SENSOR CLEANING DEVICES AND SYSTEMS

• US 20180009418A1
• Filed: 12/29/2016
• Published: 01/11/2018
• Est. Priority Date: 07/07/2016
• Status: Active Grant

• Current Assignee: NIO Technology Company Limited (Shanghai Anbin Technology Co., Ltd.)
• Original Assignee: NextEV USA, Inc.
• Inventors: Newman, Austin L.
• Granted Patent: US 10,604,120 B2
• Time in Patent Office: Days
• CPC Class Codes: B08B 1/00 Cleaning by methods involving the use of tools cleaning hollow articles by methods or apparatus specially adapted thereto B08B9/00
• CPC Class Codes: B08B 3/02 Cleaning by the force of jets or sprays
• CPC Class Codes: B08B 5/02 Cleaning by the force of jets, e.g. blowing-out cavities airguns or nozzles per se B05B1/005
• CPC Class Codes: B08B 7/028 Using ultrasounds
• CPC Class Codes: B60S 1/0818 including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
• CPC Class Codes: B60S 1/485 including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
• CPC Class Codes: B60S 1/54 using gas, e.g. hot air
• CPC Class Codes: B60S 1/56 specially adapted for cleaning other parts or devices than front windows or windscreens rear-view mirror arrangements mounted on vehicle exterior including cleaning devices B60R1/0602
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2007/4977 including means to prevent or remove the obstruction
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G02B 27/0006 with means to keep optical surfaces clean, e.g. by preventing or removing dirt, stains, contamination, condensation G02B1/18 takes precedence; cleaning in general B08B

Abstract

Sensor cleaning devices, methods, and systems are provided. Output from sensors of a vehicle may be used to describe an environment around the vehicle. In the event that a sensor is obstructed by dirt, debris, or detritus the sensor may not sufficiently describe the environment for autonomous control operations. In response to receiving an indication of an obstructed sensor, the sensor cleaning devices, methods, and systems described herein may proceed to remove the obstruction from the sensor.

Claims

1. A sensor cleaning system, comprising:

at least one sensor cleaning device including an obstruction cleaning element;

a microprocessor; and

a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to;

communicate with a sensor processor of a vehicle, wherein the sensor processor receives output from sensors of the vehicle monitoring an environment outside of the vehicle;

receive a cleaning command from the sensor processor identifying a sensor of the vehicle having an obstructed sensor surface;

determine a sensor cleaning device associated with the identified sensor from the at least one sensor cleaning device; and

send an electrical signal to the determined sensor cleaning device associated with the identified sensor, wherein the electrical signal actuates the obstruction cleaning element of the determined sensor cleaning device.

2. The sensor cleaning system of claim 1, wherein the determined sensor cleaning device is a pressurized-fluid sensor cleaning device, comprising:

a fluid-directing nozzle configured to direct a pressurized fluid toward the obstructed sensor surface of the identified sensor;

a fluid supply configured to contain the pressurized fluid; and

a fluid line operatively attached between the fluid-directing nozzle and the fluid supply, wherein the fluid line is configured to convey pressurized fluid from the fluid supply to the fluid-directing nozzle.

3. The sensor cleaning system of claim 2, wherein the pressurized fluid is a gas, and wherein the fluid supply comprises a compressor.

4. The sensor cleaning system of claim 1, wherein the determined sensor cleaning device is an actuated-wiper sensor cleaning device, comprising:

a track disposed adjacent to the identified sensor;

a carriage configured to move along a length of the track;

a wiper blade operatively connected to the carriage and configured to move with the carriage; and

an actuator configured to convert the electrical signal sent by the microprocessor into a mechanical motion of the carriage along the length of the track and causing the wiper blade to contact a portion of the sensor surface and clear the obstruction.

5. The sensor cleaning system of claim 1, wherein the determined sensor cleaning device is a contactless sensor cleaning device, comprising:

a first array of ultrasonic transducers disposed adjacent to the identified sensor, wherein each ultrasonic transducer in the first array of ultrasonic transducers is configured to selectively emit first ultrasonic pulses toward the obstructed sensor surface of the identified sensor.

6. The sensor cleaning system of claim 5, further comprising:

a second array of ultrasonic transducers disposed adjacent to the identified sensor and orthogonal to the first array of ultrasonic transducers, wherein each ultrasonic transducer in the second array of ultrasonic transducers is configured to selectively emit second ultrasonic pulses toward the obstructed sensor surface of the identified sensor, and wherein a force of the first ultrasonic pulses and the second ultrasonic pulses is multiplied at an intersection of first and second ultrasonic pulses emitted.

7. The sensor cleaning system of claim 1, wherein the determined sensor cleaning device is a rotational-lens sensor cleaning device, comprising:

a lens having a substantially circular outer periphery and a hollow internal portion defining an interior sensor environment configured to receive at least one sensor of the vehicle, and wherein the obstructed sensor surface is on a portion of the circular outer periphery of the lens;

a motorized rotation drive wheel operatively connected to the lens and configured to rotate the lens about an axis of rotation; and

at least one wiping element in contact with the circular outer periphery of the lens, wherein the lens is configured to rotate relative to the at least one wiping element.

