CN115817409A - Laser radar cleaning system, method, device and storage medium - Google Patents
Laser radar cleaning system, method, device and storage medium Download PDFInfo
- Publication number
- CN115817409A CN115817409A CN202211654449.0A CN202211654449A CN115817409A CN 115817409 A CN115817409 A CN 115817409A CN 202211654449 A CN202211654449 A CN 202211654449A CN 115817409 A CN115817409 A CN 115817409A
- Authority
- CN
- China
- Prior art keywords
- electromagnetic valve
- cleaning
- laser radar
- radar
- wiper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 197
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000003860 storage Methods 0.000 title claims abstract description 28
- 239000007788 liquid Substances 0.000 claims abstract description 25
- 238000002592 echocardiography Methods 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 124
- 238000005406 washing Methods 0.000 claims description 108
- 238000012545 processing Methods 0.000 claims description 12
- 238000011109 contamination Methods 0.000 claims description 4
- 239000003599 detergent Substances 0.000 claims description 3
- 238000005086 pumping Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008447 perception Effects 0.000 description 3
- 240000006698 Spigelia anthelmia Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application provides a laser radar cleaning system, a laser radar cleaning method, laser radar cleaning equipment and a storage medium, and relates to the technical field of commercial trucks. According to the method, a control signal sent by a laser radar is received, wherein the control signal is a cleaning requirement obtained by the laser radar through the quantity and the intensity of laser echoes, the control signal controls the windscreen wiper electromagnetic valve to be disconnected, the air channel electromagnetic valve to be disconnected and the water channel electromagnetic valve to be communicated, cleaning liquid is conveyed to a plurality of nozzles to clean stains on the surface of the laser radar, the air channel electromagnetic valve is controlled to be communicated, compressed gas is conveyed to the nozzles to clean the surface of the laser radar, the surface of the laser radar is circularly cleaned until the cleaning requirement is met through switching of the water channel electromagnetic valve and the air channel electromagnetic valve, and the original air channel and glass cleaning system of a vehicle can be normally used through initialization of the system.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a laser radar cleaning system, method, device, and storage medium.
Background
With social development and technological progress, the intelligent driving technology of commercial trucks also approaches to maturity, and meanwhile, the vehicle-mounted radar is used as an important component for intelligent driving and plays an important role in driving safety of vehicles and passengers.
As the service environment of the commercial vehicle is generally complex, impurities such as dust, frost and snow, worm grass and the like are likely to be adhered to the vehicle-mounted laser radar of the commercial vehicle during use, so that the identification precision and the perception effect of the vehicle-mounted laser radar of the commercial vehicle are affected, and the vehicle and the driving safety of passengers are possibly threatened.
The existing cleaning scheme for the vehicle-mounted laser radar generally only adopts a water path cleaning scheme, but water stains can be left, the recognition precision and the perception effect of the vehicle-mounted laser radar can still be influenced, and the vehicle manufacturing cost can be increased even if the vehicle-mounted laser radar is cleaned by adding a gas path, so that the prior art still has defects in the aspect of how to intelligently and efficiently clean the laser radar by the aid of the low cost.
Disclosure of Invention
The application provides a laser radar cleaning method, laser radar cleaning equipment and a storage medium, which are used for solving the problem that how to realize the laser radar cleaning with intelligence, high efficiency and low cost in the prior art is deficient.
In a first aspect, the present application provides a laser radar cleaning system, comprising: a radar cleaning gas circuit, a radar cleaning water circuit, a wiper cleaning water circuit and a controller, wherein
The radar cleaning waterway is used for cleaning the laser radar through the waterway;
the radar cleaning gas circuit is used for cleaning the laser radar through a gas circuit;
the wiper cleaning waterway is used for providing detergent to the wiper through the waterway;
the controller is used for controlling the on-off of the radar cleaning air path, the radar cleaning water path and the wiper cleaning water path;
the radar cleaning water path and the windscreen wiper cleaning water path share a washing tank and a washing motor, the washing tank is used for storing washing liquid, and the washing motor is used for pumping the washing liquid.
In one possible design, the radar cleaning gas path comprises a nozzle, a gas path electromagnetic valve and an air storage cylinder, the gas path electromagnetic valve is used for controlling the on-off of the radar cleaning gas path, the air storage cylinder is used for storing compressed air, and the nozzle is positioned above the laser radar;
the radar cleaning waterway comprises the nozzle, a waterway electromagnetic valve, a washing motor and a washing tank, and the waterway electromagnetic valve is used for controlling the on-off of the radar cleaning waterway;
the wiper cleaning water path comprises a wiper nozzle, a wiper electromagnetic valve, a washing motor and a washing tank, and the wiper electromagnetic valve is used for controlling the on-off of the wiper cleaning water path;
the controller is connected with the laser radar, the gas circuit electromagnetic valve, the water path electromagnetic valve, the windscreen wiper electromagnetic valve and the washing motor through wiring harnesses.
