• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A sensor apparatus includes a cylindrical sensor window defining an axis and a tubular annular member fixed relative to the sensor window and substantially centered about the axis. The annular member includes a plurality of first nozzles and second nozzles disposed alternately around the annular member. The first nozzles each have a discharge direction in a radially inward and axial direction forming a first angle with the axis. The second nozzles each have a discharge direction in a radially inward and axial direction forming a second angle with the axis, the second angle being different from the first angle.
    公开号:FR3093935A1
    申请号:FR2002718
    申请日:2020-03-19
    公开日:2020-09-25
    发明作者:Andre Sykula；Venkatesh Krishnan；Segundo Boldovino；Michael Whitney；David Franco；Maxime Baudouin；Xavier Bousset；William Terrasse；Theophile Jullien；Geoffroy Duplaix
    申请人:Ford Global Technologies LLC；Valeo North America Inc；
    IPC主号:
    专利说明:

    [0001] The invention relates generally to vehicle sensors, and more particularly to a vehicle sensor cleaning apparatus.
    [0002] CONTEXT
    [0003] Autonomous vehicles typically include a variety of sensors. Some sensors detect internal vehicle states, for example, wheel speed, wheel orientation, and engine and transmission variables. Some sensors detect the position or orientation of the vehicle, for example Global Positioning System (GPS) sensors; accelerometers such as piezoelectric or micro-electromechanical systems (MEMS); gyroscopes such as rate, ring laser or fiber optic gyroscopes; inertial measurement units (IMU); and magnetometers. Some sensors detect the outside world, for example radar sensors, scanning laser rangefinders, light detection and ranging devices (LIDAR), and image processing sensors such as cameras. A LIDAR device detects distances to objects by emitting laser pulses and measuring the time of flight for the pulse to travel to the object and back to its starting point. When the lenses, covers and similar parts of the sensors become dirty, stained, etc., the operation of the sensor may be hampered or prevented.
    [0004] ABSTRACT
    [0005] A sensor apparatus includes a cylindrical sensor window defining an axis and an annular tubular member fixed relative to the sensor window and substantially centered around the axis. The annular element includes a plurality of first nozzles and second nozzles arranged alternately around the annular element. The first nozzles each have a discharge direction in a radially inward and axial direction forming a first angle with the axis, and the second nozzles each have a discharge direction in a radially inward and axial direction forming a second angle with the axis, the second angle being different from the first angle.
    [0006] The ring element can be spaced from the sensor window along the axis.
    [0007] The first and second nozzles may be spaced substantially evenly around the annular member.
    [0008] The annular element may be radially spaced from the sensor window. The first and second nozzles may be liquid nozzles, and the sensor apparatus may further include air nozzles positioned to discharge between the annular member and the sensor window. The air nozzles can be oriented to discharge in a direction parallel to the axis.
    [0009] The first and second nozzles may be configured to spray liquid in a flat fan pattern.
    [0010] The first and second nozzles may each include a flat deflection surface and an outlet directed toward the respective deflection surface. The deflection surfaces of the first nozzles can each define the first angle with the axis and the deflection surfaces of the second nozzles can each define the second angle with the axis.
    [0011] The sensor apparatus may further include a sensor housing on which the sensor window is mounted and a base on which the sensor housing and the ring member are mounted.
    [0012] The annular member may include a first cavity fluidically connected to a first set of first and second nozzles and a second cavity fluidically connected to a second set of first and second nozzles. The first cavity and the second cavity may be fluidly isolated from each other.
    [0013] The first cavity may be elongated along a semi-circular shape around the axis extending through a first half of the ring member and the second cavity may be elongated along a semi-circular shape around of the axis extending through a second half of the annular element which does not overlap the first half.
    [0014] The first set of first and second nozzles may include a first half of first nozzles and a first half of second nozzles and the second set of first and second nozzles may include a second half of first nozzles and a second half of second nozzles.
    [0015] The sensor device may further comprise a first input fluidically connected to the first cavity and a second input fluidically connected to the second cavity. The first cavity and the second cavity may extend from each of the first ends adjacent to each other to the second ends adjacent to each other, and the first inlet may be located at the first end of the first cavity and the second inlet may be located at the first end of the second cavity.
    [0016] The plurality of first nozzles may include four first nozzles and the plurality of second nozzles may include four second nozzles.
    [0017] is a perspective view of an example vehicle.
    [0018] is a perspective view of an example of the vehicle's sensor device.
    [0019] is a diagram of an example of the vehicle's sensor cleaning system.
