 is used for controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path.

And the liquid filling determining module 200 is used for determining whether the common rail cavity is full of liquid or not, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing component.

And the air inlet control module 300 is used for controlling the switch sub-module and the air supply module to enable the liquid in the common rail cavity to be discharged and air to start to be inlet through the air inlet path.

And the inflation determining module 400 is used for determining whether the common rail cavity is full of gas or not, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the air outlet route nozzle when the common rail cavity is full of gas so as to clean the environment sensing part.

Optionally, the vehicle environment sensing component cleaning device further includes a liquid storage control module, a liquid storage determination module, an instruction acquisition module, and an execution module.

The liquid storage control module is used for controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path;

The liquid storage determining module is used for determining whether the common rail cavity is full of liquid or not;

the instruction acquisition module is used for determining whether a cleaning instruction is acquired;

and the execution module is used for executing the step of controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle so as to clean the environment sensing component when the common rail cavity is full of liquid and a cleaning instruction is acquired.

Optionally, the liquid inlet control module 100 is further configured to control the liquid inlet control unit, the electric pump, and the pressure relief unit to be turned on so that the common rail cavity starts liquid inlet through the liquid inlet path.

Optionally, the air intake control module 300 is further configured to control the air pump, the air intake control unit, and the pressure relief unit to be turned on so that the liquid in the common rail cavity is discharged and air intake is started through the air intake path.

Optionally, the vehicle environment sensing component cleaning device further comprises a first pressure acquisition module and a liquid level height acquisition module.

The first pressure acquisition module is used for acquiring the pressure information of the common rail cavity detected by the first pressure detection piece in real time;

the liquid level height acquisition module is used for acquiring the liquid level height information of the liquid storage tank detected by the liquid level detection piece in real time;

optionally, the liquid filling determining module 200 is further configured to determine whether the common rail cavity is full of liquid based on the pressure information and the liquid level height information;

Optionally, the inflation determining module 400 is further configured to determine whether the common rail cavity is full of gas based on the pressure information and the liquid level height information.

Optionally, the charge determination module 200 includes an electric pump control sub-module, a liquid level reduction determination sub-module, a current acquisition sub-module, a first charge determination sub-module, and a second charge determination sub-module.

The electric pump control sub-module is used for controlling the rotating speed of the electric pump in real time based on the pressure information of the common rail cavity so as to keep the pressure of the common rail cavity at a preset pressure value;

the liquid level reduction determining submodule is used for determining the liquid level reduction of the water storage tank in the liquid feeding process based on the liquid level height information;

the current acquisition sub-module is used for acquiring current information of the electric pump;

a first charge determination sub-module for determining whether the current information of the electric pump is a preset current value and whether the liquid level reduction of the liquid storage tank is equal to the common rail cavity volume;

and the second liquid filling determining submodule is used for determining that the common rail cavity is full of liquid and has no bubbles if the current information of the electric pump is a preset current value and the liquid level reduction amount of the liquid storage tank is equal to the volume of the common rail cavity.

Optionally, the vehicle environment sensing component cleaning device further comprises an air pressure control module.

The air pressure control module is used for controlling the air pressure of the air storage tank in the air inlet process to be kept at a preset air pressure value;

accordingly, the charge determination module 400 includes a liquid level increase determination sub-module, a first charge determination sub-module, and a second charge determination sub-module.

The liquid level increase determining submodule is used for determining the liquid level increase of the water storage tank based on the liquid level height information;

a first charge determination sub-module for determining whether a pressure of the common rail chamber is a preset pressure value and determining whether the liquid level increase of the liquid storage tank is equal to the common rail chamber volume;

and the second inflation determination submodule is used for determining that the common rail cavity is full of gas and free of liquid if the pressure of the common rail cavity is a preset pressure value and the liquid level increment of the liquid storage tank is equal to the volume of the common rail cavity.

Optionally, the air pressure control module comprises an air pressure acquisition submodule and an air pump control submodule.

The air pressure acquisition sub-module is used for acquiring the real-time air pressure value of the air storage tank detected by the second pressure detection piece in real time;

and the air pump control sub-module is used for controlling the rotating speed of the air pump in real time based on the real-time air pressure value of the air storage tank so as to keep the real-time air pressure value of the air storage tank at a preset pressure value.