In a second aspect, the present application provides a laser radar cleaning method, including:
receiving a control signal sent by a laser radar, wherein the control signal is a signal which is sent by the laser radar and is used for acquiring a cleaning requirement according to the quantity and the intensity of laser echoes and sending the cleaning requirement;
controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
after the water path electromagnetic valve is controlled to be cleaned, the air path electromagnetic valve is controlled to be communicated so as to convey compressed gas to the plurality of nozzles to clean the stains left on the surface of the laser radar and cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating manner through switching of the water path electromagnetic valve and the air path electromagnetic valve until the laser radar confirms that the cleaning requirement is met;
receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve through the initialization signal, and communicating the wiper electromagnetic valve; the initialization signal is a signal that the lidar determines that the cleaning requirements have been met.
In one possible design, the lidar determines a contamination level by determining the number and intensity of laser echoes over a plurality of detection periods, and determines a cleaning requirement and generates a control signal when the contamination level is greater than the calibration value.
In one possible design, the controlling the wiper solenoid valve to be turned off, the air path solenoid valve to be turned off, and the water path solenoid valve to be communicated according to the control signal includes:
controlling the electromagnetic valve of the windscreen wiper to be disconnected according to the control signal until the laser radar meets the cleaning requirement;
and controlling the gas path electromagnetic valve to be disconnected for a preset time according to the control signal, and simultaneously connecting the water path electromagnetic valve for the preset time.
In a possible design, after the water path solenoid valve is controlled to be cleaned, the gas path solenoid valve is controlled to be communicated, including:
and controlling the gas path electromagnetic valve to be communicated for a preset time according to the control signal, and simultaneously disconnecting the water path electromagnetic valve for the preset time.
In one possible design, the cyclic cleaning of the lidar surface stain includes:
after the gas path electromagnetic valve is controlled to be communicated with the nozzles to convey compressed gas to clean the surface of the laser radar, whether an initialization signal sent by the laser radar is received or not is determined;
if yes, disconnecting the water path electromagnetic valve and the air path electromagnetic valve, and communicating the wiper electromagnetic valve so as to enable a wiper cleaning water path of the vehicle to be normally used;
and if not, continuing to convey corresponding cleaning solution and compressed air to the plurality of nozzles to clean the stains on the surface of the laser radar by controlling the switching of the water path electromagnetic valve and the air path electromagnetic valve until an initialization signal indicating that the laser radar judges that the cleaning requirement is met is received.
In a third aspect, the present application provides a lidar cleaning apparatus comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for receiving a control signal sent by a laser radar, the control signal is a signal sent by the laser radar according to the number and the intensity of laser echoes to acquire a cleaning requirement;
the first processing module is used for controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
the second processing module is used for controlling the air path electromagnetic valve to be communicated after the water path electromagnetic valve is controlled to be cleaned, so that compressed gas is conveyed to the nozzles to clean the stains left on the surface of the laser radar and the cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating mode through switching of the water path electromagnetic valve and the air path electromagnetic valve until the laser radar confirms that the cleaning requirement is met
The initialization module is used for receiving an initialization signal sent by the laser radar, disconnecting the water path electromagnetic valve and the air path electromagnetic valve through the initialization signal and communicating the wiper electromagnetic valve; the initialization signal is a signal sent by the lidar after the lidar determines that the cleaning requirements have been met.
In a fourth aspect, the present application provides an electronic device comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer execution instructions;
the processor executes computer-executable instructions stored by the memory to implement a lidar cleaning method.
In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing a lidar cleaning method when the computer-executable instructions are executed by a processor.
The application provides a laser radar cleaning system, a method, equipment and a storage medium, control signals sent by receiving laser radars are received, wherein the control signals are cleaning requirements obtained by the laser radars according to the quantity and the intensity of laser echoes, then signals are sent according to the cleaning requirements, the control signals control the windscreen wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve is disconnected and the water path electromagnetic valve is communicated, cleaning liquid is conveyed to a plurality of nozzles, stains on the surface of the laser radars are cleaned, after the water path electromagnetic valve is controlled to be cleaned, the gas path electromagnetic valve is communicated, compressed gas is conveyed to the nozzles to clean the stains and the cleaning liquid left on the surface of the laser radars, through the switching of the water path electromagnetic valve and the gas path electromagnetic valve, the stains on the surface of the laser radars are cleaned circularly until the laser radars are determined to meet the cleaning requirements, after initialization signals sent by the laser radars are received, the water path electromagnetic valve and the gas path electromagnetic valve are disconnected through the initialization signals, the windscreen wiper electromagnetic valve is communicated, so that the original gas path and the glass cleaning system of a vehicle can be normally used.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a laser radar cleaning system according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a laser radar cleaning method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram illustrating a laser radar cleaning process according to an embodiment of the present application;
FIG. 4 is a schematic view of a portion of a laser radar cleaning system in connection therewith;
fig. 5 is a schematic structural diagram of a laser radar cleaning apparatus provided in an embodiment of the present application;
fig. 6 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present application is directed to the concepts or terms that may be employed:
laser Radar: the radar system is used for detecting the position, the speed and other characteristic quantities of a target by emitting laser beams, and has the working principle that a detection signal is emitted to the target, and then a received signal reflected from the target, namely a target echo is compared with the emission signal to obtain relevant information of the target, such as parameters of target distance, direction, height, speed, attitude, even shape and the like, so that the targets of airplanes, missiles and the like are detected, tracked and identified.
