CN220785704U

CN220785704U - Cleaning device, laser radar system and vehicle

Info

Publication number: CN220785704U
Application number: CN202322691911.0U
Authority: CN
Inventors: 赵阳; 刘振飞; 张曦文
Original assignee: Beijing Rockwell Technology Co Ltd
Current assignee: Beijing Rockwell Technology Co Ltd
Priority date: 2023-10-08
Filing date: 2023-10-08
Publication date: 2024-04-16
Anticipated expiration: 2033-10-08

Abstract

The utility model relates to a cleaning device, laser radar system and vehicle, cleaning device includes heating device and injection subassembly, and heating device has can supply hot air exhaust steam export, make injection subassembly set up on the vehicle, and set up injection subassembly have can with the import of steam export intercommunication and with the jet orifice of import intercommunication, and set up the jet orifice into the window face of the laser radar body towards the vehicle, make the steam that heating device produced can carry to injection subassembly through steam export, import and spray to the window face through the jet orifice on, with this realization is to the automatic defrosting defogging operation on window face, not only can simplify defrosting defogging operation and labour saving and time saving, operating efficiency is higher.

Description

Cleaning device, laser radar system and vehicle

Technical Field

The disclosure relates to the technical field of vehicles, in particular to a cleaning device, a laser radar system and a vehicle.

Background

The vehicle-mounted lidar is usually mounted on the roof of a vehicle, and is an important sensor for realizing automatic driving or auxiliary driving of the vehicle. However, when extreme weather such as rain, fog and frost is encountered, water fog and even frost exist on the window surface of the vehicle-mounted laser radar, and if the water fog or the frost on the window surface of the vehicle-mounted laser radar cannot be removed rapidly and effectively, the detection function of the vehicle-mounted laser radar is affected, and the safe running of a vehicle is further affected.

At present, a cleaning brush structure is generally configured on a vehicle, and a window surface of a vehicle-mounted laser radar is manually brushed to realize defrosting and demisting.

However, the degree of automation of the defrosting and defogging mode of the vehicle-mounted laser radar is low, so that the defrosting and defogging operation is time-consuming and labor-consuming and has low efficiency.

Disclosure of Invention

In order to solve the technical problems, the present disclosure provides a cleaning device, a laser radar system and a vehicle.

In a first aspect, the present disclosure provides a cleaning apparatus comprising a heating apparatus and a spray assembly;

the heat supply device is provided with a hot gas outlet capable of discharging hot gas;

the jet assembly is used for being arranged on a vehicle, the jet assembly is provided with an inlet capable of being communicated with the hot gas outlet and a jet orifice communicated with the inlet, and the jet orifice faces the window surface of the laser radar body of the vehicle.

In some embodiments, the jetting assembly is disposed on top of the lidar body and proximate to the viewing window surface.

In some embodiments, the injection assembly includes an injection tube disposed on the lidar body and having an inlet in communication with the hot gas outlet, and an injection nozzle disposed on the injection tube and having the injection orifice in communication with the injection tube.

In some embodiments, the injection pipe extends along the length direction of the laser radar body, the number of the injection nozzles is at least two, and at least two injection nozzles are arranged on the injection pipe and are arranged at intervals along the length direction of the injection pipe.

In some embodiments, a heat supply conduit is further provided between the heat supply device and the injection assembly, one end of the heat supply conduit being in communication with the hot gas outlet, the other end of the heat supply conduit being in communication with the inlet.

In some embodiments, the cleaning device further comprises a controller; the controller is electrically connected with the heating device and is used for controlling the on-off between the hot gas outlet and the inlet.

In some embodiments, the controller is electrically connected to the lidar body, and the controller is configured to control on-off between the hot gas outlet and the inlet at least according to shielding information of the window surface acquired by the lidar body.

In some embodiments, the cleaning device further comprises a boost device having a boost inlet in communication with the hot gas outlet and a boost outlet in communication with the inlet.