Optionally, the vehicle environment sensing component cleaning device further comprises a safety liquid level determining module, a liquid inlet executing module and an execution prohibiting module.

The safety liquid level determining module is used for determining whether the liquid level height information is smaller than a preset safety liquid level or not;

the forbidden execution module is used for forbidden execution of the step of controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path if the forbidden execution module is used for yes;

and the liquid inlet executing module is used for executing the step of controlling the switch sub-module and the liquid supply module to enable the common rail cavity to start liquid inlet through the liquid inlet path if not.

Optionally, the environment sensing component includes an importance level sensing component; the vehicle environment sensing component cleaning device further includes a safety level determination module.

The safety liquid level determining module is used for determining whether the liquid level height information is larger than the preset safety liquid level and smaller than a preset sufficient liquid level.

Correspondingly, the liquid filling determining module 200 is further configured to control the opening of the liquid outlet control sub-unit corresponding to the important level liquid outlet branch, so that the liquid in the common rail cavity is ejected through the important level liquid outlet branch nozzle to clean the important level sensing component.

And the inflation control module is also used for controlling the opening of the air outlet control sub-units corresponding to the important grade air outlet branches so as to enable the air in the common rail cavity to be sprayed out by the important grade air outlet branch routing nozzles to clean the important grade sensing parts.

Optionally, the vehicle environment sensing component cleaning device further comprises a self-checking module.

And the self-checking module is used for controlling at least one of the switch sub-module, the air pump and the electric pump to perform self-checking and outputting fault information after the self-checking detects faults.

Optionally, the self-checking module includes a pulse acquisition sub-module, a fault determination sub-module, and a fault output module.

The pulse acquisition sub-module is used for acquiring a pulse signal fed back by at least one of the switch sub-module, the air pump and the electric pump;

the fault determination submodule is used for determining whether the pulse signal meets a preset fault rule or not;

and the fault output module is used for determining faults and outputting fault information if the faults are detected.

Optionally, the self-checking module further includes a closed control sub-module, a first pressure acquisition sub-module, a floating determination sub-module, a gas leakage fault determination sub-module, and a normal determination sub-module.

The closed control submodule is used for controlling the switch submodule to be closed so as to close the common rail cavity;

the first pressure acquisition sub-module is used for acquiring pressure information of the common rail cavity detected by the first pressure detection piece at a plurality of moments;

a float determination sub-module for determining whether a float of the pressure information of the common rail chamber detected by the first pressure detecting member at a plurality of times exceeds a preset float value;

The air leakage fault determination submodule is used for determining that air leakage faults are generated and outputting fault information if the air leakage faults are generated;

and the normal determination submodule is used for self-checking to be normal if not.

Optionally, the vehicle environment sensing component cleaning device further comprises a communication module.

The communication module is used for receiving external control instructions and/or outputting system information in real time through the CAN module and the wireless transmission module, wherein the external control instructions comprise cleaning instructions;

the system information includes at least one of failure information, normal information, and cleaning completion information.

Optionally, the vehicle environment sensing component cleaning device further comprises a sensing information acquisition module, a rule determination module and an instruction generation module.

The sensing information acquisition module is used for acquiring the sensing information of the environment sensing component;

the rule determining module is used for determining whether the perception information meets a preset cleaning rule;

and the instruction generation module is used for generating a cleaning instruction if yes.

Optionally, the sensing information includes camera image information; the rule determination module comprises a gray level processing sub-module and a gray level determination sub-module.

The gray processing submodule is used for carrying out gray processing on the camera image information;

And the gray level determining sub-module is used for determining whether the average gray level of the camera image information is larger than a preset gray level value.

The vehicle environment sensing part cleaning device provided by the embodiment of the invention can execute the vehicle environment sensing part cleaning method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example seven

Fig. 13 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 13, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the vehicle environment awareness component cleaning method.

