Autonomous vehicle sensor cleaning system
The present disclosure provides a sensor cleaning system that cleans one or more sensors of an autonomous vehicle. Each sensor can have one or more corresponding sensor cleaning units that are configured to clean such sensor using a fluid (e.g., a gas or a liquid). Thus, the sensor cleaning system can include both a gas cleaning system and a liquid cleaning system. According to one aspect, the sensor cleaning system can provide individualized cleaning of the autonomous vehicle sensors. According to another aspect, a liquid cleaning system can be pressurized or otherwise powered by the gas cleaning system or other gas system.
1. A liquid sensor cleaning system that is gas-pressurized, the liquid sensor cleaning system comprising:
one or more sensor cleaning units configured to respectively use a liquid to respectively clean one or more sensors of an autonomous vehicle;
a liquid tank that holds a pressurized volume of the liquid;
one or more flow control devices that control a flow of the liquid from the liquid tank to the one or more sensor cleaning units; and
a pressure transfer device that uses a first volume of a gas to pressurize the liquid held in the liquid tank, wherein the pressure transfer device comprises:
a first chamber that holds the first volume of gas;
a second chamber that holds a second volume of the liquid, the second chamber fluidly connected to the liquid tank;
a partition physically located between the first chamber and the second chamber, the partition at least one of deformable and movable in response to a difference in respective pressures associated with the first and second chambers; and
a biasing element that biases the partition toward increasing the second volume of the liquid, wherein when the partition increases the second volume of the liquid, the second chamber draws the liquid from a windshield washer reservoir.
2. The liquid sensor cleaning system of claim 1 , wherein the partition comprises a piston that moves in response to the difference in the respective pressures associated with the first and the second chambers.
3. The liquid sensor cleaning system of claim 1 , wherein the biasing element comprises a mechanical spring.
4. The liquid sensor cleaning system of claim 1 , wherein:
the pressure transfer device further comprises one or more gas flow control devices that control the flow of the gas into and out of the first chamber; and
the liquid sensor cleaning system further comprises one or more liquid pressure sensors positioned to provide sensor readings of the liquid pressure in the pressurized volume of the liquid, the one or more gas flow control devices controlled based at least in part on the sensor readings of the liquid pressure in the pressurized volume of the liquid.
5. The liquid sensor cleaning system of claim 1 , wherein:
the one or more sensor cleaning units comprise a plurality of sensor cleaning units configured to respectively use the liquid to respectively clean a plurality of sensors of an autonomous vehicle;
the one or more flow control devices comprise a plurality of flow control devices that respectively control the flow of the liquid from the liquid tank to the plurality of sensor cleaning units; and
the plurality of flow control devices comprise a plurality of solenoids that are included in a solenoid manifold that is physically located within the pressurized volume of the liquid.
6. The liquid sensor cleaning system of claim 1 , wherein:
the one or more sensor cleaning units comprise a plurality of sensor cleaning units configured to respectively use the liquid to respectively clean a plurality of sensors of an autonomous vehicle;
the one or more flow control devices comprise a plurality of flow control devices that respectively control the flow of the liquid from the liquid tank to the plurality of sensor cleaning units; and
the sensor cleaning system further comprises one or more controllers that comprise one or more processors, the one or more controllers configured to:
determine that a first sensor of the plurality of sensors requires cleaning; and
individually control a first flow control device that corresponds to a first sensor cleaning unit that corresponds to the first sensor to allow the flow of the liquid to the first sensor cleaning unit to enable the first sensor cleaning unit to individually clean the first sensor with the liquid.
7. The liquid sensor cleaning system of claim 1 , further comprising:
a controller area network; and
one or more controllers that comprise one or more processors, the one or more controllers configured to transmit control signals on the controller area network to control the one or more flow control devices.
8. An autonomous vehicle, comprising:
one or more sensors; and
a sensor cleaning system that performs cleaning of the one or more sensors of the autonomous vehicle, the sensor cleaning system comprising:
one or more sensor cleaning units configured to respectively use a liquid to respectively clean the one or more sensors;
a liquid tank that holds a pressurized volume of the liquid;
one or more flow control devices that control a flow of the liquid from the liquid tank to the one or more sensor cleaning units; and
a pressure transfer device that uses a first volume of a gas to pressurize the liquid held in the liquid tank, wherein the pressure transfer device comprises:
a first chamber that holds the first volume of gas;
a second chamber that holds a second volume of the liquid, the second chamber fluidly connected to the liquid tank;
a partition physically located between the first chamber and the second chamber, the partition at least one of deformable and movable in response to a difference in respective pressures associated with the first and second chambers; and
a biasing element that biases the partition toward increasing the second volume of the liquid, wherein when the partition increases the second volume of the liquid, the second chamber draws the liquid from a windshield washer reservoir.
9. The autonomous vehicle of claim 8 , wherein:
the one or more sensor cleaning units comprise a plurality of sensor cleaning units configured to respectively use the liquid to respectively clean a plurality of sensors of an autonomous vehicle;
the one or more flow control devices comprise a plurality of flow control devices that respectively control the flow of the liquid from the liquid tank to the plurality of sensor cleaning units; and
the sensor cleaning system further comprises one or more controllers that comprise one or more processors, the one or more controllers configured to:
determine that a first sensor of the plurality of sensors requires cleaning; and
individually control a first flow control device that corresponds to a first sensor cleaning unit that corresponds to the first sensor to allow the flow of the liquid to the first sensor cleaning unit to enable the first sensor cleaning unit to individually clean the first sensor with the liquid.
10. A liquid sensor cleaning system that is gas-pressurized, the liquid sensor cleaning system comprising:
a plurality of sensor cleaning units configured to respectively use the liquid to respectively clean a plurality of sensors of an autonomous vehicle;
a liquid tank that holds a pressurized volume of the liquid;
a plurality of flow control devices that respectively control the flow of the liquid from the liquid tank to the plurality of sensor cleaning units, wherein the plurality of flow control devices comprise a plurality of solenoids that are included in a solenoid manifold that is physically located within the pressurized volume of the liquid; and
a pressure transfer device that uses a first volume of a gas to pressurize the liquid held in the liquid tank.