Along with commercial truck intelligent driving technique is close to maturity, on-vehicle lidar plays more and more important effect as the important part of intelligent driving, but because commercial truck service environment is relatively poor, debris such as dust, frost snow, worm grass adhere to on-vehicle lidar and produce the spot, influence on-vehicle lidar's recognition accuracy and perception effect to influence vehicle and passenger's driving safety.
Meanwhile, with the increasing demand of intelligent driving of commercial trucks and the further improvement of the intelligence level of commercial trucks, a laser radar cleaning system and a laser radar cleaning method capable of intelligently, efficiently and inexpensively removing stains on a vehicle-mounted laser radar are needed.
The application provides a laser radar cleaning system, including radar washing gas circuit, radar washing water route, wiper washing water route and controller, wherein the radar washing water route is used for cleaning laser radar through the water route, the radar washing gas circuit is used for cleaning laser radar through the gas circuit, the wiper washing water route is used for providing detergent to the wiper through the water route, the controller is used for controlling the break-make of radar washing gas circuit, radar washing water route, wiper washing water route, the radar washing water route, the wiper washing water route, the radar washing water route and wiper washing water route share wash jar and washing motor, the wash jar is used for storing the washing liquid, the washing motor is used for pumping the washing liquid, the radar washing gas circuit, radar washing water route, wiper washing water route and the controller in the system are all based on the existing equipment of commercial truck, and need not reequip equipment again, therefore the laser radar cleaning system that this application provided can realize the low-cost cleanness to on-vehicle laser radar;
the application also provides a laser radar cleaning method, which comprises the steps of receiving a control signal sent by a laser radar, wherein the control signal is a cleaning requirement obtained by the laser radar through the quantity and the intensity of laser echoes, then sending a signal according to the cleaning requirement, controlling the windscreen wiper electromagnetic valve to be disconnected by the control signal, controlling the air channel electromagnetic valve to be disconnected and communicating the air channel electromagnetic valve with the water channel electromagnetic valve, and conveying cleaning liquid to a plurality of nozzles.
Fig. 1 is a schematic diagram of a laser radar cleaning system according to an embodiment of the present application. As shown in fig. 1, the system includes: the device comprises a laser radar 101, a nozzle 102, an air cylinder 103, a washing motor 104, an air path solenoid valve 105, a water path solenoid valve 106, a controller 107, a wiper solenoid valve 108, a wiper nozzle 109 and a washing tank 110.
Wherein, a plurality of nozzles 102 evenly set up in laser radar 101's top, the radar washs the gas circuit including nozzle 102, gas circuit solenoid valve 105 and gas receiver 103, gas circuit solenoid valve 105 is used for controlling the break-make of radar washing gas circuit, gas receiver 103 is used for storing compressed air, the radar washs the water route including nozzle 102, washing motor 104 and washing tank 10, wiper solenoid valve 108 is used for controlling the break-make of wiper washing water route, wiper washing water route includes wiper nozzle 109, wiper solenoid valve 108, washing motor 104 and washing tank 10, controller 107 passes through pencil and laser radar 101, gas circuit solenoid valve 105, water circuit solenoid valve 106, wiper solenoid valve 108 and washing motor 104 electricity are connected, wherein gas circuit solenoid valve 105, water circuit solenoid valve 106, wiper solenoid valve 107 is used for controlling the break-make of place pipeline.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Example one
Fig. 2 is a schematic flow chart of a laser radar cleaning method according to an embodiment of the present application. As shown in fig. 2, the method includes:
s201, receiving a control signal sent by a laser radar, wherein the control signal is a signal sent by the laser radar for acquiring a cleaning requirement according to the quantity and the intensity of laser echoes and sending the cleaning requirement;
specifically, the laser radar senses the cleaning requirement through the number and the intensity of the fed back laser echoes, and sends a cleaning signal based on the sensed cleaning requirement;
wherein, it represents the pollution degree on laser radar surface to acquire the washing demand through quantity and the intensity of judging the laser echo in a plurality of detection periods for laser radar, sends the washing demand when the pollution degree is greater than calibration value promptly, and simultaneously, this control signal also can send instrument, well accuse screen or the mutual pronunciation to commercial truck, reminds commercial truck driver to carry out laser radar's washing.
S202, controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and wash stains on the surface of the laser radar;
specifically, the air path electromagnetic valve is disconnected, the water path electromagnetic valve is communicated, the wiper electromagnetic valve is disconnected, the washing motor and the washing tank matched with the washing motor work, and the state is maintained for a preset time such as 3 seconds;
the laser radar cleaning device comprises a cleaning tank, a plurality of nozzles, a washing motor, a cleaning motor and a radar cleaning water path, wherein the radar cleaning water path formed by the plurality of nozzles communicated with the washing motor and the cleaning tank is communicated through pipelines, and the cleaning motor pumps cleaning liquid stored in the cleaning tank to the nozzles to clean stains on the surface of the laser radar.
S203, after the water path electromagnetic valve is controlled to be cleaned, the air path electromagnetic valve is controlled to be communicated, compressed gas is conveyed to the nozzles to clean the stains left on the surface of the laser radar and the cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating mode through switching of the water path electromagnetic valve and the air path electromagnetic valve until the laser radar is determined to meet the cleaning requirement.