In some embodiments, the vehicle context awareness component cleaning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into RAM13 and executed by processor 11, one or more steps of the vehicle context awareness component cleaning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle context aware component cleaning method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be noted that, in the above embodiment of the vehicle environment sensing component cleaning device, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle environment sensing component cleaning system is characterized by comprising a common rail module (1), a nozzle (2), an air supply module (3), a liquid supply module (4) and a control module (5);

A common rail cavity is arranged in the common rail module (1), and is provided with a liquid inlet path (11), an air inlet path (12), an air outlet path (13) and a liquid outlet path (14);

the liquid supply module (4) is communicated with the liquid inlet path (11), and the air supply module (3) is communicated with the air inlet path (12);

the common rail module (1) comprises a switch sub-module (15), wherein the switch sub-module (15) is used for controlling liquid inlet, air inlet, liquid outlet and air outlet of the liquid inlet channel (11), the air inlet channel (12), the air outlet channel (13) and the liquid outlet channel (14);

the control module (5) is electrically connected with the switch sub-module (15), the liquid supply module (4) and the air supply module (3), and the control module (5) is used for controlling the common rail cavity to switch between liquid storage and air storage;

the air outlet channel (13) and the liquid outlet channel (14) are both communicated with the nozzle (2), the nozzle (2) is used for sequentially spraying liquid and gas in the common rail cavity to an environment sensing part, the liquid is used for cleaning the environment sensing part, and the gas is used for drying the environment sensing part;

the vehicle environment sensing component cleaning system further comprises a heating module (8), a temperature detection piece (10) and a cover (9), wherein the cover (9) is used for being covered outside the environment sensing component, and the temperature detection piece (10) is used for detecting the temperature of the cover (9);

The heating module (8) and the temperature detection piece (10) are electrically connected with the control module (5), and the control module (5) is used for controlling the heating module (8) to heat the cover (9) based on the temperature of the cover (9) detected by the temperature detection piece (10);

the environment sensing component comprises an importance sensing component and a basic level sensing component, and the control module is used for cleaning the importance sensing component preferentially when the liquid is lower than a preset liquid amount;

before the control module (5) controls the switch sub-module (15) and the liquid supply module (4) to enable the common rail cavity to start liquid feeding through the liquid feeding path (11), the control module (5) is used for:

obtaining the perception information of the environment perception component;

determining whether the perception information meets a preset cleaning rule;

generating a cleaning instruction when the perception information meets the preset cleaning rule;

the sensing information comprises camera image information, and the determining whether the sensing information meets a preset cleaning rule comprises the following steps:

carrying out graying treatment on the camera image information;

determining whether the average gray value of the camera image information is larger than a preset gray value;

And generating a cleaning instruction when the perception information meets the preset cleaning rule, wherein the cleaning instruction comprises the following steps:

if the average gray value is larger than the preset gray value, generating the cleaning instruction;

the liquid supply module (4) comprises a liquid storage tank (41) and an electric pump (42), the liquid storage tank (41) is provided with a liquid supply port, and the liquid supply port is communicated with the liquid inlet path (11) through the electric pump (42);

the control module (5) is electrically connected with the electric pump (42) and is used for controlling the working state of the electric pump (42);

the vehicle environment sensing component cleaning system further comprises a liquid level detection piece (411), wherein the liquid level detection piece (411) is used for detecting the liquid level height of the liquid storage tank (41);

the control module (5) is electrically connected with the liquid level detection piece (411) and is used for acquiring liquid level height information detected by the liquid level detection piece (411);

the vehicle environment sensing component cleaning system further comprises a first pressure detection member (17), the first pressure detection member (17) being configured to detect a pressure inside the common rail cavity;

the common rail module (1) further comprises a pressure relief unit (16), the common rail cavity is provided with a backflow liquid outlet, the liquid storage tank (41) is provided with a backflow liquid inlet (412), a backflow pipeline (20) is arranged between the backflow liquid outlet and the backflow liquid inlet (412) and is communicated with the backflow pipeline (20), and the pressure relief unit (16) is used for controlling the opening and closing of the backflow pipeline (20);

The control module (5) is electrically connected with the first pressure detection piece (17) and the pressure relief unit (16) and is used for controlling the pressure relief unit (16) based on the pressure information in the common rail cavity detected by the first pressure detection piece (17) so as to enable the pressure in the common rail cavity to meet a preset pressure rule;

the control module (5) is used for determining whether the common rail cavity is full of liquid or not based on the pressure information and the liquid level height information, and controlling the switch sub-module (15) to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle (2) when the common rail cavity is full of liquid so as to clean the environment sensing part;

the determining whether the common rail chamber is full of liquid based on the pressure information and the liquid level height information includes:

controlling the rotational speed of an electric pump (42) in real time based on the pressure information of the common rail cavity so as to maintain the pressure of the common rail cavity at a preset pressure value;

determining a liquid level reduction of the liquid storage tank (41) during liquid feeding based on the liquid level height information;

acquiring current information of the electric pump (42);

determining whether the current information of the electric pump (42) is a preset current value and determining whether the liquid level reduction of the liquid storage tank (41) is equal to the common rail cavity volume;

And if the current information of the electric pump (42) is a preset current value and the liquid level reduction amount of the liquid storage tank (41) is equal to the volume of the common rail cavity, determining that the common rail cavity is full of liquid and free of bubbles.

