CN209566889U - Vehicle - Google Patents

Abstract

A kind of vehicle is provided, it can be to being configured at the LiDAR of side portion of vehicle efficiently jet cleaning medium.Vehicle has LiDAR (6l), the chest portion of the LiDAR and cleaner (50A), the cleaning object face (31A) that there are LiDAR (6l) normal (71) to extend to the side of vehicle, cleaner (50A) can clean cleaning object face (31A).Cleaner (50A) has nozzle (106), nozzle is set to the vehicle front of LiDAR (6l), operating status of the nozzle in cleaner (50A), cleaning object face (31A) than LiDAR (6l) is more prominent to vehicle outside, with acute angle to cleaning object face (31A) jet cleaning medium.

Description

Vehicle

Technical field

The utility model relates to vehicles.

Background technique

The head lamp cleaner of known vehicle in patent document 1 is equal.

Existing technical literature

Patent document

Patent document 1: Japanese Unexamined Patent Publication 2016-187990 bulletin

Utility model content

The technical issues of utility model is to be solved

In recent years, it is try to the vehicle that automatic Pilot is capable of in exploitation.In order to realize automatic Pilot, for example, it is desirable to will The sensitivity of LiDAR is maintained good.Therefore, it is necessary to the sensors clean devices for cleaning the LiDAR.

The purpose of this utility model is to provide a kind of vehicles, can efficiently spray to the LiDAR for being configured at side portion of vehicle Penetrate cleansing medium.

For technical means to solve problem

To achieve the goals above, the vehicle of the utility model has LiDAR, the chest portion of the LiDAR and cleaner, The cleaning object face that there is the LiDAR normal to extend to the side of vehicle, the cleaner can clean the cleaning object Face, the cleaner have nozzle, and the nozzle is arranged on the vehicle front of the LiDAR, and the nozzle is in the cleaning The operating status of device, the cleaning object face than the LiDAR is more prominent to vehicle outside, is sprayed with acute angle to the cleaning object face Penetrate the cleansing medium.

According to above structure, because can not efficiently clean and be set to against traveling wind jet cleaning medium The cleaning object face of the LiDAR of side portion of vehicle.

In addition, being also possible to the opposite of the cleansing medium sprayed from the nozzle in the vehicle of the utility model Incidence angle in the cleaning object face is 45 ° or less.

In order to efficiently clean the cleaning object face of LiDAR, incidence angle is preferably set to above range.

In addition, being also possible to the incidence angle is 5 ° or more, 30 ° or less in the vehicle of the utility model.

In order to efficiently clean the cleaning object face of LiDAR, incidence angle is further preferably set as above range.

In addition, being also possible to the LiDAR in the vehicle of the utility model and being configured in, than being installed on the vehicle Front-wheel upper surface position more on the lower and than the front-wheel central part more lean in the position of rear of vehicle at least one A position.

Preferably, to the LiDAR for being configured at above-mentioned position, the nozzle of above structure is used.

In addition, being also possible to mud guard panel or the side of the nozzle and the vehicle in the vehicle of the utility model Logo integration.

According to this structure, nozzle can be mounted on to the background of vehicle exterior equipment.

In addition, being also possible to be installed on the side steering indicating light installed and nozzle of the vehicle in the vehicle of the utility model Distance, it is shorter at a distance from the nozzle than the front-wheel of the vehicle.

According to this structure, make nozzle as much as possible far from front-wheel, so as to prevent spray nozzle clogging, while connect nozzle Nearside turn signal (STSL), so as to mitigate the influence of the injection light to STSL.

In addition, in the vehicle of the utility model, it is also possible to the cleaning object face and is configured in be formed in constitute institute State the recess portion of the design section of the appearance of vehicle.

According to above structure, the layout of cleaner nozzle is easy.

In addition, in the vehicle of the utility model, it is also possible to the nozzle and is installed in pair with above-mentioned LiDAR It is quasi- and on the component that is displaced.

According to above structure, even if the position of onboard sensor is displaced due to alignment, the cleansing medium from nozzle Injection direction can also follow onboard sensor position, be able to maintain that cleaning effect.

In addition, in the vehicle of the utility model, be also possible to the LiDAR be installed on via aligning guide it is described Vehicle, the component being displaced with the alignment of above-mentioned LiDAR is the bearing part for being installed in above-mentioned aligning guide, in institute It states and said nozzle is installed on bearing part.

In order to improve tracing ability of the injection direction for onboard sensor of nozzle, preferably for example by the bearing part of nozzle It is installed on aligning guide.

In addition, being also possible to the portion being displaced with the alignment of above-mentioned LiDAR in the vehicle of the utility model Part is the bearing part being installed in the main body of above-mentioned onboard sensor, is equipped with said nozzle on the bearing part.

In order to improve tracing ability of the injection direction for onboard sensor of nozzle, preferably for example by the bearing part of nozzle It is installed on the main body of onboard sensor.

Utility model effect

Vehicle according to the present utility model, can be to being configured at the LiDAR of side portion of vehicle efficiently jet cleaning medium.

Detailed description of the invention

Fig. 1 is the top view of the vehicle equipped with sensor system for vehicle.

Fig. 2 is the block diagram of Vehicular system.

Fig. 3 is the block diagram of sensor system for vehicle.

Fig. 4 is to show onboard sensor and cleaner involved in the first embodiment of sensor system for vehicle Figure.

Fig. 5 is the main view for showing an example of onboard sensor and cleaner.

