CN219923843U - Sensor cleaning device and unmanned system - Google Patents

Abstract

The utility model discloses a sensor cleaning device and an unmanned system. Wherein, the sensor cleaning device includes a base and a cleaning member. The sensor is fixedly arranged on the base; the cleaning component comprises a driving mechanism and a light-transmitting cover, the driving mechanism is installed on the base, the light-transmitting cover is rotatably covered on the periphery of the sensor and forms a first gap with the periphery of the sensor, and the light-transmitting cover is connected with the driving mechanism and rotates under the driving of the driving mechanism. The sensor cleaning device and the unmanned system can solve the problems that in the prior art, when a sensor is cleaned, the sensor is easy to interfere with work and the surface of the sensor is worn.

Description

Sensor cleaning device and unmanned system

Technical Field

The utility model relates to the technical field of unmanned operation, in particular to a sensor cleaning device and an unmanned operation system.

Background

The optical sensor technology has advantages not possessed by the conventional working means, and is widely applied to unmanned systems. For example, when an optical sensor such as a laser radar is mounted on the top of a vehicle, the laser radar is matched with a plurality of sensors such as a global satellite navigation system and a camera, so that a vehicle can quickly acquire massive three-dimensional laser point clouds and digital image data in the driving process, and compared with a millimeter wave radar and an ultrasonic radar, the measuring efficiency is greatly improved, and the surveying cost can be reduced.

However, after long-term use of an optical sensor such as a lidar, the outer surface thereof is easily attached by rain, snow, dust, dirt, insect cadaver foreign matter, or the like, and the detection sensitivity of the optical sensor such as the lidar is adversely affected. In the related art, a driving mechanism is adopted to drive a scraping strip arranged on the surface of a sensor to clean foreign matters on the surface of an optical sensor such as a laser radar, and the cleaning mode has a complex structure, is large in size, and is easy to interfere with the work of the sensor and cause abrasion on the surface of the sensor.

Disclosure of Invention

The utility model mainly aims to provide a sensor cleaning device and an unmanned driving system, which at least solve the problems that the sensor is easy to interfere and the surface is easy to wear when the sensor is cleaned in the prior art.

According to an aspect of an embodiment of the present utility model, there is provided a sensor cleaning apparatus including:

the base is fixedly provided with a sensor; and

the cleaning component comprises a driving mechanism and a light-transmitting cover, wherein the driving mechanism is installed on the base, the light-transmitting cover is rotatably covered on the periphery of the sensor and forms a first gap with the periphery of the sensor, and the light-transmitting cover is connected with the driving mechanism and rotates under the driving of the driving mechanism.

Further, the cleaning component further comprises a base, the base is connected with the driving mechanism and driven by the driving mechanism to rotate, the light-transmitting cover is fixedly arranged on the base and surrounds the base to form an installation cavity, and the sensor is arranged in the installation cavity;

the base is provided with a mounting part, and the mounting part at least penetrates through the rotation center of the base and stretches into the mounting cavity to be fixedly connected with the sensor.

Further, the base is provided with an avoidance groove, the driving mechanism comprises a hollow shaft motor, the hollow shaft motor is installed in the avoidance groove, the hollow shaft motor is provided with a central through hole, and the installation part sequentially penetrates through the central through hole and the base to be fixedly connected with the sensor.

Further, the mounting part comprises a mounting column, and a limiting step is arranged at the part of the mounting column in the mounting cavity;

the sensor is provided with a limiting hole, the sensor is fixedly installed on the installation column through the limiting hole, and the bottom surface of the sensor is erected on the limiting step to form a second gap with the base.

Further, the light-transmitting cover is formed by processing an acrylic plate, glass or PC.

Further, the cleaning member further includes:

the cleaning mechanism comprises at least one liquid spray head, wherein the liquid spray head is arranged on the base, and the liquid spray direction of the liquid spray head faces the outer peripheral surface of the light-transmitting cover.