2. The vehicle context awareness component cleaning system of claim 1, wherein,

the switch sub-module (15) comprises at least one of the following:

a liquid inlet control unit (151) for controlling liquid inlet of the liquid inlet path (11);

an intake control unit (152) for controlling intake air of the intake passage (12);

a liquid outlet control unit (153) for controlling the liquid outlet of the liquid outlet channel (14);

and an air outlet control unit (154) for controlling the air outlet of the air outlet path (13).

3. The vehicle context awareness component cleaning system according to claim 2, characterized in that the tapping control unit (153) comprises a plurality of tapping control subunits (1531);

the liquid outlet channel (14) comprises a plurality of liquid outlet branches (141), and a plurality of liquid outlet control sub-units (1531) are used for controlling liquid outlet of the plurality of liquid outlet branches (141) in a one-to-one correspondence manner;

and/or, the outlet control unit (154) comprises a plurality of outlet control sub-units (1541);

the air outlet path (13) comprises a plurality of air outlet branches (131), and a plurality of air outlet control sub-units (1541) are used for controlling air outlet of the plurality of air outlet branches (131) in a one-to-one correspondence mode.

4. The vehicle context awareness component cleaning system according to claim 1, characterized in that the interior of the tank (41) is provided with a top down extending deflector (413), the interior of the tank (41) also having a return guide (414), the return guide (414) having a guide channel (415), the guide channel (415) being in communication with the return inlet (412);

the direction of extension of the guide channel (415) is opposite to the surface of the guide piece (413).

5. A vehicle context awareness component cleaning system according to any one of claims 1 to 3, characterized in that the air supply module (3) comprises an air pump (31) and an air reservoir (32), the air reservoir (32) having an air supply port, the air supply port being in communication with the air intake passage (12), the air pump (31) being connected to the air reservoir (32), the air pump (31) being adapted to control the air reservoir (32) to supply air to the air intake passage (12); the air pump (31) is electrically connected with the control module (5), and the control module (5) is used for controlling the working state of the air pump (31);

the vehicle environment sensing component cleaning system further includes a second pressure detecting member (321), the second pressure detecting member (321) being configured to detect an air pressure of the air tank (32);

The control module (5) is electrically connected with the second pressure detection piece (321) and is used for acquiring the air pressure of the air storage tank (32).

6. A vehicle context awareness component cleaning system according to any one of claims 1 to 3, further comprising a telescopic mechanism (6) and a driving member (7), the control module (5) being electrically connected to the driving member (7), the driving member (7) being connected to the telescopic mechanism (6), the control module (5) being adapted to drive the telescopic mechanism (6) to telescope via the driving member (7);

the telescopic mechanism (6) is connected with the nozzle (2) and is used for respectively conveying the nozzle (2) to a cleaning position and a retracting position when telescopic.

7. A vehicle context awareness component cleaning system according to any of claims 1 to 3, characterized in that the control module (5) comprises a CAN module (51) and/or a wireless transmission module (52).

8. A vehicle comprising a body having an environmental awareness component and the vehicle environmental awareness component cleaning system of claims 1-7.