Fig. 6 is the cross-sectional view at the line A-A of Fig. 5.

Fig. 7 is the figure for showing the first variation for the tap that cleansing medium is discharged.

Fig. 8 is the figure for showing the second variation of the tap that cleansing medium is discharged.

Fig. 9 is the figure for showing the third variation for the tap that cleansing medium is discharged.

Figure 10 is to show onboard sensor and cleaner involved in the second embodiment of sensor system for vehicle Figure.

Figure 11 is the main view for showing an example of onboard sensor and cleaner.

Figure 12 is the cross-sectional view at the line B-B of Figure 11.

Symbol description

1: vehicle, 1f: front window, 1b: vehicle rear window, 2: Vehicular system, 3: vehicle control section, 5: internal sensor, 6: outer Portion's sensor (an example of onboard sensor), 6f: preceding LiDAR, 6b: rear LiDAR, 6l: left LiDAR, 6r: right LiDAR, 7: lamp, 7l: left head lamp, 7r: right head lamp, 21: preceding grid, 22: front bumper, 23r, 23l: tire, 24: upper surface, 25,25A: recess portion, 25a, 25b: insertion hole, 25c: recess portion upper wall, 25d: recess portion lower wall, 26 (26A~26C): tap, 27 (27A, 27B): side Frame, 27a: lower wall, 28: central part, 31,31A: light emitting receiving plane (an example in cleaning object face), 32: chest portion be (main body An example), 40,40A: aligning guide, 41a, 41b: screw, 42: alignment sheets, 43,43A: bearing part, 50,50A: cleaner, 51: main part, 52: hose (an example of piping), 53: check valve, 54: limiting component, 61: mud guard panel, 62: side logo, 63: side decorative strip, 64: side steering indicating light installed, 71: normal, 72: insertion hole, 100: sensor system for vehicle, 101: preceding WW nozzle, 102: rear WW nozzle, 103: preceding LC nozzle, 104: rear LC nozzle, 105: right LC nozzle, 106: left LC nozzle, 107: right HC spray Mouth, 108: left HC nozzle, 111: tank, 112: pump

Specific embodiment

The embodiments of the present invention is illustrated referring to attached drawing.In addition, in the present embodiment, for the ease of saying It is bright, suitably mention " left and right directions ", " front-rear direction ", " up and down direction ".These directions are set for vehicle 1 shown in FIG. 1 Fixed opposite direction.So-called " front-rear direction " is the direction comprising " front direction " and " rear direction ".So-called " left and right directions " is Direction comprising " left direction " and " right direction ".So-called " up and down direction " is the direction comprising " upper direction " and " lower direction ".

Fig. 1 is the sensor system for vehicle 100 (hereinafter referred to as sensing system 100) equipped with present embodiment The top view of vehicle 1.Vehicle 1 is can be with the automobile of the automatic driving mode traveling for the traveling control for carrying out vehicle automatically.Vehicle 1 Including the sensor system cleaned for the cleaning object object (such as onboard sensor etc.) to the outside for being arranged on compartment System 100.

Firstly, referring to Fig. 2, be illustrated to the Vehicular system 2 of the vehicle 1 equipped with sensing system 100 herein.Fig. 2 The block diagram of Vehicular system 2 is shown.As shown in Fig. 2, Vehicular system 2 includes the vehicle control section 3 of the traveling of control vehicle 1.In vehicle Control unit 3 is connected with internal sensor 5, external sensor 6 (an example of onboard sensor), lamp 7, HMI8 (Human Machine Interface: man-machine interface), it is GPS9 (Global Positioning System: global positioning system), wireless Communication unit 10 and map information 11.In addition, being connected with directional drive 12, transfer in vehicle control section 3 13, brake actuators 14, brake apparatus 15, accelerator actuator 16 and accelerator 17.In addition, being connected in vehicle control section 3 There is sensing system 100.

Vehicle control section 3 is configured to the traveling of control vehicle 1.Vehicle control section 3 is for example by least one electronic control Unit (ECU:Electronic Control Unit) is constituted.Electronic control unit also may include: the place comprising 1 or more Manage at least one microcontroller of the memory of device and 1 or more；And comprising the active members such as transistor and passive device Other electronic circuits.Processor is, for example, CPU (Central Processing Unit: central processing unit), MPU (Micro Processing Unit: microprocessing unit), GPU (Graphics Processing Unit: graphics processing unit) and/or TPU (Tensor Processing Unit: tensor processing unit).CPU can also be made of multiple core cpus.GPU can also be with It is made of multiple GPU cores.Memory includes ROM (Read Only Memory: read-only memory) and RAM (Random Access Memory: random access memory).Vehicle control program is also can store in ROM.For example, vehicle control journey Sequence also may include artificial intelligence (AI) program of automatic Pilot.AI program is to have used neural network using deep learning etc. Have supervision or the program constructed of unsupervised rote learning.Vehicle control program, vehicle can also be temporarily stored in RAM It controls data and/or indicates the surrounding enviroment information of the surrounding enviroment of vehicle.Processor can also be configured to from being stored in Specified program is unfolded on RAM in vehicle control program in storage device or ROM, and passes through the co-operating with RAM To execute various processing.

In addition, electronic control unit (ECU) can also be by ASIC (Application Specific Integrated Circuit: Application-Specific Integrated Circuit), FPGA (Field-Programammable Gate Array: field-programmable Gate array) etc. integrated circuits (hardware resource) constitute.In addition, electronic control unit can also be by least one microcontroller sum aggregate It is constituted at the combination of circuit.