In some embodiments, the pressurizing means comprises a pressurizing air pump;

and/or the supercharging device is electrically connected with the controller, and the controller is used for controlling the starting and stopping of the supercharging device according to the on-off information between the hot gas outlet and the inlet.

In some embodiments, the cleaning device further comprises a rain sensor, the rain sensor is used for detecting rain information on the window surface, the rain sensor is electrically connected with the controller, and the controller is used for controlling on-off between the hot gas outlet and the inlet according to the rain information and the shielding information.

In some embodiments, the cleaning device further comprises a deflector, a portion of the deflector being located at the bottom of the lidar body;

the deflector is an arc plate extending toward a direction approaching the vehicle bottom along a direction from the vehicle tail to the vehicle head.

In some embodiments, a control switch is arranged at the hot gas outlet, the control switch is electrically connected with the controller, and the controller is used for controlling the on-off between the hot gas outlet and the inlet through the control switch.

In a second aspect, the present disclosure provides a lidar system comprising a lidar body and a cleaning device.

In a third aspect, the present disclosure provides a vehicle comprising a cleaning device or a lidar system.

Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:

the utility model provides a cleaning device, laser radar system and vehicle, through setting up cleaning device to including heating device and jetting subassembly, and set up heating device and have can supply hot air exhaust steam export, make jetting subassembly set up on the vehicle, and set up jetting subassembly have can with the import of steam export intercommunication and with the jet orifice of import intercommunication, and set up the jet orifice into the window face of the laser radar body of vehicle, make the steam that heating device produced can carry jetting subassembly and spray to the window face through steam export, import in proper order and through jetting of jetting subassembly, with this realization is to the defrosting defogging operation on window face, not only can simplify defrosting defogging operation and labour saving and time saving, operating efficiency is higher.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic view of a spray assembly of a cleaning device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a lidar system according to an embodiment of the disclosure;

fig. 3 is a schematic circuit connection diagram of a lidar system according to an embodiment of the disclosure.

Reference numerals:

1. a heating device; 11. a hot gas outlet; 2. a jetting assembly; 21. an inlet; 22. an ejection port; 23. a jet pipe; 24. a spray nozzle; 3. a controller; 4. a lidar body; 41. a window surface; 5. a heating conduit; 6. a supercharging device; 61. a boost inlet; 62. a boost outlet; 7. a deflector; 8. a rain sensor.

Detailed Description

In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.

Example 1

Referring to fig. 1 to 3, the present embodiment provides a cleaning apparatus including a heating apparatus 1 and a spraying assembly 2.

The heating device 1 has a hot gas outlet 11 through which hot gas can be discharged.

The injection assembly 2 is for being arranged on a vehicle, the injection assembly 2 is provided with an inlet 21 which can be communicated with the hot gas outlet 11 and an injection port 22 which is communicated with the inlet 21, and the injection port 22 faces the window surface 41 of the laser radar body 4 of the vehicle.

In particular, the heating device 1 may be configured for the cleaning device itself or may be configured for the vehicle itself. Specifically, the heating apparatus 1 is used to generate hot gas, and the hot gas may be discharged through the hot gas outlet 11 of the heating apparatus 1.

The jet assembly 2 is arranged on the vehicle body or the laser radar body 4 of the vehicle, and the jet opening 22 of the jet assembly 2 faces the window surface 41 of the laser radar body 4, so that when hot air defrosting and demisting are needed to be carried out on the window surface 41 of the laser radar body 4, hot air generated by the heat supply device 1 can be delivered into the jet assembly 2 through the hot air outlet 11 and the inlet 21 and then is jetted onto the window surface 41 of the laser radar body 4 through the jet opening 22 of the jet assembly 2, and fog and frost on the window surface 41 can be removed through the hot air.