8. The sensor cleaning system of claim 7, wherein a portion of the rotational-lens sensor cleaning device is disposed inside a body of the vehicle, and wherein the at least one wiping element is attached to the body of the vehicle.

9. The sensor cleaning system of claim 8, further comprising:

a lens cleaning system, comprising;

a pressurized-fluid nozzle configured to direct a pressurized fluid toward the lens; and

a debris removal surface disposed adjacent to the pressurized-fluid nozzle and in contact with the lens.

10. The sensor cleaning system of claim 1, wherein the determined sensor cleaning device comprises:

at least one wiping element in contact with the sensor surface of the identified sensor; and

an actuator attached to a portion of the identified sensor and configured to move the portion of the identified sensor relative to the at least one wiping element, the actuator having an extended sensor position and a retracted sensor position, and wherein the at least one wiping element is configured to move across a portion of the sensor surface of the identified sensors as the actuator moves between the extended sensor position and the retracted sensor position.

11. The sensor cleaning system of claim 10, wherein the at least one wiping element pivots about an axis as the actuator moves between the extended sensor position and the retracted sensor position.

12. The sensor cleaning system of claim 11, wherein the at least one wiping element is maintained in contact with the sensor surface of the identified sensor via a force from a spring element connected between the at least one wiping element and a fixed wall.

13. The sensor cleaning system of claim 12, wherein in the retracted sensor position the identified sensor is protected from an exterior environment associated with the vehicle by the at least one wiping elements.

14. The sensor cleaning system of claim 10, wherein the at least one wiping element is a flexible material that is configured to elastically deform and create an opening therein exposing a viewing portion of the identified sensor when the actuator is in the extended sensor position and conceal the viewing portion of the identified sensor when the actuator is in the retracted sensor position.

15. A vehicle, comprising:

at least one sensor monitoring an environment outside of the vehicle; and

a sensor cleaning system, comprising;

at least one sensor cleaning device of the vehicle including an obstruction cleaning element;

a microprocessor; and

a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to;

communicate with a sensor processor of the vehicle, wherein the sensor processor receives output from the at least one sensor of the vehicle;

receive a cleaning command from the sensor processor identifying a sensor of the at least one sensor of the vehicle having an obstructed sensor surface;

determining a sensor cleaning device associated with the identified sensor from the at least one sensor cleaning device; and

sending an electrical signal to the determined sensor cleaning device associated with the identified sensor, wherein the electrical signal actuates the obstruction cleaning element of the determined sensor cleaning device.

16. The vehicle of claim 15, wherein the determined sensor cleaning device is a contactless sensor cleaning device, comprising:

a first array of ultrasonic transducers disposed adjacent to the identified sensor, wherein each ultrasonic transducer in the first array of ultrasonic transducers is configured to selectively emit first ultrasonic pulses toward the obstructed sensor surface of the identified sensor.

17. The vehicle of claim 15, wherein the determined sensor cleaning device is a rotational-lens sensor cleaning device, comprising:

a lens having a substantially circular outer periphery and a hollow internal portion defining an interior sensor environment configured to receive the one or more sensors of the vehicle, and wherein the obstructed sensor surface is on a portion of the circular outer periphery of the lens;

a motorized rotation drive wheel operatively connected to the lens and configured to rotate the lens about an axis of rotation; and

at least one wiping element in contact with the circular outer periphery of the lens, wherein the lens is configured to rotate relative to the at least one wiping element.

18. The vehicle of claim 15, wherein the determined sensor cleaning device comprises:

at least one wiping element in contact with the sensor surface of the identified sensor; and

an actuator attached to a portion of the identified sensor and configured to move the portion of the identified sensor relative to the at least one wiping element, the actuator having an extended sensor position and a retracted sensor position, and wherein the at least one wiping element is configured to move across a portion of the sensor surface of the identified sensors as the actuator moves between the extended sensor position and the retracted sensor position.

19. The vehicle of claim 15, wherein a viewing portion of the identified sensor is exposed to an environment external to the vehicle when the actuator is in the extended sensor position and wherein the viewing portion of the identified sensor is concealed from the environment external to the vehicle when the actuator is in the retracted sensor position.

20. A sensor cleaning device of a vehicle, comprising:

at least one vehicle sensor cleaning element;

a microprocessor; and

a computer readable medium coupled to the microprocessor and comprising instructions stored thereon that cause the microprocessor to;

receive an electrical signal from a sensor cleaning system of a vehicle, wherein the electrical signal actuates the at least one vehicle sensor cleaning element;

determine whether the at least one vehicle sensor cleaning element actuated; and

send a message to the sensor cleaning system of the vehicle including information about the determination.