Internal sensor 5 is the sensor that can obtain the information of this vehicle.Internal sensor 5 is, for example, acceleration sensing At least one of device, velocity sensor, wheel speed sensors and gyro sensor etc..Internal sensor 5 is obtained comprising vehicle 1 The information of this vehicle of driving status, and the information that will acquire is output to vehicle control section 3.Internal sensor 5 can also be into One step include: detect driver whether be sitting in seating sensor on driver's seat, the face for detecting driver towards direction Face orientation sensor etc..In addition, internal sensor 5 also may include detect ambient weather state ambient weather sensor, Detect vehicle 1 surrounding enviroment illumination illuminance transducer and detection in the car whether the force-feeling sensor etc. of someone.

External sensor 6 is the sensor that can obtain the information of outside of this vehicle.External sensor 6 is, for example, At least one of LiDAR, video camera, radar etc..External sensor 6 obtain comprising vehicle 1 surrounding enviroment (other vehicles, pedestrian, Road shape, traffic mark, barrier etc.) this vehicle outside information, and the information that will acquire is output to vehicle control Portion 3 processed.

So-called LiDAR is Light Detection and Ranging (light detection and ranging) or Laser Imaging The abbreviation of Detection and Ranging (laser imaging detection and ranging).LiDAR be usually from light emitting receive towards Non-visible light is projected in its front, and got based on emergent light and return light the distance of object, the shape of object, object material The sensor of the information such as matter, the color of object.Video camera includes e.g. CCD (Charge-CoupledDevice: charge coupling Close element), the video cameras of the capturing elements such as CMOS (complementary type MOS).Video camera be detect visible light video camera, detection it is infrared The infrared camera of line.Radar is millimetre-wave radar, microwave radar or laser radar etc..

Lamp 7 be the head lamp for being arranged on the front of vehicle 1, position lamp, be arranged on vehicle 1 rear portion rear combination lamp, Be arranged on the front of vehicle or the turn signal of side, to pedestrian or the driver notification of other vehicles this vehicle situation it is each At least one of kind lamp etc..

HMI8 includes: input unit, receives the input operation from driver；And output section, it is exported to driver Driving information etc..Input unit is cut comprising the driving mode of steering wheel, accelerator pedal, brake pedal, the driving mode for switching vehicle 1 Change switch etc..Output section is the display for showing various driving informations.

GPS9 obtains the current location information of vehicle 1, and the current location information that will acquire is output to vehicle control section 3.Wireless communication part 10 from the other vehicles being present in around vehicle 1 receives the driving information of other vehicles or by the row of vehicle 1 It sails information and is sent to other vehicles (vehicle inter-vehicle communication).In addition, wireless communication part 10 is from infrastructure equipments such as signal lamp, mark lamps It receives infrastructure information or sends infrastructure equipment (road inter-vehicle communication) for the driving information of vehicle 1.Cartographic information Storage unit 11 is the external memories such as the hard disk drive for being stored with cartographic information, and cartographic information is output to vehicle control section 3。

Directional drive 12 controls transfer 13 based on the steering controling signal sended over from vehicle control section 3. Brake actuators 14 control brake apparatus 15 based on the brake control signal sended over from vehicle control section 3.Accelerate driving Device 16 controls accelerator 17 based on the acceleration control signal sended over from vehicle control section 3.

Vehicle 1 allows hand over automatic driving mode and drives with the manual of traveling control for carrying out vehicle by the manual operation of driver It sails mode and travels.Auxiliary mode is driven comprising fully automated driving mode, height in automatic driving mode and is driven auxiliary Help mode.Fully automated driving mode is that progress course changing control, control for brake and acceleration control etc. are all automatically for Vehicular system 2 Traveling controls and is not at the driving mode that driver can drive the state of vehicle 1.It is vehicle system that height, which drives auxiliary mode, System 2 such as carries out course changing controls, control for brake automatically and accelerates control at all traveling controls and driver is while in can drive The state for sailing vehicle 1 does not drive the driving mode of vehicle 1 but.Drive auxiliary mode be Vehicular system 2 automatically carry out course changing control, A part traveling in control for brake and acceleration control etc. is controlled and is driven under the driving of Vehicular system 2 assists by driver Sail the driving mode of vehicle 1.On the other hand, manual drive mode is that Vehicular system 2 does not carry out traveling control and without vehicle automatically The driving of system 2 is auxiliarily driven the driving mode of vehicle 1 by driver.

The driving mode of vehicle 1 for example can operate driving mode switching switch by driver to switch.Vehicle control Portion 3 according to driving mode switching switch operation come by the driving mode of vehicle 1 in 4 driving modes (fully automated driving mould Formula, height drive auxiliary mode, drive auxiliary mode, manual drive mode) between switch.In addition, the driving mode of vehicle 1 Can based on about the traveling that can be carried out automatic Pilot vehicle travelable section, forbid the traveling of automatic Pilot vehicle to forbid travelling The information in section or about ambient weather state information and automatically switched.In this case, vehicle control section 3 is based on obtaining To these information switch the driving mode of vehicle 1.Further, the driving mode of vehicle 1 can also be passed by using taking one's seat Sensor, face orientation sensor etc. and automatically switched.In the case, vehicle control section 3 is based on coming from seating sensor, face Portion switches the driving mode of vehicle 1 towards the output signal of sensor.