Specifically, the air path electromagnetic valve is communicated, the water path electromagnetic valve is disconnected, the wiper electromagnetic valve is disconnected, the washing motor and the washing tank matched with the washing motor are closed, and the state is maintained for a preset time of 3 seconds;
wherein, the radar that is become through pipeline and gas receiver intercommunication by a plurality of nozzles washs the gas circuit intercommunication, and the washing motor stop work this moment, compressed gas in the gas receiver clears away the laser radar surface through the nozzle and leaves over the washing liquid that the spot was left over with before.
S204, receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve through the initialization signal, and communicating the wiper electromagnetic valve; the initialization signal is a signal sent by the laser radar after the cleaning requirement is determined to be met;
specifically, whether the cleaning operation meets the cleaning requirement is judged through the laser radar, if the cleaning operation does not meet the requirement, the radar cleaning water path and the radar cleaning gas path are repeatedly switched, so that the surface of the laser radar meets the cleaning requirement, and when the cleaning of the surface of the laser radar meets the requirement, an initialized radar cleaning system is initialized;
the laser radar cleaning system is initialized by enabling the air path electromagnetic valve to be in a disconnected state, enabling the water path electromagnetic valve to be in a disconnected state, enabling the wiper electromagnetic valve to be in a connected state and enabling the washing motor to stop working, so that the original air path of the truck and the glass cleaning system can be used normally.
The laser radar cleaning method provided by the embodiment comprises the steps of receiving a control signal sent by a laser radar, controlling a wiper electromagnetic valve to be disconnected, controlling a gas circuit electromagnetic valve to be disconnected and a water circuit electromagnetic valve to be communicated, conveying cleaning liquid to a plurality of nozzles, cleaning stains on the surface of the laser radar, wherein the control signal is a cleaning requirement acquired by the laser radar through the quantity and the strength of laser echoes, and sending a signal according to the cleaning requirement, after the cleaning of the water circuit electromagnetic valve is controlled, controlling the gas circuit electromagnetic valve to be communicated to convey compressed gas to the plurality of nozzles to clean the stains and the cleaning liquid left on the surface of the laser radar, and circularly cleaning the stains on the surface of the laser radar through switching of the water circuit electromagnetic valve and the gas circuit electromagnetic valve until the laser radar is determined to meet the cleaning requirement, after the cleaning requirement is met through the judgment of the laser radar, communicating the wiper electromagnetic valve with the water circuit electromagnetic valve and the gas circuit electromagnetic valve to be initialized, so that an original gas circuit and a glass cleaning system of a commercial truck can be normally used, and therefore the laser radar cleaning method provided by the application can realize the intelligent, high-efficiency and low-cost cleaning of the vehicle-mounted laser radar.
Example two
Fig. 3 is a schematic diagram of a laser radar cleaning process according to an embodiment of the present application. Fig. 4 is a schematic diagram of a partial connection of a lidar cleaning system, shown in fig. 3 and 4, which partially includes: laser radar 401, nozzle 402, water solenoid valve 403, air solenoid valve 404, wiper solenoid valve 405, and wiper nozzle 406.
The laser radar device comprises a laser radar 401, an air storage cylinder, a plurality of nozzles 402, a washing motor, a washing tank, a wiper nozzle 406, a gas circuit electromagnetic valve 404, a water circuit electromagnetic valve 403 and a wiper electromagnetic valve 405, wherein the nozzles 402 are uniformly arranged above the laser radar 401, the nozzles 402 are communicated with the air storage cylinder through pipelines to form a radar washing gas circuit, the nozzles 402 are communicated with the washing motor and the washing tank through pipelines to form a radar washing water circuit, the wiper nozzle 406 is communicated with the washing motor and the washing tank through pipelines to form a wiper washing water circuit, and the gas circuit electromagnetic valve 404, the water circuit electromagnetic valve 403 and the wiper electromagnetic valve 405 are used for controlling the on-off of the pipelines. The method comprises the following steps:
s301, receiving a control signal sent by a laser radar;
specifically, the laser radar determines the pollution degree by judging the quantity and the intensity of laser echoes in a plurality of detection periods, and determines the cleaning requirement and generates a control signal when the pollution degree is greater than the calibration value;
wherein, based on laser radar's washing demand, on produced control signal also can send instrument, well accuse screen or the mutual speech device of commercial truck, remind commercial truck driver to carry out laser radar's washing, likewise, also can come from physical switch, well accuse screen or mutual pronunciation to laser radar's washing demand signal, commercial truck driver carries out manual operation and sends the washing demand to laser radar.