    [0020] is a sectional view of an example of an annular element of the sensor device.
    [0021] is a perspective view of the ring member.
    [0022] is a top view of the sensor device.
    [0023] is a sectional view of an example of the first nozzle of the annular element.
    [0024] is a sectional view of an example of the second nozzle of the annular element.
    [0025] DETAILED DESCRIPTION
    [0026] A sensor apparatus 32 for a vehicle 30 includes a cylindrical sensor window 34 defining an axis A and an annular tubular member 36 fixed relative to the sensor window 34 and substantially centered around the axis A. The annular member 36 includes a plurality of first nozzles 38 and second nozzles 40 arranged alternately around the annular member 36. The first nozzles 38 each have a direction of discharge in a radially inward and axial direction forming a first angle θ with the axis A. The second nozzles 40 each have a discharge direction in a radial inward and axial direction forming a second angle φ with the axis A and the second angle φ is different from the first angle θ.
    [0027] The sensor apparatus 32 provides good coverage when cleaning the sensor window 34. The different first angles θ and second angles φ provide cleaning coverage along a height of the sensor window 34. The sensor apparatus 32 has a robust design with no moving parts to dispense liquid from first nozzles 38 and second nozzles 40; in other words, the annular element 36, comprising the first nozzles 38 and the second nozzles 40, has no moving parts. The sensor device 32 uses a liquid for cleaning in an efficient way.
    [0028] Referring to Figure 1, vehicle 30 can be any passenger vehicle or commercial vehicle such as a car, truck, sport utility vehicle, crossover vehicle, minivan, minivan, a taxi, a bus, etc.
    [0029] Vehicle 30 may be an autonomous vehicle. A vehicle computer may be programmed to operate the vehicle 30 independent of human driver intervention, completely or to a lesser extent. The vehicle computer can be programmed to operate the propulsion, braking system, steering, and/or other vehicle systems based on data received from a sensor 42, as well as other sensors. For the purposes of this description, autonomous operation means that the vehicle's computer controls the propulsion, braking system and steering without the intervention of a human driver; semi-autonomous operation means that the vehicle computer controls one or two elements among the propulsion, the braking system and the steering and that a human driver controls the rest; and non-autonomous operation means that a human driver controls the propulsion, braking system and steering.
    [0030] Vehicle 30 includes a body 44. Vehicle 30 may be of unibody construction, wherein a frame and body 44 of vehicle 30 are a single component. Vehicle 30 may alternatively be of body-on-frame construction, wherein the frame supports body 44 which is a separate component of the frame. Chassis and body 44 may be formed of any suitable material, such as steel, aluminum, etc. Body 44 includes body panels 46, 48 partially defining an exterior of vehicle 30. Body panels 46, 48 may have a Class A surface, such as a finished surface exposed to customer view and free of stains. imperfections and unsightly flaws. Body panels 46, 48 include, for example, a roof 48, etc.
    [0031] A pod 50 for supporting the sensor 42 can be attached to the vehicle 30, for example to one of the body panels 46, 48 of the vehicle 30, for example to the roof 48. For example, the pod 50 can be shaped to be able to attached to roof 48, for example, may be shaped to match or follow an outline of roof 48. Pod 50 may be attached to roof 48, which may provide sensor 42 with an unobstructed field of view of an area around of the vehicle 30. The nacelle 50 can be made, for example, of plastic or metal.
    [0032] Referring to Fig. 2, a base 52 may be mounted to the nacelle 50, as shown in Fig. 1, or to one of the body panels 46, 48, for example, the roof 48. The base 52 may be extend upward from pod 50, as shown in Figure 1, or be partially or fully recessed within pod 50. Base 52 has a vertically oriented cylindrical shape, i.e. say defining the axis A which is substantially vertical.
    [0033] A sensor housing 54 is mounted on base 52. Sensor housing 54 supports sensor 42, and sensor housing 54 with sensor window 34 encloses sensor 42 and shields sensor 42 from the ambient environment. Sensor housing 54 may be cylindrical, vertically oriented, and substantially centered on axis A.
    [0034] Sensor 42 may sense the outside world, for example, objects and/or features in the environment of vehicle 30, such as other vehicles, lane markings, lights and/or traffic signs, pedestrians, etc For example, sensor 42 may be a radar sensor, a scanning laser rangefinder, a light detection and ranging device (LIDAR), or an image processing sensor such as a camera. In particular, sensor 42 can be a LIDAR device. A LIDAR device detects distances to objects by emitting laser pulses and measuring the time of flight for the pulse to travel to the object and back to its starting point. Sensor 42 is mounted on sensor housing 54 and disposed within sensor window 34 and sensor housing 54.