In the case where vehicle 1 is travelled with automatic driving mode, vehicle control section 3 is based on running condition information, peripheral ring Border information, current location information, cartographic information etc. automatically generate steering controling signal, acceleration control signal and control for brake letter At least one of number.On the other hand, in the case where vehicle 1 is with manual drive mode traveling, vehicle control section 3 is according to adding The manual operation of the driver of speed pedal, brake pedal and steering wheel generates steering controling signal, acceleration control signal and braking Control signal.In this way, the traveling of vehicle 1 is automatically controlled by Vehicular system 2, in manual drive mode under automatic driving mode Under, the traveling of vehicle 1 is controlled by driver.

Back to Fig. 1, in the sensing system 100 for being equipped on vehicle 1, as (the cleaning object object of external sensor 6 An example), have preceding LiDAR6f, rear LiDAR6b, left LiDAR6l and right LiDAR6r.Preceding LiDAR6f is configured to obtain The information in the front of vehicle 1.LiDAR6b is configured to obtain the information at the rear of vehicle 1 afterwards.Left LiDAR6l is configured to obtain The information of the left of pick-up 1.Right LiDAR6r is configured to obtain the information of the right of vehicle 1.

In addition, in the example depicted in figure 1, showing preceding LiDAR6f and being arranged on the front of vehicle 1, rear LiDAR6b quilt The rear portion of vehicle 1 is set, left LiDAR6l is arranged on the left part of vehicle 1, right LiDAR6r is arranged on the right part of vehicle 1 Example, still, the utility model are not limited to the example.Such as can also the top of vehicle 1 intensively configure preceding LiDAR, after LiDAR, left LiDAR and right LiDAR.

In addition, as lamp 7 (an example of cleaning object object), having before being arranged on vehicle 1 in sensing system 100 The left head lamp 7l of left part in the portion and right head lamp 7r for being arranged on same right part.Equally, in sensing system 100, As vehicle window windscreen (an example of cleaning object object), there is front window 1f and vehicle rear window 1b.

In addition, sensing system 100 has the nozzle 101~108 to cleaning object object jet cleaning medium.Front window is clear Wash 101 pairs of front window 1f jet cleaning media of nozzle (hereafter, referred to as preceding WW nozzle).Vehicle rear window washer jet is (hereafter, after referred to as WW nozzle) 102 pairs of vehicle rear window 1b jet cleaning media.Before preceding 103 pairs of LiDAR cleaner nozzle (hereafter, referred to as preceding LC nozzle) LiDAR6f jet cleaning medium.LiDAR6b injection is clear after 104 pairs of LiDAR cleaner nozzle (hereafter, referred to as rear LC nozzle) afterwards Wash medium.Right 105 pairs of right LiDAR6r jet cleaning media of LiDAR cleaner nozzle (hereafter, referred to as right LC nozzle).Left LiDAR 106 pairs of left LiDAR6l jet cleaning media of cleaner nozzle (hereafter, referred to as left LC nozzle).Right head lamp cleaner nozzle (this Afterwards, referred to as right HC nozzle) 107 pairs of right head lamp 7r jet cleaning media.Left head lamp cleaner nozzle (hereafter, referred to as left HC nozzle) 108 pairs of left head lamp 7l jet cleaning media.

Fig. 3 is the block diagram of sensing system 100.As shown in figure 3, sensing system 100 is in addition to nozzle 101~108 Except, also there is tank 111, pump 112, operation portion 115, control unit 116.Sensing system 100 will be by that will accumulate in tank 111 Cleansing medium is sprayed from each nozzle 101~108 to cleaning object object, thus will be attached to the water droplet on cleaning object object, mud, The foreign matters such as dust remove.

Nozzle 101~108 is connect via pump 112 with tank 111.Pump 112 distinguishes the cleansing medium accumulated in tank 111 Pass out to nozzle 101~108.Being provided in each nozzle 101~108 makes nozzle become open state to make cleansing medium spray To the driver of cleaning object object.Operation portion 115 is the device that the driver of vehicle 1 can operate, such as by being arranged on vehicle Switch inside compartment etc. is constituted.Operation portion 115 exports operation signal with the operation of driver.It is exported from operation portion 115 Operation signal is input into control unit 116.

Each driver, pump 112, operation portion 115 and the vehicle control section 3 of nozzle 101~108 are electrically connected with control unit 116. Control unit 116 controls movement and the nozzle 101 of pump 112 based on the signal inputted from operation portion 115 and vehicle control section 3 The movement of~108 each driver.For example, in the case where having input the signal for cleaning preceding LiDAR6f to control unit 116, control Portion 116 processed makes 112 work of pump to which cleansing medium is passed out to preceding LC nozzle 103 from tank 111, also, makes preceding LC nozzle 103 Driver work is to make cleansing medium spray from preceding LC nozzle 103.

In addition, instantiating the structure that nozzle 101~108 is connect via pump 112 with tank 111, but unlimited in above-mentioned form In this.For example, it is also possible to using such as flowering structure: preceding WW nozzle 101, preceding LC nozzle 103, right LC nozzle 105, left LC nozzle 106, Right HC nozzle 107, left HC nozzle 108 are connect via front pump with preceding tank, rear WW nozzle 102 and rear LC nozzle 104 via rear pump with Tank connects afterwards.

(first embodiment)

Referring to Fig. 4~Fig. 9, illustrate the front for being arranged on vehicle 1 preceding LiDAR6f and preceding LC nozzle 103 (cleaner A part).