The cleaning device of this embodiment, through setting up cleaning device to including heating device 1 and jetting subassembly 2, and set up heating device 1 and have can supply hot gas exhaust steam export 11, make jetting subassembly 2 set up on the lidar body 4 of vehicle or on the automobile body of vehicle, and set up jetting subassembly 2 have with the import 21 of steam export 11 intercommunication and with the jet orifice 22 of import 21 intercommunication, and set up jet orifice 22 as the window face 41 towards the lidar body 4 of vehicle, make the steam that heating device 1 produced can carry to jetting subassembly 2 through steam export 11, import 21 in proper order and spray to window face 41 through jet orifice 22 of jetting subassembly 2, with this defrosting defogging operation to window face 41 that realizes, not only can simplify defrosting defogging operation and labour saving and time saving, operating efficiency is higher.

Referring to fig. 1 and 2, in some embodiments, the jetting assembly 2 is disposed on top of the lidar body 4 and adjacent to the viewing window surface 41.

That is, by disposing the spray assembly 2 on the top of the lidar body 4, the hot gas sprayed through the spray orifice 22 can flow downward from the top of the lidar body 4, and the liquid formed by condensation of the hot gas during the flow does not affect the spray orifice 22, compared to the manner in which the spray assembly 2 is disposed on the bottom of the lidar body 4. Compared with the mode that the jet assembly 2 is arranged on the side part of the laser radar body 4, since the dimension of the laser radar body 4 along the length direction thereof is far greater than the dimension of the laser radar body 4 along the height direction thereof, the jet assembly 2 is arranged on the top of the laser radar extending along the length direction, so that hot air sprayed by the spraying opening 22 can be adhered to a larger-range window surface 41, and the defrosting and demisting effect is improved.

Further, by disposing the jetting assembly 2 closer to the viewing window surface 41, it is more convenient to cause the jetting port 22 to jet the hot air toward the viewing window surface 41, which is advantageous in reducing the volume of the jetting assembly 2.

Referring to fig. 1 and 2, in some embodiments, the injection assembly 2 is welded to the lidar body 4, so that the injection assembly 2 and the lidar body 4 can be connected together to form a module and then connected to a vehicle, thereby realizing modular assembly, simplifying assembly operations, and improving assembly efficiency. In addition, through setting up injection subassembly 2 and laser radar body 4 welded connection also can realize the firm connection between the two, prevent to take place to drop.

Or, in other implementations, a buckle connector may be provided on the lidar body 4, and the injection component 2 is connected with the buckle connector, so as to realize detachable connection of the two, so that when one of the two needs to be damaged and needs to be replaced, the two can be conveniently detached and replaced, and the problem of waste caused by overall replacement is avoided.

Referring to fig. 1 and 2, in some embodiments, the spray assembly 2 includes a spray pipe 23 and a spray nozzle 24 disposed on the spray pipe 23, the spray pipe 23 is disposed on the lidar body 4, and the spray pipe 23 has an inlet 21 in communication with the hot gas outlet 11, and the spray nozzle 24 has a spray orifice 22 in communication with the spray pipe 23, so that hot gas flowing out through the hot gas outlet 11 can flow into the spray pipe 23 through the inlet 21 and then be sprayed onto the window surface 41 of the lidar body 4 through the spray orifice 22 of the spray nozzle 24 to achieve defrosting and defogging.

Illustratively, the injection tube 23 may be integrally formed with the injection nozzle 24 to save manufacturing processes and to improve the overall structural strength of the injection assembly 2. Alternatively, the injection tube 23 may be welded together after being molded separately from the injection nozzle 24. In addition, the injection tube 23 and the injection nozzle 24 may be made of an alloy so as to have sufficient structural strength and rigidity. Alternatively, the injection tube 23 and the injection nozzle 24 may be made of plastic to reduce the cost of manufacturing materials.

Referring to fig. 1 and 2, in some embodiments, the injection tube 23 extends along the length direction (x direction shown in fig. 1) of the lidar body 4, and at least two injection nozzles 24 are provided on the injection tube 23 and are spaced apart along the length direction of the injection tube 23.

In particular, since the dimension of the laser radar body 4 in the length direction thereof is far greater than the dimension of the laser radar body 4 in the height direction thereof, the spray pipe 23 of the spray assembly 2 is arranged on the laser radar to extend in the length direction, and the at least two spray nozzles 24 are arranged at intervals in the length direction of the spray pipe 23, so that hot gas sprayed by the at least two spray nozzles 24 can be adhered to the window surface 41 in a larger range, and the defrosting and demisting effects are improved.