    [0035] The sensor window 34 is cylindrical and hollow. Sensor window 34 is substantially centered on base 52, i.e., sensor window 34 defines axis A. Sensor window 34 is mounted on sensor housing 54. The sensor window 34 extends upward from base 52 and sensor housing 54. Sensor window 34 has an outside diameter less than an inside diameter of annular member 36. Sensor window 34 is transparent to at least, i.e. allows a wavelength of light emitted by sensor 42 to pass substantially. Sensor 42 has a 360° horizontal field of view through sensor window 34.
    [0036] Ring member 36 has a toroidal shape defining axis A. Ring member 36 has a tubular shape extending along the toroidal shape.
    [0037] The annular element 36 is fixed with respect to the sensor window 34 and substantially centered on the axis A. For example, the annular element 36 is fixedly mounted on the base 52, and the sensor housing 54 and the sensor 34 are also fixedly mounted on base 52. Annular member 36 is spaced from sensor window 34 along axis A; for example, as shown in Figure 2, annular member 36 is disposed below a lower portion of sensor window 34. Annular member 36 is radially spaced from sensor window 34; for example, as shown in Figure 2, the inside diameter of the annular member 36 is greater than an outside diameter of the sensor window 34.
    [0038] Referring to Figure 3, an air purification system 56 includes a compressor 58, filter 60, air supply lines 62 and air nozzles 64. Compressor 58, filter 60 and nozzles 64 are fluidly connected to each other (i.e. liquid can flow from one to the other) in sequence through the air supply lines 62.
    [0039] Compressor 58 increases the pressure of a gas by, for example, forcing additional gas into a constant volume. Compressor 58 can be any suitable type of compressor, for example a positive displacement compressor such as reciprocating ionic liquid piston, rotary screw, rotary vane, rotary piston, scroll or diaphragm compressor; a dynamic compressor such as a bubble, centrifugal, diagonal, mixed-flow or axial-flow compressor; or any other suitable type.
    [0040] Filter 60 removes solid particles such as dust, pollen, mold, dust and bacteria from the air flowing through filter 60. Filter 60 can be any type of suitable filter, for example paper, foam, cotton, stainless steel, oil bath, etc.
    [0041] Air supply lines 62 extend from compressor 58 to filter 60 and from filter 60 to air nozzles 64. Air supply lines 62 may be, for example, flexible tubing.
    [0042] A fluid cleaning system 66 of vehicle 30 includes a reservoir 68, a pump 70, fluid supply lines 72, valves 74, first nozzles 38 and second nozzles 40. Reservoir 68, pump 70, the valves 74 and the first nozzles 38 and second nozzles 40 are fluidly connected to each other (ie, liquid can flow from one to the other). Washer fluid system 66 distributes washer fluid stored in reservoir 68 to first nozzles 38 and second nozzles 40. "Washer fluid" refers to any fluid stored in reservoir 68 for cleaning. Windshield washer fluid may include solvents, detergents, thinners such as water, etc.
    [0043] Reservoir 68 may be a reservoir that can be filled with liquid, for example windscreen washer fluid for cleaning the windows. The tank 68 can be arranged at the front of the vehicle 30, more precisely, in an engine compartment at the front of a passenger cabin. Reservoir 68 can store washer fluid only to supply sensor apparatus 32 or also for other purposes, such as supplying the windshield.
    [0044] Pump 70 may force washer fluid through fluid supply lines 72 to valves 74 and then to first nozzles 38 and second nozzles 40 with sufficient pressure for the washer fluid to achieve a spray from first nozzles 38 and second nozzles 40. Pump 70 is fluidly connected to tank 68. Pump 70 may be attached or disposed in tank 68.
    [0045] Liquid supply lines 72 extend from pump 70 to valves 74 and from valves 74 to first nozzles 38 and second nozzles 40. Liquid supply lines 72 may be, for example, flexible tubing.
    [0046] Valves 74 can be independently opened and closed, to allow washer fluid to flow through or block washer fluid; that is, each valve 74 can be opened or closed by changing the state of the other valve 74. The valves 74 can be any suitable type of valve, for example a ball valve, a butterfly valve, a valve throttle, gate valve, globe valve, etc.