As shown in figure 4, preceding LiDAR6f and preceding LC nozzle 103 are for example arranged on preceding grid 21, (appearance for constituting appearance is set Count an example of component) in, which is installed in the vehicle body of vehicle 1.In addition, LiDAR6f and preceding LC nozzle 103 before being arranged Position be not limited to the position illustrated in Fig. 4, such as be also possible to front bumper 22 etc. (constitute the design component of appearance An example).Preceding LiDAR6f and preceding LC nozzle 103 are preferably arranged the exterior member in the front for being configured in vehicle 1, and (appearance is set Count component).In addition, preceding LiDAR6f is for example configured in the position of the upper surface 24 of tire 23r, 23l than being installed in vehicle 1 Rest against the position of downside.

Fig. 5 is the main view for amplifying preceding LiDAR6f shown in Fig. 4 and preceding LC nozzle 103 and showing.In addition, Fig. 6 is figure Partial sectional view at 5 line A-A.As shown in Figures 5 and 6, preceding LiDAR6f, which is arranged at, is formed on preceding grid 21 In recess portion 25.Preceding LiDAR6f is installed in the vehicle body 20 (frame) of vehicle 1 via aligning guide 40.Aligning guide 40 is energy It is enough to adjust preceding mechanism of the LiDAR6f relative to the setting angle of vehicle 1, comprising: screw 41a, 41b of angle adjustment；And The alignment sheets 42 being installed on these screws 41a, 41b.In addition, two screws 41a, 41b are illustrated only in Fig. 6, still, Aligning guide 40 includes four screws for penetrating through each quadrangle of the alignment sheets 42 of rectangular shape.

In preceding LiDAR6f, the chest portion 32 (an example of main body) of preceding LiDAR6f is fixed in alignment sheets 42.It is fixed in The preceding LiDAR6f of alignment sheets 42 is configured to: a part insert of LiDAR6f is in the insertion hole for being formed on recess portion 25 before making In 25a, a part being inserted through is located in recess portion 25.In the part for the preceding LiDAR6f being configured in recess portion 25, be provided with (the one of cleaning object face of light emitting receiving plane 31 that the mode of (being outside the front of vehicle 1 in this example) configures outside towards vehicle Example).Light emitting receiving plane 31 is configured in the front surface 21a (except the surface of recess portion 25) than preceding grid 21 by vehicle interior side The position of (rear direction of vehicle 1).

In addition, being provided with the cleaner cleaned for the light emitting receiving plane 31 to preceding LiDAR6f on vehicle 1 50.LC nozzle 103, is ejected into light emitting receiving plane 31 for cleansing medium before cleaner 50 includes；Main part 51 (tank 111 and 112) pump, supplies cleansing medium；And hose 52 (an example of piping), preceding LC nozzle 103 and main part 51 are connected.

Preceding LC nozzle 103 is installed in bearing part 43, the diagonally above and frontward of LiDAR6f before being configured in.Bearing part 43 It is installed in the alignment sheets 42 of aligning guide 40.Bearing part 43 is with aligning guide 40 to the setting angle of preceding LiDAR6f It adjusts (alignment), and fascinates (displacement) to direction identical with alignment sheets 42 together with alignment sheets 42.

Preceding LC nozzle 103 is when cleaner 50 works, i.e., in the just shape of the light emitting receiving plane 31 of LiDAR6f before cleaning Under state, it is configured in than light emitting receiving plane 31 to vehicle outside (front direction of vehicle 1) position outstanding.Moreover, preceding LC spray The direction of mouth 103 is by carry out angle adjustment, so that the cleansing medium sprayed from the jet port of preceding LC nozzle 103 receives light emitting Face 31 is with acute angle incidence.From preceding LC nozzle 103 spray cleansing medium be, for example, relative to the incidence angle θ of light emitting receiving plane 31 45 ° or less.It is preferred that incidence angle θ is 5 ° or more 30 ° or less.

Preceding LC nozzle 103 is by so that a part of preceding LC nozzle 103 is inserted in the recess portion upper wall 25c for being formed on recess portion 25 On insertion hole 25b in mode install.In addition, preceding LC nozzle 103 is either light emitting of the position relative to preceding LiDAR6f Fixed (will not stretch) the fixed nozzle of receiving plane 31, is also possible to the bullet for stretching out and being retracted at work in inoperative The nozzle of formula out.

Hose 52 is the tube parts that the cleansing medium supplied from main part 51 is passed through, and is connected the pump of main part 51 Between 112 and preceding LC nozzle 103.Check valve 53 is provided on hose 52, the check valve 53 is for preventing from preceding LC nozzle The adverse current of 103 cleansing medium or the water etc. invaded via preceding LC nozzle 103 from outside.Check valve 53 by with preceding LC nozzle 103 are equally installed on bearing part 43.In addition, hose 52 is installed on bearing part 43 by the limiting components such as band, clip 54.

The recess portion 25 of the preceding grid 21 of LiDAR6f, is provided with tap 26 before being provided with, and being used for will be from preceding LC nozzle 103 injections simultaneously release the cleansing medium that the cleaning of light emitting receiving plane 31 finishes from light emitting receiving plane 31.26 quilt of tap The position of LC nozzle 103 is the position of opposite side before being disposed relative to light emitting receiving plane 31 and being provided with.For example, preceding LC spray Mouth 103 is arranged at the recess portion upper wall 25c of the top of light emitting receiving plane 31, in contrast, tap 26 is arranged at light hair Penetrate the recess portion lower wall 25d of the lower section of receiving plane 31.