Referring to fig. 1 and 2, in some embodiments, a heat supply conduit 5 is further disposed between the heat supply device 1 and the spraying component 2, one end of the heat supply conduit 5 is communicated with the hot gas outlet 11, and the other end of the heat supply conduit 5 is communicated with the inlet 21, so that when defrosting and demisting are required, hot gas generated by the heat supply device 1 can be delivered into the spraying component 2 through the hot gas outlet 11, the heat supply conduit 5 and the inlet 21 and then sprayed onto the window surface 41 through the spraying orifice 22 to realize defrosting and demisting.

The heating conduit 5 may be a silicone hose or may also be a bellows, for example.

In some embodiments, the cleaning device further comprises a controller 3, and the controller 3 is electrically connected with the heating device 1 and is used for controlling the on-off of the hot gas outlet 11 and the inlet 21, so as to realize automatic control of hot gas supply and realize automatic defrosting and demisting operation on the window surface 41.

Further, a controller 3 may be further provided and electrically connected to the lidar body 4, where the controller 3 is configured to control the on/off between the hot air outlet 11 and the inlet 21 at least according to the shielding information of the lidar body 4 for obtaining the window surface 41, so as to implement automatic defrosting and demisting for the window surface 41.

For example, when the shielding information detected by the laser radar body 4 exceeds the preset value, it is determined that the window surface 41 needs to be defrosted and defogged, and at this time, the controller 3 controls the communication between the hot gas outlet 11 and the inlet 21, so that the hot gas is delivered to the spraying component 2 through the hot gas outlet 11 and the inlet 21 and then sprayed onto the window surface 41 through the spraying opening 22 to defrost and defog. For another example, when the shielding information detected by the lidar body 4 does not exceed the preset value, the controller 3 controls the opening between the hot air outlet 11 and the hot air inlet 21 to stop the hot air supply to the window surface 41.

It should be noted that, the obtaining of the shielding information of the window surface 41 by the lidar body 4 may specifically be that the lidar body 4 emits laser to the external environment and receives the shielding echo signal of the reflected laser reflected by the external environment during the normal operation, when the window surface 41 has frost and fog, the reflected laser forms the shielding echo signal due to the shielding of the frost and fog, and whether the defrosting and defogging are needed can be judged by comparing the echo energy of the shielding echo signal with the calibration threshold. For example, when the energy of the shielding echo signal is greater than the calibration threshold, the need of defrosting and defogging is judged, otherwise, the need of defrosting and defogging is avoided.

In addition, it is also possible to comprehensively judge whether or not defrosting and defogging are required by comprehensively combining the shielding information and the point cloud performance of the laser radar body 4 during laser radar detection.

In particular, the injection assembly 2 may be provided in particular on the lidar body 4 or also on the roof of the body of the vehicle. Further, the jetting assembly 2 may be welded to the lidar body 4 or the body of the vehicle, or may be integrally formed with the body of the vehicle.

In addition, in this embodiment, a control switch is disposed at the hot gas outlet 11, and the control switch is electrically connected to the controller 3, and the controller 3 is configured to control on-off between the hot gas outlet 11 and the inlet 21 through the control switch.

For example, when the shielding information detected by the laser radar body 4 exceeds a preset value, it is determined that defrosting and demisting are needed on the window surface 41, and at this time, the controller 3 controls the control switch to be opened so that the hot gas outlet is communicated with the hot gas inlet, so that the hot gas is delivered to the injection assembly 2 through the hot gas outlet 11 and the hot gas inlet 21 and then is injected onto the window surface 41 through the injection port 22 for defrosting and demisting. For another example, when the shielding information detected by the lidar body 4 does not exceed the preset value, the controller 3 controls the control switch to be closed so that the hot gas outlet 11 and the hot gas inlet 21 are disconnected, so as to stop conveying the hot gas to the window surface 41.