Further, the cleaning mechanism further includes a heater mounted on the base for heating the liquid entering the liquid jet head.

Further, the bottom of base is provided with dodges the space, the heater is installed dodge in the space, be provided with inlet and liquid outlet on the heater, the inlet is used for with predetermined stock solution container intercommunication, the liquid outlet with the hydrojet head intercommunication.

Further, a diversion inclined plane is arranged on the periphery of the top of the base; and/or the number of the groups of groups,

the outer peripheral side of the base is provided with an electrical interface which is recessed toward the interior of the base.

On the other hand, the utility model also provides an unmanned system, which comprises the sensor cleaning device.

Compared with the prior art, the technical scheme of the utility model has at least the following technical effects:

in the process of actually using the sensor, the sensor is fixedly arranged in the sensor cleaning device, after the sensor cleaning device is used for a period of time, if the surface of the transparent cover is attached with foreign matters such as rain, snow, dust, dirt, insect corpses and the like, the driving mechanism is only required to be started to drive the transparent cover to rotate to generate centrifugal force and relative air flow, and the foreign matters such as rain, snow, dust, dirt, insect corpses and the like on the surface of the transparent cover can be thrown out, so that the purpose of cleaning the sensor is finally achieved. When necessary, the outer peripheral surface of the light-transmitting cover can be sprayed with liquid by the liquid spraying head, so that the cleaning effect of the cleaning device is further improved. In addition, the cleaning liquid sprayed out of the spray head can be heated by the heating device, so that the cleaning liquid can be prevented from being frozen at low temperature, and the cleaning liquid with higher temperature also has the effect of improving the cleaning effect.

In addition, as the first gap is formed between the light-transmitting cover and the periphery of the sensor, the light-transmitting cover can not abrade the sensor when rotating at the periphery of the sensor, and the sensor can be well protected. Meanwhile, the cleaning device does not have a traditional cleaning structure such as a scraping strip and the like arranged on the outer side of the sensor, and meanwhile, the light-transmitting cover has a light-transmitting function, so that the detection of the sensor is not interfered, and compared with the mode of cleaning the foreign matters on the surface of the sensor by arranging the scraping strip and the like in the prior art, the sensor cleaning device is simpler in structure, can protect the sensor and does not interfere with the normal operation of the sensor.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

FIG. 1 is an exploded view of a sensor cleaning device disclosed in an embodiment of the present utility model;

FIG. 2 is a block diagram of a sensor cleaning apparatus according to an embodiment of the present utility model in a first view;

FIG. 3 is a block diagram of a sensor cleaning apparatus according to an embodiment of the present utility model in a second view;

FIG. 4 is a cross-sectional view of a sensor cleaning apparatus (with the cleaning mechanism removed) according to an embodiment of the present utility model

Fig. 5 is a schematic structural view of a driving mechanism of a sensor cleaning device according to an embodiment of the present utility model.

Wherein the above figures include the following reference numerals:

10. a base; 11. a mounting part; 111. a limit step; 12. avoiding the groove; 13. an avoidance space; 14. a diversion inclined plane; 15. an electrical interface; 20. a cleaning member; 21. a driving mechanism; 211. a motor base; 212. a hollow shaft; 2121. a central through hole; 2122. a connection hole; 22. a light-transmitting cover; 23. a base; 24. a cleaning mechanism; 241. a liquid ejecting head; 242. a heater; 2421. a liquid inlet; 201. a mounting cavity; 40. a first gap; 50. a sensor; 51. a limiting hole; 60. and a second gap.

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the authorization specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

The sensors such as the camera and the laser radar are easily affected by dust, rain and snow, muddy water, insect corpses and the like. For example, when the camera encounters rain, the lens becomes blurred due to rain adhesion, and the image may be distorted, so that all the images collected under normal conditions may not be necessarily collected. If dust and dirt exist on the surface of the laser radar, the laser emission and the laser receiving are shielded to generate missed detection and false detection barriers. Once the sensor is contaminated, the driving assistance function of the unmanned driving system or the like may be limited, and the automatic driving function may be disabled, thereby causing a risk of traffic accident. Therefore, the utility model designs the sensor cleaning device which can effectively treat pollutants outside optical sensors such as cameras, laser radars and the like, thereby ensuring that the sensor effectively works in various environments.