Fig. 7 is the figure for showing the first variation of tap for the recess portion 25 for being formed on preceding grid 21.As shown in fig. 7, Gap before tap 26A is formed between grid 21 and the vehicle body 20 for being equipped with the preceding grid 21.Tap 26A for example by It is set as the gap between the rear end and vehicle body 20 for the recess portion lower wall 25d being formed in recess portion 25.

Fig. 8 is the figure for showing the second variation of tap for the recess portion 25 for being formed on preceding grid 21.As shown in figure 8, The frame 27 that tap 26B is formed the periphery of LiDAR6f before being arranged on (is a part of vehicle body, undertakes lattice before covering The effect of the insertion hole 25a of the recess portion 25 of grid 21) and preceding grid 21 between gap.Tap 26B is for example arranged to by shape At the gap between the rear end of recess portion lower wall 25d and the lower end of frame 27 in recess portion 25.

Fig. 9 is the figure for showing the third variation of tap for the recess portion 25 for being formed on preceding grid 21.As shown in figure 9, Frame 27A is formed shape as a part for constituting the shape of recess portion 25.Tap 26C, which is arranged at, constitutes recess portion 25 Shape a part frame 27A lower wall 27a (constitute recess portion 25 part a part).

In addition, preceding LC nozzle 103 can also be integrally formed with bearing part 43 in above-mentioned form.

In addition, the bearing part 43 of LC nozzle 103 is also possible to the chest portion 32 of LiDAR6f before being installed in front of being equipped with Structure, such as by the integrated structure of chest portion 32 with preceding LiDAR6f.

Alternatively, it is also possible to being such as flowering structure: being not provided with bearing part 43, and longer preceding LC nozzle 103 is mounted directly In alignment sheets 42, the preceding LC nozzle 103 from alignment sheets 42 forward LiDAR6f diagonally above and frontward extend.

In addition, the preceding LiDAR6f and preceding LC nozzle 103 of the front for being arranged on vehicle 1 are illustrated in above-mentioned form, But being arranged on the rear LiDAR6b at the rear portion of vehicle 1 and rear LC nozzle 104 also has and preceding LiDAR6f and preceding LC nozzle 103 same structures.

According to the sensing system 100 of the structure with first embodiment, the light emitting receiving plane 31 of LiDAR6f forward The preceding LC nozzle 103 of jet cleaning medium is installed in bearing part 43, and the bearing part 43 is according to aligning guide 40 to preceding The angle that LiDAR6f makes is adjusted and is displaced.Therefore, preceding even if the position of preceding LiDAR6f is displaced since above-mentioned angle adjusts LC nozzle 103 also can follow the displacement of the preceding LiDAR6f and be displaced.Therefore, preceding LC nozzle 103 can be connect relative to light emitting The direction in receipts face 31 is maintained the same direction appropriate always, can be as the effectively jet cleaning medium of light emitting receiving plane 31. For example, by the way that bearing part 43 is installed on alignment sheets 42 or the chest portion 32 of preceding LiDAR6f, before improving and coming from Tracing ability of the injection direction of the cleansing medium of LC nozzle 103 to preceding LiDAR6f.

In addition, being provided with check valve 53 on the hose 52 of connection pump 112 and preceding LC nozzle 103.Therefore, it can prevent clear Medium etc. is washed from preceding LC nozzle 103 to the adverse current of pump 112.

In addition, hose 52 is installed on bearing part 43 by the limiting components such as band, clip 54.Therefore, it can prevent before The influence to preceding LC nozzle 103 of the angle adjustment of LiDAR6f, such as the position because of the hose 52 that LC nozzle 103 extends forward To the interference etc. of preceding LC nozzle 103 caused by offset.

In addition, by the way that preceding LC nozzle 103 is integrally formed with bearing part 43, so as to make from preceding LC nozzle The displacement of LiDAR6f before the injection direction of 103 cleansing medium is easily followed.

In addition, can be prevented for example because preceding LC nozzle 103 is arranged on the position more against the top than preceding LiDAR6f The cleaner 50 because of caused by LC nozzle 103 etc. before being blocked from the foreign matter (water droplet, mud, dust etc.) that the lower section of vehicle 1 raises Failure.In addition, preceding LC nozzle 103 is easy relative to the layout of preceding LiDAR6f.

In addition, because make under the operating status of cleaner 50 jet cleaning medium from than light emitting receiving plane 31 to vehicle Outside preceding LC nozzle 103 outstanding is sprayed to light emitting receiving plane 31 with acute angle, so light emitting reception can be cleaned effectively Face 31.In addition, because light emitting receiving plane 31 is configured in the recess portion 25 for leaning on vehicle interior side than the front surface 21a of preceding grid 21 It is interior, so cleansing medium can be made to be easy to spray and cleaning is effectively performed.

Incidentally, preceding LiDAR6f is because be configured in the position on the lower of upper surface 24 than tire 23r, 23l, institute It is easy to attach with foreign matter (water droplet, mud, dust etc.).Therefore, for being configured in the preceding LiDAR6f of such position, preferably make With the preceding LC nozzle 103 for the top for being arranged on preceding LiDAR6f.

In addition, because configured with preceding LiDAR6f recess portion 25 in be provided with release cleansing medium tap 26 (26A, 26B, 26C), so after cleaning, cleansing medium, attachment will not remain in recess portion 25, without the wind of preceding grid 21 pollution Danger.In addition, can prevent because remaining in the risk in recess portion 25 without cleansing medium etc. using residue as main cause Preceding LiDAR6f error detection.