S302, controlling the electromagnetic valve of the windscreen wiper to be disconnected according to the acquired control signal until the laser radar meets the cleaning requirement;
s303, controlling the gas path electromagnetic valve to be disconnected for a preset time according to the control signal, and meanwhile, controlling the water path electromagnetic valve to be connected for the preset time;
the waterway electromagnetic valve is controlled to be communicated according to the control signal, and the preset time is set to be 3 seconds;
wherein, as shown in fig. 4, the radar washing water route is used for cleaning laser radar through the water route, the radar washing water route includes the nozzle, the water route solenoid valve, washing motor and washing jar, and the water route solenoid valve is used for controlling the break-make in radar washing water route, wherein washing motor and washing jar are mutually supported, control signal control gas circuit solenoid valve disconnection, make water route solenoid valve intercommunication, wiper solenoid valve disconnection, washing motor work, maintain this state 3 seconds, the radar washs the gas circuit disconnection this moment, radar washing water route intercommunication, wiper washing water route disconnection, washing motor work, washing motor pump-conveying of the washing liquid that the washing motor will store in the washing jar is to the nozzle in order to wash laser radar surface spot.
S304, controlling the gas path electromagnetic valve to be communicated for a preset time according to the control signal, and simultaneously disconnecting the water path electromagnetic valve for the preset time;
the preset disconnection time of the gas circuit electromagnetic valve can also be set to be 3 seconds;
wherein, combine as shown in fig. 4, the radar washs the gas circuit and is used for cleaning laser radar through the gas circuit, it includes the nozzle to wash the gas circuit to radar wherein, gas circuit solenoid valve and gas receiver, the gas circuit solenoid valve is used for controlling the break-make that the radar washd the gas circuit, the gas receiver is used for storing compressed air, the nozzle is located laser radar's top, control signal control gas circuit solenoid valve intercommunication, the disconnection of water route solenoid valve, wiper solenoid valve disconnection, washing motor stop work, maintain this state for the same 3 seconds, the radar washs the gas circuit intercommunication this moment, the disconnection of radar washing water route, wiper washing water route disconnection, wash motor stop work simultaneously, compressed gas clears away the washing liquid that laser radar surface spot left over and was left over when wasing through the water route before through the nozzle in the gas receiver.
S305, after the gas path electromagnetic valve is controlled to be communicated and compressed gas is conveyed to the plurality of nozzles to clean the surfaces of the laser radar, whether an initialization signal sent by the laser radar is received or not is determined; if yes, executing S306, otherwise, returning to execute S302;
specifically, a laser radar cleaning system is initialized, so that a gas path electromagnetic valve is in a disconnected state, a water path electromagnetic valve is in a disconnected state, a windscreen wiper electromagnetic valve is in a connected state, and a washing motor stops working, so that an original gas path and a glass cleaning system of a vehicle can be normally used;
after the laser radar determines that the cleaning degree of the surface of the laser radar meets the cleaning requirement, an initialization signal is sent to initialize the laser radar cleaning system, the water path electromagnetic valve and the air path electromagnetic valve are disconnected by the initialization signal and communicated with the wiper electromagnetic valve, and the initialization signal is a signal sent after the laser radar determines that the cleaning requirement is met.
S306, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve and communicating the wiper electromagnetic valve so as to ensure that a wiper cleaning waterway of the vehicle can be normally used;
if not, returning to execute S302, and continuously conveying corresponding cleaning solution and compressed air to the plurality of nozzles to clean the stains on the surface of the laser radar by controlling the switching of the water path electromagnetic valve and the air path electromagnetic valve until an initialization signal indicating that the laser radar judges that the cleaning requirement is met is received;
wherein, through control the switching of water route solenoid valve and gas circuit solenoid valve, it is suitable for through the mutual interaction that radar washd gas circuit and radar washd the water route promptly, carries out washing liquid and compressed gas's washing in turn to lidar's surperficial spot and cleans for lidar's surface satisfies lidar's clean demand.
The laser radar cleaning method comprises the steps of receiving a control signal sent by a laser radar, wherein the control signal is a signal sent by the laser radar, the cleaning requirement is obtained by the laser radar according to the quantity and the intensity of laser echoes, the signal is sent according to the cleaning requirement, the wiper electromagnetic valve is controlled to be disconnected through the control signal, the gas path electromagnetic valve is controlled to be disconnected and the water path electromagnetic valve is controlled to be communicated, cleaning liquid is conveyed to a plurality of nozzles, stains on the surface of the laser radar are cleaned circularly through the switching of the water path electromagnetic valve and the gas path electromagnetic valve until the laser radar confirms that the cleaning requirement is met, receiving an initialization signal sent by the laser radar, the water path electromagnetic valve and the gas path electromagnetic valve are disconnected through the initialization signal, the wiper electromagnetic valve is communicated, the initialization signal is sent after the laser radar confirms that the cleaning requirement is met, the water path electromagnetic valve and the gas path electromagnetic valve are disconnected, the wiper electromagnetic valve is communicated to initialize the laser radar, so that an original gas path and a glass cleaning system of a commercial truck can be used normally, and the vehicle-mounted laser radar can be cleaned efficiently.
In the embodiment of the present invention, the electronic device or the main control device may be divided into the functional modules according to the above method examples, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The integrated unit can be realized in a form of hardware or a form of a software functional module. It should be noted that, the division of the modules in the embodiment of the present invention is schematic, and is only a logic function division, and there may be another division manner in actual implementation.