Referring specifically to fig. 1 to 3, a sensor cleaning device provided by an embodiment of the present utility model includes a base 10 and a cleaning member 20.

Wherein, the sensor 50 is fixedly arranged on the base 10; the cleaning member 20 includes a driving mechanism 21 and a light-transmitting cover 22. In actual installation, the driving mechanism 21 is installed on the base 10, the transparent cover 22 is rotatably arranged on the periphery of the sensor 50 and forms a first gap 40 with the periphery of the sensor 50, meanwhile, the transparent cover 22 is connected with the driving mechanism 21, and when the driving mechanism 21 moves, the transparent cover 22 can be driven to rotate to generate centrifugal force and relative air flow, so that foreign matters attached on the transparent cover 22 can be cleaned.

That is, in the process of actually using the sensor 50, the sensor 50 is fixedly installed in the sensor cleaning device in the present embodiment, if the surface of the transparent cover 22 is attached with the foreign matters such as rain, snow, dust, dirt, insect corpse, etc., after a period of use, the driving mechanism 21 is only required to be started, so that the driving mechanism 21 drives the transparent cover 22 to rotate to generate centrifugal force and relative air flow, and the foreign matters such as rain, snow, dust, dirt, insect corpse, etc., on the surface of the transparent cover 22 can be thrown out, thereby finally achieving the purpose of cleaning the sensor 50.

In addition, since the first gap 40 is formed between the translucent cover 22 and the outer periphery of the sensor 50 in the present embodiment, the translucent cover 22 does not wear the sensor 50 when rotating around the outer periphery of the sensor 50, and can protect the sensor 50 well. Meanwhile, the translucent cover 22 has a translucent function, and does not interfere with the detection of the sensor 50, and compared with the mode of cleaning the foreign matters on the surface of the sensor 50 by arranging a scraping strip and other structures in the prior art, the sensor cleaning device in the embodiment has a simpler structure, can protect the sensor 50, and does not interfere with the normal operation of the sensor 50.

Referring to fig. 1 to 4, the base 10 in this embodiment is a base structure capable of carrying the cleaning component 20 and the sensor 50, and when actually designed, the base 10 may be configured as a cylinder, a prism, an elliptic cylinder, or other special-shaped cylinder or plate, and the base is specifically designed according to actual use and installation requirements, which is not specifically limited in the present utility model. The drawings in the present utility model show the base 10 in a cylindrical configuration.

The periphery at the top of the base 10 is provided with the diversion inclined plane 14, and through the action of the diversion inclined plane 14, rain, snow, dust, dirt and insect corpses can be prevented from accumulating on the base 10 to a certain extent, and the cleaning frequency of the sensor cleaning device can be reduced. It will be appreciated that the top of the base 10 in this embodiment refers to the upwardly facing portion of the base 10, particularly the end adjacent to the side having the light transmissive cover 22, when the sensor cleaning device is installed.

Optionally, in order to connect the electric equipment such as the driving mechanism 21 with an external power source for power supply and signal transmission, the base 10 in this embodiment is further provided with an electrical interface 15, where the electrical interface 15 is disposed on the outer peripheral side surface of the base 10, and the electrical interface 15 is recessed toward the interior of the base 10, so that dust, liquid and the like can be prevented from entering the interior of the electrical interface 15 to affect the use stability and safety of the electrical interface 15. Of course, in other embodiments of the present utility model, the electrical interface 15 may be disposed on the bottom surface or the top surface of the base 10, and any other modifications within the scope of the present utility model are possible.