In addition, preceding LC nozzle 103 is inserted through the insertion hole 25b for being formed on recess portion 25, by with jet port towards recess portion State installation in 25.It therefore, can be easily to the preceding LiDAR6f jet cleaning medium being configured in recess portion 25.

In addition, preceding grid 21 is installed in the vehicle body 20 of vehicle 1, the cleansing medium sprayed from preceding LC nozzle 103 is by the past The tap 26 of grid 21 is discharged.Therefore, before cleaning LiDAR6f when, grid 21 before will not capable of not only polluting will not be dirty 20 ground of vehicle body of grid 21 is cleaned before dye is equipped with.

In addition, tap 26B can for example be arranged to the frame 27 and preceding grid of the periphery of LiDAR6f before being arranged on Gap between 21.Therefore, frame 27 can be used as to a part of tap 26B, and is readily formed tap 26B.

In addition, tap 26 (26A, 26B, 26C) is arranged on is relative to light emitting receiving plane 31 and preceding LC nozzle 103 Opposite side, i.e., the extending direction of the injection direction of the cleansing medium sprayed from preceding LC nozzle 103.It therefore, can will be from light emitting Cleansing medium after receiving plane 31 sprays easily is discharged via tap 26 to the outside of recess portion 25.

(second embodiment)

0~Figure 12 referring to Fig.1 illustrates the left LiDAR6l and left LC nozzle 106 of the side for being arranged on vehicle 1.In addition, For structure same as first embodiment, marks identical appended drawing reference and the description thereof will be omitted.

As shown in Figure 10, left LiDAR6l and left LC nozzle 106 are preferably arranged at the front-wheel (wheel than being installed in vehicle 1 Tire 23l) central part 28 position lean on rear of vehicle position.In addition, left LiDAR6l and left LC nozzle 106 are preferably configured In the position position on the lower of the upper surface 24 than above-mentioned tire 23l.That is, left LiDAR6l and left LC nozzle 106 are preferably matched It sets in the position than reference line L1 shown in Fig. 10 on the lower.In addition, left LiDAR6l and left LC nozzle 106 are preferably arranged at The position of rear of vehicle is leaned in the position of central part 28 (reference line L2) than tire 23l.

For example, left LiDAR6l and left LC nozzle 106 are arranged at the gear mud for being installed in the upside of tire 23l of vehicle 1 Plate panel (fender mole) 61 (an example for constituting the design component of appearance).In addition, left LiDAR6l and left LC is arranged In addition to this position of nozzle 106 (constitutes the outer of appearance such as being also possible to side logo 62, side decorative strip (side mole) 63 See design part an example) position (at or near).Left LiDAR6l and left LC nozzle 106 are preferably arranged in being configured Exterior member (design component) in the side of vehicle 1.

In addition, for example, left LC nozzle 106 is preferably by integrated with mud guard panel 61, side logo 62 or side decorative strip 63 etc. Change.Herein, so-called " being integrated " include left LC nozzle 106 by with mud guard panel 61, side logo 62 or side decorative strip 63 etc. one Body formed situation or left LC nozzle 106 are fixedly installed on mud guard panel 61, side logo 62 or side decorative strip 63 etc. The case where.

In addition, as shown in Figure 10, for example, left LC nozzle 106, which is preferably positioned on, is installed in side steering indicating light installed the 64 of vehicle 1 With position shorter at a distance from left LC nozzle 106 than tire 23l at a distance from left LC nozzle 106.

Figure 11 is the figure for amplifying left LiDAR6l shown in Fig. 10 and left LC nozzle 106 and showing.In addition, Figure 12 is figure Partial sectional view at 11 line B-B.As shown in Figure 11, Figure 12, left LiDAR6l, which is arranged at, is formed on mud guard panel In recess portion 25A on 61.Left LiDAR6l is installed on vehicle body 20 via aligning guide 40A in the same manner as first embodiment.

The left LiDAR6l being arranged in recess portion 25A have normal 71 to the side of vehicle 1 (be vehicle 1 in this example Left side side) extend light emitting receiving plane 31A (an example in cleaning object face).That is, light emitting receiving plane 31A is by with outside towards vehicle Mode be arranged.Light emitting receiving plane 31A is configured in the position that vehicle interior side is leaned on than the surface 61a of mud guard panel 61.

It is same as first embodiment, be provided on vehicle 1 for the light emitting receiving plane 31A to left LiDAR6l into The cleaner 50A of row cleaning.In addition, in Figure 12, the component other than left LC nozzle 106 and hose 52 of cleaner 50A The illustration is omitted.

Left LC nozzle 106 is installed in bearing part 43A, is configured in the position that vehicle front is leaned on than left LiDAR6l.Branch Bearing portion part 43A is installed on the alignment sheets 42A of aligning guide 40A in the same manner as first embodiment.

Left LC nozzle 106 cleans the state of the light emitting receiving plane 31A of left LiDAR6l when cleaner 50A works Under, it is configured in than light emitting receiving plane 31A to vehicle outside (left direction of vehicle 1) position outstanding.Moreover, left LC nozzle 106 direction is by carry out angle adjustment, so that connecing from the cleansing medium that the jet port of left LC nozzle 106 sprays relative to light emitting Receipts face 31A is with acute angle incidence.Incidence angle θ example of the cleansing medium sprayed from left LC nozzle 106 relative to light emitting receiving plane 31A For example 45 ° or less.It is preferred that incidence angle θ is 5 ° or more 30 ° or less.