Fig. 5 is a schematic structural diagram of a laser radar cleaning apparatus according to an embodiment of the present application. As shown in fig. 5, the apparatus 500 includes:
an obtaining module 501, configured to receive a control signal sent by a laser radar, where the control signal is a signal sent by the laser radar according to a cleaning requirement obtained by the laser radar according to the number and intensity of laser echoes;
the first processing module 502 is used for controlling the wiper electromagnetic valve to be disconnected, the air path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
the second processing module 503 is configured to control the gas path solenoid valve to communicate after the water path solenoid valve is controlled to complete cleaning, so as to deliver compressed gas to the plurality of nozzles to clean the stains left on the surface of the laser radar and the cleaning solution, and cyclically clean the stains on the surface of the laser radar through switching between the water path solenoid valve and the gas path solenoid valve until the laser radar determines that the cleaning requirement is met;
the initialization module 504 is used for receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve through the initialization signal and communicating the wiper electromagnetic valve; the initialization signal is a signal sent by the lidar after the lidar determines that the cleaning requirements have been met.
Further, the first processing module 502 is specifically configured to: receiving a control signal sent by a laser radar, wherein the control signal is a signal which is sent by the laser radar and is used for acquiring a cleaning requirement according to the quantity and the intensity of laser echoes and sending the cleaning requirement;
controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
after the water path electromagnetic valve is controlled to be cleaned, the air path electromagnetic valve is controlled to be communicated so as to convey compressed gas to the plurality of nozzles to clean the stains left on the surface of the laser radar and cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating manner through switching of the water path electromagnetic valve and the air path electromagnetic valve until the laser radar confirms that the cleaning requirement is met;
receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve through the initialization signal, and communicating the wiper electromagnetic valve; the initialization signal is a signal that the lidar determines that the cleaning requirements have been met.
Further, the obtaining module 501 is specifically configured to: the laser radar determines the pollution degree by judging the quantity and the intensity of laser echoes in a plurality of detection periods, and determines the cleaning requirement and generates a control signal when the pollution degree is greater than the calibration value.
Further, the first processing module 502 is specifically configured to: controlling the electromagnetic valve of the windscreen wiper to be disconnected according to the control signal until the laser radar meets the cleaning requirement;
and controlling the gas path electromagnetic valve to be disconnected for a preset time according to the control signal, and simultaneously connecting the water path electromagnetic valve for the preset time.
Further, the second processing module 503 is specifically configured to: and controlling the gas path electromagnetic valve to be communicated for a preset time according to the control signal, and simultaneously disconnecting the water path electromagnetic valve for the preset time.
Further, the initial module 504 is further configured to: after the gas path electromagnetic valve is controlled to be connected to the nozzles to convey compressed gas to clean the surfaces of the laser radars, whether an initialization signal sent by the laser radars is received or not is determined;
if so, disconnecting the water path electromagnetic valve and the air path electromagnetic valve and communicating the windscreen wiper electromagnetic valve so as to ensure that a windscreen wiper cleaning water path of the vehicle can be normally used;
and if not, continuing to convey corresponding cleaning solution and compressed air to the plurality of nozzles to clean the stains on the surface of the laser radar by controlling the switching of the water path electromagnetic valve and the air path electromagnetic valve until an initialization signal indicating that the laser radar judges that the cleaning requirement is met is received.
The lidar cleaning device provided by the embodiment can execute the lidar cleaning method of the embodiment, the implementation principle and the technical effect are similar, and the embodiment is not repeated herein.
In the foregoing specific implementation of the gear control device based on the heavy-duty vehicle, each module may be implemented as a processor, and the processor may execute computer-executable instructions stored in the memory, so that the processor executes the above-mentioned gear control method based on the heavy-duty vehicle.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 600 includes: at least one processor 601 and memory 602. The electronic device 60 further comprises a communication component 603. The processor 601, the memory 602, and the communication section 603 are connected by a bus 604.
In a specific implementation, the at least one processor 601 executes computer-executable instructions stored by the memory 602, causing the at least one processor 601 to perform the lidar cleaning method as performed on the upper electronics side.
For the specific implementation process of the processor 601, reference may be made to the above method embodiments, which implement principles and technical effects similar to each other, and details are not described herein again.
In the above embodiments, it should be understood that the Processor may be a Central Processing Unit (CPU), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of hardware and software modules.
The memory may comprise high speed RAM memory and may also include non-volatile storage NVM, such as at least one disk memory.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The above-mentioned scheme provided by the embodiment of the present invention is introduced with respect to the functions implemented by the electronic device and the main control device. It is understood that the electronic device or the main control device includes a hardware structure and/or a software module for performing the above functions. The elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein may be embodied in hardware or in a combination of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present teachings.
The application also provides a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium, and when a processor executes the computer-executable instructions, the laser radar cleaning method is realized.
The computer-readable storage medium may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in an electronic device or a host device.
The present application further provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A lidar cleaning system, comprising: a radar cleaning air path, a radar cleaning water path, a wiper cleaning water path and a controller, wherein,
the radar cleaning waterway is used for cleaning the laser radar through the waterway;
the radar cleaning gas circuit is used for cleaning the laser radar through a gas circuit;
the wiper cleaning waterway is used for providing detergent to the wiper through the waterway;
the controller is used for controlling the on-off of the radar cleaning air path, the radar cleaning water path and the wiper cleaning water path;
the radar cleaning water path and the windscreen wiper cleaning water path share a washing tank and a washing motor, the washing tank is used for storing washing liquid, and the washing motor is used for pumping the washing liquid.