Further, the cleaning component 20 in this embodiment further includes a base 23, the base 23 is connected with the driving mechanism 21 and is driven by the driving mechanism 21 to rotate, the light-transmitting cover 22 is fixedly installed on the base 23 and forms a mounting cavity 201 with the base 23, and the sensor 50 is installed in the mounting cavity 201; the base 10 is provided with a mounting part 11, and the mounting part 11 at least penetrates through the rotation center of the base 23 and extends into the mounting cavity 201 to be fixedly connected with the sensor 50.

In this way, the base 23 and the light-transmitting cover 22 can enclose a relatively airtight installation cavity 201, so that it is capable of effectively preventing foreign matters such as rain, snow, dust, dirt, insect corpse and the like from entering the installation cavity 201 to pollute the sensor 50. Meanwhile, the base 23 is in driving connection with the driving mechanism 21, and when the base 23 rotates, the light-transmitting cover 22 can be driven to rotate stably, so that the structure is more stable and reliable. By making the mounting portion 11 extend into the mounting cavity 201 through the rotation center of the base 23 and fixedly connected with the sensor 50, the sensor 50 can be prevented from rotating when the base 23 rotates, and the sensor 50 can stably perform its own corresponding detection function.

Alternatively, the light-transmitting cover 22 and the base 23 in this embodiment may be fixedly connected by threads, or may be fixedly connected by means of a buckle, a screw, a bolt, welding, or the like, which is not particularly limited in the present utility model.

Alternatively, the sensor 50 and the mounting portion 11 in this embodiment may be fixedly connected together by screwing, fastening, screwing, bolting, welding, bonding, or the like, which is not particularly limited in the present utility model.

As shown in fig. 1 to 5, the base 10 in this embodiment is provided with the avoidance groove 12, and the driving mechanism 21 includes a hollow shaft motor which is installed in the avoidance groove 12 and has a central through hole 2121, and the installation portion 11 is fixedly connected to the sensor 50 after passing through the central through hole 2121 and the base 23 in sequence. In the utility model, by arranging the avoidance groove 12 on the base 10 and installing the hollow shaft motor in the avoidance groove 12, the integration and miniaturization design of the sensor cleaning device can be realized, and the use and installation are convenient. In addition, the setting of cavity motor can provide necessary space of stepping down for the installation of installation department 11, guarantees that installation department 11 can pass the rotation center of base 23 and realize fixed connection with sensor 50, simple structure, stability is good.

Specifically, the hollow shaft motor in this embodiment includes a motor base 211 and a hollow shaft 212 rotatably disposed on the motor base 211, during actual installation, the motor base 211 may be fixed at the bottom of the avoidance groove 12 by means of screws, buckles, welding, etc., the hollow shaft 212 is provided with a plurality of connection holes 2122, the base 23 is fixedly connected to the hollow shaft 212 through bolts, pins, etc. penetrating through the connection holes 2122, and when the hollow shaft 212 rotates, the base 23 can be driven to rotate synchronously, and then the light-transmitting cover 22 is driven to rotate so as to throw out the foreign matters attached to the light-transmitting cover 22, so as to finally achieve the purpose of cleaning the sensor 50.

Of course, in other embodiments of the present utility model, the driving mechanism 21 may further include a driving motor, a transmission gear, and other structures, and when actually installed, the transmission gear may be respectively sleeved on the light-transmitting cover 22 and the motor shaft of the driving motor, so when the driving motor rotates, the transmission gear may be driven to rotate, and finally, the light-transmitting cover 22 may be driven to rotate, which falls within the scope of the present utility model as long as other modifications are contemplated by the present utility model.