In addition, left LC nozzle 106 is installed on insertion hole 72 in a manner of a part insert for making left LC nozzle 106, it should Insertion hole 72 is formed on the frame 27B for being arranged on the periphery of left LiDAR6l.Left LC nozzle 106 and first embodiment are same Sample, either it is fixed, it is also possible to Pop-up.In addition, frame 27B is in the periphery of left LiDAR6l by cover and keep off mud The mode in the gap between plate panel 61 is arranged.

In above-mentioned second embodiment, left LiDAR6l and left the LC spray for the left side for being arranged on vehicle 1 are illustrated Mouth 106, still, the right LiDAR6r and right LC nozzle 105 for being arranged on the right side of vehicle 1 also have and left LiDAR6l and a left side The same structure of LC nozzle 106.

According to the sensing system 100 of the structure with second embodiment, because left LC nozzle 106 is arranged on than a left side LiDAR6l leans on the position of vehicle front, so for example against traveling wind cleansing medium can not be made to spray.Therefore, can make Cleansing medium effectively sprays clear to carry out to the light emitting receiving plane 31A of the left LiDAR6l for the side for being arranged on vehicle 1 It washes.

In addition, because make cleansing medium from than light emitting receiving plane 31A to vehicle outside left LC nozzle 106 outstanding to light Transmitting receiving plane 31A is sprayed with acute angle, so light emitting receiving plane 31A can be cleaned effectively.

Incidentally, left LiDAR6l is because being configured in upper surface 24 than tire 23l position on the lower and comparing tire At least one position of the central part 28 of 23l in the position of rear of vehicle, so foreign matter (water droplet, mud, dust etc.) is easy Attachment.Therefore, for being configured in the left LiDAR6l of such position, before being arranged on the vehicle of left LiDAR6l The left LC nozzle 106 of side, so as to remove effectively the foreign matter being attached on left LiDAR6l.

In addition, left LC nozzle 106 is by integrated with mud guard panel 61, side logo 62 or side decorative strip 63 etc..Therefore, at For a part of the design of these components, the presence of left LC nozzle 106 can be made externally to get up unobtrusively.

In addition, left LC nozzle 106 is arranged on the side steering indicating light installed 64 distance position shorter than the distance to tire 23l. In this way, by making left LC nozzle 106 as far as possible far from tire 23l, so as to prevent the foreign matter (water raised by tire 23l Drop, mud, dust etc.) the left LC nozzle 106 of blocking.In addition, by by left LC nozzle 106 close to side steering indicating light installed 64, so as to subtract Gently to the influence of the emergent light from side steering indicating light installed 64.

It this concludes the description of the embodiments of the present invention, still, the protection scope of the utility model certainly should not benefit It is restrictively explained with description of the present embodiment.Present embodiment is only an example, can be real documented by technical solution With the change for carrying out various embodiments in novel range, this is the skilled addressee will appreciate that scope.This is practical new The protection scope of type should be determined based on the range of utility model documented by technical solution and its equivalent range.

Claims (10)

1. a kind of vehicle, comprising:

The cleaning object face that there is normal to extend to the side of vehicle by LiDAR, the LiDAR；

The chest portion of the LiDAR；And

Cleaner, the cleaner can clean the cleaning object face, and the vehicle is characterized in that,

The cleaner has nozzle,

The nozzle is arranged on the vehicle front of the LiDAR,

For the nozzle in the operating status of the cleaner, the cleaning object face than the LiDAR is more prominent to vehicle outside, with Acute angle is to the cleaning object face jet cleaning medium.

2. vehicle as described in claim 1, which is characterized in that from the nozzle spray the cleansing medium relative to institute The incidence angle for stating cleaning object face is 45 ° or less.

3. vehicle as claimed in claim 2, which is characterized in that the incidence angle is 5 ° or more, 30 ° or less.

4. vehicle as described in any one of claim 1 to 3, which is characterized in that the LiDAR is configured in than being installed on It states the upper surface of the front-wheel of vehicle position more on the lower and is more leaned in the position of rear of vehicle than the central part of the front-wheel At least one position.

5. vehicle as described in any one of claim 1 to 3, which is characterized in that the mud guard of the nozzle and the vehicle Panel or the integration of side logo.

6. vehicle as described in any one of claim 1 to 3, which is characterized in that be installed on the side steering indicating light installed of the vehicle with The distance of the nozzle, it is shorter at a distance from the nozzle than the front-wheel of the vehicle.

7. vehicle as described in any one of claim 1 to 3, which is characterized in that the cleaning object face is configured in be formed In the recess portion of the design section for the appearance for constituting the vehicle.

8. vehicle as described in any one of claim 1 to 3, which is characterized in that the nozzle is installed in above-mentioned The alignment of LiDAR and on the component that is displaced.

9. vehicle as claimed in claim 8, which is characterized in that the LiDAR is installed on the vehicle via aligning guide, The component being displaced with the alignment of above-mentioned LiDAR is the bearing part for being installed in above-mentioned aligning guide, in the branch Said nozzle is installed on bearing portion part.

10. vehicle as claimed in claim 8, which is characterized in that the component being displaced with the alignment of above-mentioned LiDAR is The bearing part being installed in the chest portion of above-mentioned LiDAR is equipped with said nozzle on the bearing part.