    [0047] Referring to Figure 4, the annular member 36 includes a first cavity 76 and a second cavity 78. The first cavity 76 is elongated along a semi-circular shape around axis A extending through a first half of the ring member 36, and the second cavity 78 is elongated along a semi-circular shape about axis A extending through a second half of the ring member 36 which does not overlap the first half. First cavity 76 and second cavity 78 each extend from first ends 80 to second ends 82. First ends 80 are adjacent to each other and second ends 82 are adjacent to each other. The first cavity 76 and the second cavity 78 are fluidically isolated from each other; in other words the first cavity 76 and the second cavity 78 are arranged so that the liquid cannot flow from one to the other. For example, a first barrier 84 is disposed between the first ends 80 and a second barrier 86 is disposed between the second ends 82. The first barrier 84 and the second barrier 86 prevent windshield washer fluid from flowing between the first cavity 76 and the second cavity 78.
    [0048] Referring to Figures 4 and 5, a first inlet 88 is fluidically connected to the first cavity 76, and a second inlet 90 is fluidically connected to the second cavity 78. The first inlet 88 is located at the level of the first end 80 of the first cavity 76 and the second inlet 90 is located at the level of the first end 80 of the second cavity 78. The first inlet 88 and the second inlet 90 connect the annular element 36 by the underside of the annular element 36.
    [0049] Referring to Figure 6, air nozzles 64 are positioned to discharge between annular member 36 and sensor window 34. Air nozzles 64 are positioned radially between sensor window 34 and sensor window 34. annular 36, i.e. farther from axis A than sensor window 34 and closer to axis A than annular member 36. Air nozzles 64 are oriented to discharge into a direction parallel to the axis A, for example vertically upwards. Air nozzles 64 are positioned below sensor window 34 and are arranged circumferentially around sensor window 34.
    [0050] The annular element 36 comprises the first nozzles 38 and the second nozzles 40. The first nozzles 38 and the second nozzles 40 are arranged alternately around the annular element 36; that is, each first nozzle 38 is circumferentially adjacent to a second nozzle 40 in each direction and each second nozzle 40 is circumferentially adjacent to a first nozzle 38 in each direction. First nozzles 38 and second nozzles 40 are spaced substantially evenly around annular member 36; that is, the distance between each first or second nozzle 38, 40 and the adjacent first or second nozzle 38, 40 is substantially the same. First nozzles 38 may include four first nozzles 38, and second nozzles 40 may include four second nozzles 40.
    [0051] First cavity 76 is fluidly connected to a first set of first nozzles 38 and second nozzles 40, and second cavity 78 is fluidically connected to a second set of first nozzles 38 and second nozzles 40. The first set of first nozzles 38 and second nozzles 40 comprises a first half of first nozzles 38, for example, two first nozzles 38 and a first half of second nozzles 40, for example, two second nozzles 40. The second set of first nozzles 38 and second nozzles 40 comprises a second half of the first nozzles 38, for example, the other two first nozzles 38 and a second half of the second nozzles 40, for example, the other two second nozzles 40.
    [0052] Referring to Figures 7A-B, first nozzles 38 and second nozzles 40 are liquid nozzles. First nozzles 38 and second nozzles 40 are designed to spray liquid in a flat fan pattern, as shown in Figure 2. First nozzles 38 and second nozzles 40 each include a deflection surface 92, which is flat, and an outlet 94 directed towards the respective deflection surface 92. The liquid exiting the first cavity 76 or the second cavity 78 through one of the outlets 94 strikes the respective deflection surface 92 and propagates in the defined flat fan pattern by the deflection surface 92.
    [0053] The first nozzles 38 each have a direction of discharge in a radially inward and axial direction, i.e. a direction which is towards axis A and along axis A, forming the first angle θ with axis A. The second nozzles 40 each have a discharge direction in a radially inward and axial direction forming the second angle φ with axis A. The second angle φ is different from the first angle θ. The deflection surfaces 92 of the first nozzles 38 each define the first angle θ with the axis A, and the deflection surfaces 92 of the second nozzles 40 each define the second angle φ with the axis A.
    [0054] In operation, the liquid cleaning system 66 may be activated, for example, when the sensor window 34 becomes dirty or clogged, at regular intervals, or based on other triggers. Pump 70 forces washer fluid through first inlet 88 to first cavity 76 and through second inlet 90 to second cavity 78. Valves 74 can be activated so that washer fluid is pumped to only one of the first cavity 76 or the second cavity 78, for example, if the obstruction on the sensor window 34 is on one side only. Washer fluid passing through the first nozzles 38 is directed toward the sensor window 34 at the first angle θ and washer fluid passing through the second nozzles 40 is directed toward the sensor window 34 at the second angle φ. The washer fluid from the second nozzles 40 hits the sensor window 34 higher than the washer fluid from the first nozzles 38, providing good vertical coverage of the sensor window 34. The air purification system 56 can be activated, for example, to dry the sensor window 34 after using the liquid cleaning system 66.