In actual processing, the mounting part 11 is set as a mounting column, and the part of the mounting column positioned in the mounting cavity 201 is provided with a limit step 111; correspondingly, a limiting hole 51 is formed in the sensor 50, the sensor 50 is fixedly mounted on the mounting column through the limiting hole 51, and the bottom surface of the sensor 50 is erected on the limiting step 111 to form a second gap 60 with the base 23. Alternatively, the mounting post is integrally provided with the base 10, and is structurally stable and reliable. During assembly, the mounting columns and the limiting holes 51 can be connected through threaded fit and also can be fixedly connected through screws. After the assembly, the bottom surface of the sensor 50, that is, the end surface of the sensor 50 close to the base 23 is erected on the limiting step 111 and forms a second gap 60 with the base 23, so that the sensor 50 can be prevented from being worn due to friction between the base 23 and the sensor 50 during rotation.

Optionally, the light-transmitting cover 22 in this embodiment is made of acrylic (i.e., polymethyl methacrylate), glass, or PC (i.e., polycarbonate). Wherein, ya keli board, glass or PC have better light transmissivity, and structural stability is better, not only can satisfy the printing opacity demand in the sensor 50 course of working, can also improve the life of printing opacity cover 22, reduces the manufacturing cost of printing opacity cover 22.

Of course, in other embodiments of the present utility model, the translucent cover 22 may be made of a translucent film, translucent marble, or the like, and any other modification forms under the concept of the present utility model are within the scope of the present utility model.

As shown again with reference to fig. 1 to 4, the cleaning member 20 in the present embodiment further includes a cleaning mechanism 24, the cleaning mechanism 24 includes at least one liquid ejecting head 241, the liquid ejecting head 241 is disposed on the base 10, and a liquid ejecting direction of the liquid ejecting head 241 faces the outer peripheral surface of the translucent cover 22. In the practical use process, the liquid spraying head 241 is communicated with the liquid storage container, and meanwhile, liquid in the liquid storage container is pumped to the liquid spraying head 241 by the pumping mechanism, at this time, the liquid sprayed from the liquid spraying head 241 can effectively clean the outer peripheral surface of the light-transmitting cover 22, and the light-transmitting cover 22 can be efficiently cleaned without dead angles in the rotating process of the light-transmitting cover 22.

Alternatively, the liquid ejecting heads 241 in the present embodiment may be provided in one, two or more, and the case when the liquid ejecting heads 241 are provided in two is shown in the drawings in the present embodiment, and when the liquid ejecting heads 241 are provided in two or more, the two or more liquid ejecting heads 241 are uniformly arranged at intervals along the outer periphery of the base 10, the cleaning effect is better.

Further, the cleaning mechanism 24 further includes a heater 242, and the heater 242 is mounted on the base 10 to heat the liquid entering the liquid ejecting head 241, so as to enhance the cleaning effect, especially the cleaning effect of the liquid ejected from the liquid ejecting head 241 on the translucent cover 22 in a severe weather environment (such as winter). In order to install the heater 242, the bottom of the base 10 in this embodiment is provided with the avoidance space 13, during actual installation, the heater 242 is installed in the avoidance space 13, the heater 242 is provided with a liquid inlet 2421 and a liquid outlet (not shown in the figure), the liquid inlet 2421 is used for communicating with a predetermined liquid storage container, the liquid outlet is communicated with the liquid spraying head 241, and the heated liquid is conveniently conveyed to the liquid spraying head 241 to effectively clean the light-transmitting cover 22. In addition, by providing the escape space 13 at the bottom of the base 10 to install the heater 242, the integration and miniaturization design of the sensor cleaning device can be further improved, and the use and installation are more convenient.

On the other hand, the embodiment of the present utility model further provides an unmanned system, such as an unmanned vehicle, which includes the sensor cleaning device in the above embodiment, so that the unmanned system has all the technical effects of the sensor cleaning device, and since the technical effects of the sensor cleaning device have been described in detail above, the description thereof is omitted herein.

According to the above embodiments, the technical solution of the present utility model has at least the following technical effects:

(1) The structure of the utility model is provided with a rotatable transparent cover outside the sensor(s), and the centrifugal force and the relative air flow generated during rotation are utilized to remove pollutants attached on the surface, wherein the pollutants comprise rain, snow, frost, dust, muddy water and the like, and the transparent cover has a protective effect on the sensor and does not abrade the surface of the sensor.