The cleaning device of the present embodiment is configured such that the cleaning device is provided to include the heating device 1, the injection assembly 2, and the controller 3, and the heating device 1 is provided with the hot air outlet 11 through which hot air can be discharged, the injection assembly 2 is provided on the lidar body 4 of the vehicle or on the vehicle body of the vehicle, and the injection assembly 2 is provided with the inlet 21 communicating with the hot air outlet 11 and the injection port 22 communicating with the inlet 21, and the injection port 22 is provided to face the window surface 41 of the lidar body 4 of the vehicle. The controller 3 is electrically connected with the heat supply device 1 and the laser radar body 4 respectively, so that the controller 3 can automatically control the on-off between the hot gas outlet 11 and the inlet 21 at least according to shielding information of the window surface 41 acquired by the laser radar body 4. That is, when defrosting and demisting are needed, the controller 3 can automatically control the communication between the hot gas outlet 11 and the inlet 21, so that hot gas generated by the heating device 1 can be sequentially conveyed to the injection assembly 2 through the hot gas outlet 11 and the inlet 21 and be injected onto the window surface 41 through the injection port 22 of the injection assembly 2, thereby realizing automatic defrosting and demisting operation on the window surface 41, simplifying defrosting and demisting operation, saving time and labor and having higher operation efficiency.

Referring to fig. 1 and 2, in some embodiments, the cleaning apparatus further includes a pressurizing device 6, where the pressurizing device 6 has a pressurizing inlet 61 and a pressurizing outlet 62 that is in communication with the pressurizing inlet 61, the pressurizing inlet 61 is in communication with the hot gas outlet 11, and the pressurizing outlet 62 is in communication with the inlet 21, so that the hot gas of the heating apparatus 1 can be quickly and efficiently delivered into the injection assembly 2 through the hot gas outlet 11 and the heating conduit 5 under the pressurizing action of the pressurizing device 6, so as to ensure the injection quantity of the hot gas injected through the injection port 22, and to realize efficient defrosting and demisting. In particular, the controller 3 is configured to control the on/off between the hot gas outlet 11 and the supercharging inlet 61 at least according to the shielding information, so as to control the on/off between the hot gas outlet 11 and the inlet 21.

Referring to fig. 1 and 2, in some embodiments, the pressurizing device 6 may be a pressurizing air pump.

In some embodiments, the supercharging device 6 is electrically connected to the controller 3, and the controller 3 is configured to control the start and stop of the supercharging device 6 according to the on-off state between the hot gas outlet 11 and the inlet 21.

That is, when defrosting and demisting are required, the controller 3 simultaneously activates the pressurizing device 6 and enables the hot air outlet 11 to be communicated with the inlet 21, so that hot air generated by the heating device 1 is quickly conveyed into the spraying assembly 2 through the hot air outlet 11 and the heating conduit 5 under the pressurizing action of the pressurizing device 6 and then sprayed onto the window surface 41 through the spraying opening 22, and defrosting and demisting are quickly performed. When defrosting and demisting are not needed, the controller 3 simultaneously controls the pressurizing device 6 to stop working and disconnect the hot gas outlet 11 from the inlet 21 so as to stop conveying the hot gas to the window surface 41.

Referring to fig. 1 and 2, in some embodiments, the cleaning device further includes a deflector 7, and a portion of the deflector 7 is located at the bottom of the laser radar body 4, so that the liquid formed by condensation in the process of flowing the hot gas ejected through the ejection opening 22 of the ejection assembly 2 along the window surface 41 can be discharged after being guided by the arc plate, so as to avoid a great amount of deposition of the liquid. Further, in a direction from the tail of the vehicle to the head of the vehicle, the baffle 7 is an arc plate extending toward a direction approaching the bottom of the vehicle, so that the baffle 7 can adapt to the contour shape of the front windshield, and the liquid guided by the baffle 7 is finally discharged through the front windshield.

Referring to fig. 3, in some embodiments, the cleaning apparatus further includes a rain sensor 8, the rain sensor 8 is configured to detect rain information on the window surface 41, and the rain sensor 8 is electrically connected to the controller 3, and the controller 3 is configured to control an operation state of the heating apparatus 1 according to the rain information and the shielding information.