9. A vehicle environment-aware component cleaning method applied to the vehicle environment-aware component cleaning system of claims 1-7, the method comprising:

The switch sub-module and the liquid supply module are controlled to enable the common rail cavity to start liquid inlet through the liquid inlet path; acquiring pressure information of the common rail cavity detected by a first pressure detecting piece in real time;

acquiring liquid level height information of the liquid storage tank detected by the liquid level detection piece in real time;

determining whether the common rail cavity is full of liquid or not based on the pressure information and the liquid level height information, and controlling the switch sub-module to enable liquid in the common rail cavity to be sprayed out through a liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean an environment sensing part;

determining whether the common rail cavity is full of gas or not, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through an air outlet route nozzle when the common rail cavity is full of gas so as to blow-dry the environment sensing component;

before the control switch submodule and the liquid supply module enable the common rail cavity to start liquid feeding through the liquid feeding path, the liquid feeding device further comprises:

acquiring a cover temperature detected by a temperature detecting piece, and determining whether the cover temperature is lower than a preset temperature;

if yes, controlling a heating module to heat the cover;

Obtaining the perception information of the environment perception component;

determining whether the perception information meets a preset cleaning rule;

carrying out graying treatment on the camera image information;

the control switch submodule and the liquid supply module enable the common rail cavity to start liquid feeding through a liquid feeding path, and the control switch submodule and the liquid supply module comprise:

the liquid inlet control unit, the electric pump and the pressure relief unit are controlled to be opened so that the common rail cavity starts to feed liquid through the liquid inlet path;

controlling the rotating speed of the electric pump in real time based on the pressure information of the common rail cavity so as to keep the pressure of the common rail cavity at a preset pressure value;

Determining the liquid level reduction amount of the liquid storage tank in the liquid inlet process based on the liquid level height information;

acquiring current information of the electric pump;

determining whether the current information of the electric pump is a preset current value and determining whether the liquid level reduction of the liquid storage tank is equal to the common rail cavity volume;

and if the current information of the electric pump is a preset current value and the liquid level reduction amount of the liquid storage tank is equal to the volume of the common rail cavity, determining that the common rail cavity is full of liquid and free of bubbles.

10. The vehicle context awareness component cleaning method of claim 9, wherein the determining if the common rail cavity is full of gas and controlling the switch sub-module to cause gas in the common rail cavity to be ejected through an outlet routing nozzle to clean the context awareness component when full of gas further comprises:

determining whether the common rail cavity is full of liquid;

determining whether a cleaning instruction is acquired;

11. A vehicle environment sensing component cleaning device, characterized by being applied to the vehicle environment sensing component cleaning system according to claims 1 to 7, comprising:

the liquid filling determining module is used for determining whether the common rail cavity is full of liquid or not based on the pressure information and the liquid level height information, and controlling the switch sub-module to enable the liquid in the common rail cavity to be sprayed out through the liquid outlet route nozzle when the common rail cavity is full of liquid so as to clean the environment sensing part;

the inflation determining module is used for determining whether the common rail cavity is full of gas or not, and controlling the switch sub-module to enable the gas in the common rail cavity to be sprayed out through the air outlet route nozzle when the common rail cavity is full of gas so as to blow-dry the environment sensing component;

The heating control module is used for acquiring the temperature of the cover detected by the temperature detection piece before the control switch sub-module and the liquid supply module start liquid feeding of the common rail cavity through the liquid feeding path, determining whether the temperature of the cover is lower than a preset temperature, and if so, controlling the heating module to heat the cover;

the device also comprises a perception information acquisition module, a rule determination module and an instruction generation module,

the sensing information acquisition module is used for acquiring the sensing information of the environment sensing component before the control switch sub-module and the liquid supply module enable the common rail cavity to start liquid feeding through the liquid feeding path;

the instruction generation module is used for generating a cleaning instruction when the perception information meets the preset cleaning rule;

the perception information comprises camera image information, the rule determining module comprises a gray processing sub-module and a gray determining sub-module,

the gray level determining submodule is used for determining whether the average gray level value of the camera image information is larger than a preset gray level value or not;

The instruction generating module is specifically configured to generate the cleaning instruction if the average gray value is greater than the preset gray value;

the liquid inlet control module is also used for controlling the liquid inlet control unit, the electric pump and the pressure relief unit to be opened so as to enable the common rail cavity to start liquid inlet through the liquid inlet path;

the liquid filling determining module comprises an electric pump control submodule, a liquid level reduction determining submodule, a current obtaining submodule, a first liquid filling determining submodule and a second liquid filling determining submodule;

the liquid level reduction determining submodule is used for determining liquid level reduction of the liquid storage tank in a liquid inlet process based on the liquid level height information;

the first liquid filling determining submodule is used for determining whether the current information of the electric pump is a preset current value and determining whether the liquid level reduction amount of the liquid storage tank is equal to the common rail cavity volume;