(2) The structure of the utility model is provided with the heater and the liquid spraying head for spraying and cleaning the light-transmitting cover, thereby enhancing the cleaning effect.

(3) The hollow shaft motor is used in the structure, so that the requirements that the light-transmitting cover rotates and the sensor is fixed on the premise of compact and concise structure are met, the structure is compact, the volume is small, the mechanism is simple, the number of parts is small, and the production and manufacturing cost is low.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present utility model.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A sensor cleaning device, comprising:

the sensor comprises a base (10), wherein a sensor (50) is fixedly arranged on the base (10); and

the cleaning component (20), cleaning component (20) include actuating mechanism (21) and printing opacity cover (22), actuating mechanism (21) are installed on base (10), printing opacity cover (22) rotationally cover and establish the periphery of sensor (50) and with the periphery of sensor (50) forms first clearance (40), printing opacity cover (22) with actuating mechanism (21) are connected, and rotate under the drive of actuating mechanism (21).

2. The sensor cleaning device according to claim 1, wherein the cleaning component (20) further comprises a base (23), the base (23) is connected with the driving mechanism (21) and is driven by the driving mechanism (21) to rotate, the light-transmitting cover (22) is fixedly installed on the base (23) and forms a mounting cavity (201) with the base (23), and the sensor (50) is installed in the mounting cavity (201);

the base (10) is provided with a mounting part (11), and the mounting part (11) at least penetrates through the rotation center of the base (23) and stretches into the mounting cavity (201) to be fixedly connected with the sensor (50).

3. The sensor cleaning device according to claim 2, characterized in that the base (10) is provided with a recess (12) for avoiding, the driving mechanism (21) comprises a hollow shaft motor, the hollow shaft motor is installed in the recess (12) for avoiding, the hollow shaft motor is provided with a central through hole (2121), and the installation part (11) sequentially penetrates through the central through hole (2121) and the base (23) to be fixedly connected with the sensor (50).

4. The sensor cleaning device according to claim 2, characterized in that the mounting portion (11) comprises a mounting post, the portion of the mounting post located within the mounting cavity (201) being provided with a limit step (111);

the sensor (50) is provided with a limiting hole (51), the sensor (50) is fixedly installed on the installation column through the limiting hole (51), and the bottom surface of the sensor (50) is erected on the limiting step (111) so as to form a second gap (60) with the base (23).

5. The sensor cleaning device according to claim 1, characterized in that the light-transmitting cover (22) is manufactured from acrylic plate, glass or PC.

6. The sensor cleaning device according to any one of claims 1 to 5, wherein the cleaning member (20) further comprises:

and a cleaning mechanism (24), wherein the cleaning mechanism (24) comprises at least one liquid spray head (241), the liquid spray head (241) is arranged on the base (10), and the liquid spray direction of the liquid spray head (241) faces the outer peripheral surface of the light-transmitting cover (22).

7. The sensor cleaning device according to claim 6, wherein the washing mechanism (24) further comprises a heater (242), the heater (242) being mounted on the base (10) for heating the liquid entering the liquid jet head (241).

8. The sensor cleaning device according to claim 7, wherein an avoidance space (13) is provided at the bottom of the base (10), the heater (242) is installed in the avoidance space (13), a liquid inlet (2421) and a liquid outlet are provided on the heater (242), the liquid inlet (2421) is used for communicating with a predetermined liquid storage container, and the liquid outlet is communicated with the liquid spray head (241).

9. The sensor cleaning device according to any one of claims 1 to 5, characterized in that the periphery of the top of the base (10) is provided with a diversion ramp (14); and/or the number of the groups of groups,

the outer peripheral side of the base (10) is provided with an electrical interface (15), the electrical interface (15) being recessed towards the interior of the base (10).

10. An unmanned system, characterized in that it comprises a sensor cleaning device according to any one of claims 1 to 9.