    [0055] The invention has been described for illustrative purposes, and it should be understood that the terminology which has been used is intended to be in the form of words used to describe rather than to limit. The adjectives "first" and "second" are used throughout this document as identifiers and are not intended to denote importance or order. "Significantly" as used herein means that a dimension, duration, shape or other adjective may differ slightly from what is described due to physical imperfections, power interruptions, variations in machining or other manufacture, etc. Many modifications and variations of the present invention are possible in light of the above teachings, and the invention may be practiced other than as specifically described.
    权利要求:
    Claims (15)
    [0001]
    Sensor device comprising: a cylindrical sensor window defining an axis; and an annular tubular element fixed relative to the sensor window and substantially centered around the axis, the annular element comprising a plurality of first nozzles and second nozzles arranged alternately around the annular element; wherein the first nozzles each have a direction of discharge in a radially inward and axial direction forming a first angle with the axis; and the second nozzles each have a direction of discharge in a radially inward and axial direction forming a second angle with the axis, the second angle being different from the first angle.
    [0002]
    A sensor apparatus according to claim 1, wherein the annular member is spaced from the sensor window along the axis.
    [0003]
    A sensor apparatus according to claim 1, wherein the first and second nozzles are spaced substantially uniformly around the annular member.
    [0004]
    A sensor apparatus according to claim 1, wherein the annular member is radially spaced from the sensor window.
    [0005]
    A sensor apparatus according to claim 4, wherein the first and second nozzles are liquid nozzles, the sensor apparatus further comprising air nozzles positioned to discharge between the annular member and the sensor window.
    [0006]
    Sensor apparatus according to claim 5, wherein the air nozzles are oriented to discharge in a direction parallel to the axis.
    [0007]
    A sensing apparatus according to claim 1, wherein the first and second nozzles are shaped to spray liquid in a flat fan pattern.
    [0008]
    Sensor apparatus according to claim 1, wherein the first and second nozzles each comprise a flat deflection surface and an outlet directed toward the respective deflection surface.
    [0009]
    A sensor apparatus according to claim 8, wherein the deflection surfaces of the first nozzles each define the first angle with the axis, and the deflection surfaces of the second nozzles each define the second angle with the axis.
    [0010]
    Sensor apparatus according to one of Claims 1 to 9, in which the annular element comprises a first cavity fluidically connected to a first set of the first and second nozzles and a second cavity fluidically connected to a second set of the first and second nozzles.
    [0011]
    Sensor apparatus according to claim 10, wherein the first cavity and the second cavity are fluidly isolated from each other.
    [0012]
    Sensor apparatus according to claim 10, wherein the first cavity is elongated along a semi-circular shape around the axis extending through a first half of the annular member and the second cavity is elongated along a semi-circular shape around the axis extending through a second half of the ring member which does not overlap the first half.
    [0013]
    A sensor apparatus according to claim 10, wherein the first set of first and second nozzles comprises a first half of first nozzles and a first half of second nozzles and the second set of first and second nozzles comprises a second half of first nozzles and a second half of the second nozzles.
    [0014]
    A sensor apparatus according to claim 10, further comprising a first input fluidically connected to the first cavity and a second input fluidically connected to the second cavity.
    [0015]
    A sensor apparatus according to claim 14, wherein the first cavity and the second cavity each extend from first ends adjacent to each other to second ends adjacent to each other, and the first inlet is located at the first end of the first cavity and the second the inlet is located at the first end of the second cavity. sensor cleaning device
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    RU207386U1|2021-06-21|2021-10-26|федеральное государственное автономное образовательное учреждение высшего образования «Национальный исследовательский университет ИТМО» |CLEANING DEVICE FOR OBJECT DETECTION IN THE EXTERNAL VEHICLE ENVIRONMENT|
    法律状态:
    2021-03-30| PLFP| Fee payment|Year of fee payment: 2 |
    优先权:
    申请号 | 申请日 | 专利标题
    US16/360092|2019-03-21|
    US16/360,092|US10946838B2|2019-03-21|2019-03-21|Cleaning apparatus for sensor|
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