2. The system of claim 1,
the radar cleaning gas circuit comprises a nozzle, a gas circuit electromagnetic valve and a gas storage cylinder, wherein the gas circuit electromagnetic valve is used for controlling the on-off of the radar cleaning gas circuit, the gas storage cylinder is used for storing compressed air, and the nozzle is positioned above the laser radar;
the radar cleaning waterway comprises the nozzle, a waterway electromagnetic valve, a washing motor and a washing tank, and the waterway electromagnetic valve is used for controlling the on-off of the radar cleaning waterway;
the wiper cleaning water path comprises a wiper nozzle, a wiper electromagnetic valve, a washing motor and a washing tank, and the wiper electromagnetic valve is used for controlling the on-off of the wiper cleaning water path;
the controller is connected with the laser radar, the air path electromagnetic valve, the water path electromagnetic valve, the wiper electromagnetic valve and the washing motor through wiring harnesses.
3. A lidar cleaning method applied to the controller of claim 2, the method comprising:
receiving a control signal sent by a laser radar, wherein the control signal is a signal which is sent by the laser radar and is used for acquiring a cleaning requirement according to the quantity and the intensity of laser echoes and sending the cleaning requirement;
controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
after the water path electromagnetic valve is controlled to be cleaned, the air path electromagnetic valve is controlled to be communicated so as to convey compressed gas to the plurality of nozzles to clean the stains left on the surface of the laser radar and cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating manner through switching of the water path electromagnetic valve and the air path electromagnetic valve until the laser radar confirms that the cleaning requirement is met;
receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air passage electromagnetic valve through the initialization signal, and communicating the wiper electromagnetic valve; the initialization signal is a signal that the lidar determines that the cleaning requirements have been met.
4. The method of claim 3, wherein the lidar determines a contamination level by determining a number and intensity of laser echoes over a plurality of probing cycles, and determines a cleaning requirement and generates a control signal when the contamination level is greater than the calibration value.
5. The method of claim 3, wherein said controlling said wiper solenoid valve to open, said air path solenoid valve to open, and said water path solenoid valve to close in accordance with said control signal comprises:
controlling the electromagnetic valve of the windscreen wiper to be disconnected according to the control signal until the laser radar meets the cleaning requirement;
and controlling the gas path electromagnetic valve to be disconnected for a preset time according to the control signal, and simultaneously connecting the water path electromagnetic valve for the preset time.
6. The method of claim 3, wherein controlling the gas solenoid valve to communicate after controlling the water solenoid valve to clean comprises:
and controlling the gas path electromagnetic valve to be communicated for a preset time according to the control signal, and simultaneously disconnecting the water path electromagnetic valve for the preset time.
7. The method of claim 3, wherein said cyclically cleaning said lidar surface stain comprises:
after the gas path electromagnetic valve is controlled to be connected to the nozzles to convey compressed gas to clean the surfaces of the laser radars, whether an initialization signal sent by the laser radars is received or not is determined;
if so, disconnecting the water path electromagnetic valve and the air path electromagnetic valve and communicating the windscreen wiper electromagnetic valve so as to ensure that a windscreen wiper cleaning water path of the vehicle can be normally used;
and if not, continuing to convey corresponding cleaning solution and compressed air to the plurality of nozzles to clean the stains on the surface of the laser radar by controlling the switching of the water path electromagnetic valve and the air path electromagnetic valve until an initialization signal indicating that the laser radar judges that the cleaning requirement is met is received.
8. A laser radar cleaning device, comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for receiving a control signal sent by a laser radar, the control signal is a signal sent by the laser radar according to the cleaning requirement acquired by the laser radar through the quantity and the intensity of laser echoes;
the first processing module is used for controlling the wiper electromagnetic valve to be disconnected, the gas path electromagnetic valve to be disconnected and the water path electromagnetic valve to be communicated according to the control signal so as to convey washing liquid to the plurality of nozzles and clean stains on the surface of the laser radar;
the second processing module is used for controlling the gas path electromagnetic valve to be communicated after the water path electromagnetic valve is controlled to be cleaned, so that compressed gas is conveyed to the nozzles to clean stains left on the surface of the laser radar and cleaning solution, and the stains on the surface of the laser radar are cleaned in a circulating mode through switching of the water path electromagnetic valve and the gas path electromagnetic valve until the laser radar is determined to meet the cleaning requirement;
the initialization module is used for receiving an initialization signal sent by the laser radar, disconnecting the waterway electromagnetic valve and the air path electromagnetic valve through the initialization signal and communicating the wiper electromagnetic valve; the initialization signal is a signal that the lidar determines that the cleaning requirements have been met.