In particular, when the weather is rainy, it is possible to comprehensively determine whether or not defrosting and defogging are required by combining the rainfall information on the window surface 41 detected by the rainfall sensor 8, in addition to comprehensively determining whether or not defrosting and defogging are required according to the shielding information and the point cloud performance of the window surface 41 acquired by the laser radar body 4.

That is, it is possible to comprehensively judge whether or not defrosting and defogging are required by integrating the shielding information, the point cloud performance and the rainfall information. For example, when at least one of the rainfall information is greater than the rainfall threshold, the point cloud performance is less than the performance threshold, and the shielding information is greater than the preset value, the controller 3 can control the heating device 1 to be turned on to realize defrosting and demisting.

Example two

Referring to fig. 1 to 3, the present embodiment further provides a laser radar system including a laser radar body 4 and a cleaning device.

The specific structure and implementation principle of the cleaning device in this embodiment are the same as those of the cleaning device provided in the first embodiment, and the same or similar technical effects can be brought, which are not described in detail herein, and the description of the first embodiment may be referred to specifically.

Example III

Referring to fig. 1 to 3, the present embodiment also provides a vehicle including the lidar body 4 or including the lidar system.

The specific structure and implementation principle of the lidar system in this embodiment are the same as those of the lidar system provided in the second embodiment, and the same or similar technical effects can be brought, which are not described in detail herein, and the description of the second embodiment may be referred to specifically.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning device, characterized by comprising a heating device and a spraying assembly;

2. The cleaning apparatus of claim 1, wherein the spray assembly is disposed on top of the lidar body and adjacent to the window surface.

3. The cleaning apparatus of claim 1, wherein the spray assembly comprises a spray tube and a spray nozzle disposed on the spray tube, the spray tube being disposed on the lidar body, and the spray tube having an inlet communicable with the hot gas outlet, the spray nozzle having the spray orifice in communication with the spray tube.

4. A cleaning device according to claim 3, wherein the spray pipes extend in the longitudinal direction of the lidar body, the number of spray nozzles is at least two, and at least two spray nozzles are arranged on the spray pipes and are arranged at intervals in the longitudinal direction of the spray pipes.

5. The cleaning apparatus of claim 1, wherein a heating conduit is further disposed between the heating apparatus and the spray assembly, one end of the heating conduit being in communication with the hot gas outlet and the other end of the heating conduit being in communication with the inlet.

6. The cleaning device of claim 1, further comprising a controller; the controller is electrically connected with the heating device and is used for controlling the on-off between the hot gas outlet and the inlet.

7. The cleaning apparatus of claim 6, wherein the controller is electrically connected to the lidar body, and the controller is configured to control the on/off of the hot gas outlet and the inlet based at least on shielding information of the window surface acquired by the lidar body.

8. The cleaning apparatus of claim 7, further comprising a boost device having a boost inlet in communication with the hot gas outlet and a boost outlet in communication with the inlet.

9. The cleaning apparatus of claim 8, wherein the pressurizing means comprises a pressurizing air pump;

and/or the supercharging device is electrically connected with the controller, and the controller is used for controlling the starting and stopping of the supercharging device according to the on-off between the hot gas outlet and the inlet.

10. The cleaning device of claim 7, further comprising a rain sensor for detecting rain information on the viewing window surface, and wherein the rain sensor is electrically connected to the controller for controlling the on-off between the hot gas outlet and the inlet according to the rain information and the shielding information.

11. The cleaning apparatus of any one of claims 1 to 10, further comprising a deflector, a portion of the deflector being located at a bottom of the lidar body;

the deflector is an arc plate extending toward a direction approaching the vehicle bottom in a direction from the vehicle tail to the vehicle head.

12. A lidar system comprising a lidar body and a cleaning device according to any of claims 1 to 11.

13. A vehicle comprising a cleaning device according to any one of claims 1 to 11 or a lidar system according to claim 12.