9. An electronic device, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1 to 7.
10. A computer-readable storage medium having computer-executable instructions stored therein, which when executed by a processor, are configured to implement the method of any one of claims 1 to 7.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211654449.0A CN115817409A (en) | 2022-12-22 | 2022-12-22 | Laser radar cleaning system, method, device and storage medium |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202211654449.0A CN115817409A (en) | 2022-12-22 | 2022-12-22 | Laser radar cleaning system, method, device and storage medium |
Publications (1)
Publication Number | Publication Date |
---|---|
CN115817409A true CN115817409A (en) | 2023-03-21 |
Family
ID=85517617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202211654449.0A Pending CN115817409A (en) | 2022-12-22 | 2022-12-22 | Laser radar cleaning system, method, device and storage medium |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115817409A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023186006A1 (en) * | 2022-03-31 | 2023-10-05 | 经纬恒润(天津)研究开发有限公司 | Radar cleaning apparatus and radar system |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017221537A1 (en) * | 2017-11-30 | 2019-06-06 | Robert Bosch Gmbh | Apparatus and method for cleaning a portion of a housing surface |
CN110841996A (en) * | 2019-12-17 | 2020-02-28 | 北京万集科技股份有限公司 | Laser radar cleaning device, method, equipment and storage medium |
US20210197859A1 (en) * | 2019-12-27 | 2021-07-01 | Zoox, Inc. | Sensor degradation monitor |
CN217227502U (en) * | 2022-04-28 | 2022-08-19 | 浙江吉利控股集团有限公司 | Cleaning device of vehicle sensing system and vehicle comprising same |
CN115201782A (en) * | 2022-07-01 | 2022-10-18 | 际络科技(上海)有限公司 | Laser radar cleaning mechanism and method, laser radar system and vehicle |
CN115366848A (en) * | 2022-07-19 | 2022-11-22 | 嬴彻星创智能科技(上海)有限公司 | Automatic laser radar cleaning method and automatic driving vehicle |
CN117508166A (en) * | 2023-12-12 | 2024-02-06 | 中国重汽集团济南动力有限公司 | Vehicle running control method, running control device, equipment and storage medium |
-
2022
- 2022-12-22 CN CN202211654449.0A patent/CN115817409A/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017221537A1 (en) * | 2017-11-30 | 2019-06-06 | Robert Bosch Gmbh | Apparatus and method for cleaning a portion of a housing surface |
CN110841996A (en) * | 2019-12-17 | 2020-02-28 | 北京万集科技股份有限公司 | Laser radar cleaning device, method, equipment and storage medium |
US20210197859A1 (en) * | 2019-12-27 | 2021-07-01 | Zoox, Inc. | Sensor degradation monitor |
CN217227502U (en) * | 2022-04-28 | 2022-08-19 | 浙江吉利控股集团有限公司 | Cleaning device of vehicle sensing system and vehicle comprising same |
CN115201782A (en) * | 2022-07-01 | 2022-10-18 | 际络科技(上海)有限公司 | Laser radar cleaning mechanism and method, laser radar system and vehicle |
CN115366848A (en) * | 2022-07-19 | 2022-11-22 | 嬴彻星创智能科技(上海)有限公司 | Automatic laser radar cleaning method and automatic driving vehicle |
CN117508166A (en) * | 2023-12-12 | 2024-02-06 | 中国重汽集团济南动力有限公司 | Vehicle running control method, running control device, equipment and storage medium |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023186006A1 (en) * | 2022-03-31 | 2023-10-05 | 经纬恒润(天津)研究开发有限公司 | Radar cleaning apparatus and radar system |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10703340B2 (en) | Sensor cleaning system | |
CN111479728B (en) | Cleaning system for vehicle | |
US10569746B2 (en) | Sensor cleaning system | |
US20200198587A1 (en) | Vehicle wiper control system for target area cleaning | |
CN116001730A (en) | Vehicle cleaning system and vehicle having same | |
US10442408B2 (en) | Driving support device | |
CN111867898B (en) | Cleaning system for vehicle and system for vehicle | |
CN115817409A (en) | Laser radar cleaning system, method, device and storage medium | |
CN111169431A (en) | Cleaning system and cleaning method for vehicle-mounted sensor or camera | |
CN109606318A (en) | Vehicle sensors cleaning | |
CN109383454A (en) | Predictive windshield wiper system | |
JP7182053B2 (en) | vehicle cleaning system | |
CN115135541A (en) | Method for operating a cleaning system, cleaning system | |
CN110207718A (en) | Cleaning solution level sensing | |
CN108001411A (en) | Windshield wiper system, vehicle, rain sensor and scrape water controling method | |
CN112124254B (en) | Vehicle-mounted sensor cleaning device | |
US9433961B2 (en) | Apparatus and method of spraying vehicle washer liquid | |
CN114889559A (en) | Glass water liquid level detection method and device and vehicle | |
US10046740B2 (en) | Wiper control system and method | |
CN115743040A (en) | Sensor cleaning control method, device, equipment and storage medium | |
CN116101226A (en) | Roof module comprising a cleaning device for forming a roof of a vehicle and associated cleaning method | |
JP2022081191A (en) | Vehicular control device, vehicular control method, and vehicular control program | |
US20240157952A1 (en) | Method of controlling cleaning of sensor units | |
US20240326758A1 (en) | Verfahren zu einer reinigung, reinigungsvorrichtung und fahrzeug | |
EP4043299B1 (en) | Cleaning apparatus |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination |