U.S. patent application number 16/455716 was filed with the patent office on 2020-01-02 for systems and methods for perception surface cleaning, drying, and/or thermal management with manifolds.
The applicant listed for this patent is SEEVA Technologies, Inc.. Invention is credited to Geoffrey F. Deane, Karen Harban, Nishant Hingne, Diane Lansinger, Jere R. Lansinger, Hrishikesh Pathak, Derrick Redding, Varun Rupchandani, Karthik Unnikrishnan, Ian Walp.
Application Number | 20200001832 16/455716 |
Document ID | / |
Family ID | 69007834 |
Filed Date | 2020-01-02 |
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United States Patent
Application |
20200001832 |
Kind Code |
A1 |
Deane; Geoffrey F. ; et
al. |
January 2, 2020 |
SYSTEMS AND METHODS FOR PERCEPTION SURFACE CLEANING, DRYING, AND/OR
THERMAL MANAGEMENT WITH MANIFOLDS
Abstract
Systems and methods for cleaning, drying, and thermally managing
vehicle components are described herein. In some embodiments, the
vehicle components can include various sensors and, more
particularly, the surfaces of cameras, LIDAR sensors, etc., that
need to be clean to effectively perceive the environment around the
vehicle. In one embodiment, a cleaning system includes a central
delivery system configured to route fluid, such as washer fluid,
along one or more delivery channels to remote holding chambers. The
holding chambers can hold and/or heat the fluid before delivering
the fluid to nozzles that spray the fluid on nearby vehicle
components to clean the components.
Inventors: |
Deane; Geoffrey F.;
(Bellevue, WA) ; Lansinger; Jere R.; (Camano
Island, WA) ; Redding; Derrick; (Ann Arbor, MI)
; Harban; Karen; (Seattle, WA) ; Rupchandani;
Varun; (Seattle, WA) ; Walp; Ian; (Seattle,
WA) ; Unnikrishnan; Karthik; (Seattle, WA) ;
Pathak; Hrishikesh; (Seattle, WA) ; Hingne;
Nishant; (Redmond, WA) ; Lansinger; Diane;
(Bellevue, WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SEEVA Technologies, Inc. |
Bellevue |
WA |
US |
|
|
Family ID: |
69007834 |
Appl. No.: |
16/455716 |
Filed: |
June 27, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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62690350 |
Jun 27, 2018 |
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62717583 |
Aug 10, 2018 |
|
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62731004 |
Sep 13, 2018 |
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62917825 |
Jan 4, 2019 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60S 1/52 20130101; G02B
27/0006 20130101; B08B 2203/0229 20130101; B60S 1/487 20130101;
B08B 3/02 20130101; B60S 1/0848 20130101; B60S 1/481 20130101; B60S
1/488 20130101; B08B 3/10 20130101; B60S 1/56 20130101; B08B
2203/007 20130101 |
International
Class: |
B60S 1/48 20060101
B60S001/48; B60S 1/56 20060101 B60S001/56; B08B 3/10 20060101
B08B003/10 |
Claims
1. A system for cleaning a perception component of a vehicle, the
system comprising: a manifold configured to receive a flow of fluid
and including a distribution valve, wherein the distribution valve
is movable between open and closed positions; a delivery conduit
fluidly connected to the manifold via the distribution valve; a
delivery component fluidly connected to the delivery conduit and
configured to deliver the fluid to the perception component of the
vehicle; and a controller configured to-- receive a signal from the
perception component indicating that the perception component has
an occlusion; and based on the signal indicating that the
perception component has an occlusion, send a control signal to the
manifold to move the distribution valve to the open position to
route the flow of the fluid through the delivery conduit and to the
delivery component for delivery to the fluid perception component
to clear the occlusion.
2. The system of claim 1 wherein the distribution valve is an
electrically-actuated solenoid valve configured to receive the
control signal from the controller.
3. The system of claim 1 wherein the delivery component is a nozzle
configured to spray the fluid against the perception component to
clear the occlusion.
4. The system of claim 1, further comprising a fluid heater fluidly
connected to the manifold.
5. The system of claim 4 wherein the manifold includes a three-way
valve that is actuatable to selectively route the flow of the fluid
(a) to the heater for heating or (b) to bypass the heater and
remain unheated.
6. The system of claim 4 wherein the heater is an electric heater,
a parasitic heater, or both an electric heater and a parasitic
heater.
7. The system of claim 1, further comprising a holding chamber
fluidly connected to the delivery conduit between the manifold and
the delivery component, wherein the holding chamber is configured
to hold a selected volume of the fluid proximate to the delivery
component.
8. The system of claim 7 wherein a connection portion of the
delivery conduit extends between the holding chamber and the
delivery component, wherein the delivery conduit is sized to
contain a volume of fluid corresponding to approximately 1/2 of the
volume of fluid dispensed in a pulse of the fluid delivered to the
perception component.
9. The system of claim 7 wherein the holding chamber includes an
electric heating element configured to heat the volume of the fluid
held therein.
10. The system of claim 1 wherein the fluid is washer liquid, and
further comprising: a reservoir configured to hold at least a
portion of the washer liquid; and a pump fluidly connected to the
reservoir and configured to pump the washer liquid from the
reservoir to the manifold and through the delivery conduit to the
delivery component.
11. The system of claim 1 wherein the fluid is air.
12. A method for cleaning perception components of a vehicle, the
method comprising: receiving, from a perception component of the
vehicle, a signal indicating that the perception component has an
occlusion; and based on the signal indicating that the perception
component has an occlusion, (a) opening a valve of a manifold to
fluidly connect a delivery conduit to the manifold and (b)
actuating a pump to flow a fluid through the manifold and along the
delivery conduit to a fluid delivery component configured to
deliver the fluid to the perception component to clear the
occlusion.
13. The method of claim 12 wherein the perception component is a
first perception component, wherein the valve is a first valve,
wherein the delivery conduit is a first delivery conduit, and
wherein the method further comprises: receiving, from a second
perception component of the vehicle, a signal indicating that the
second perception component has an occlusion; and based on the
signal indicating that the second perception component has an
occlusion, (a) opening a second valve of the manifold to fluidly
connect a second delivery conduit to the manifold and (b) actuating
the pump to flow the fluid through the manifold and along the
second delivery conduit to a delivery component configured to
deliver the fluid to the second perception component to clear the
occlusion.
14. The method of claim 13 wherein actuating the pump to flow the
fluid through the manifold and along the first delivery conduit and
the second delivery conduit includes flowing the fluid along the
first delivery conduit and the second delivery conduit
simultaneously.
15. The method of claim 12 wherein the method further comprises:
receiving, from the perception component, a signal indicating that
the perception component no longer has the occlusion; and based on
the signal indicating that the perception component no longer has
the occlusion, closing the valve to fluidly disconnect the delivery
conduit from the manifold to stop the delivery of the fluid to the
perception component.
16. The method of claim 12 wherein the method further comprises
heating the fluid before flowing the fluid along the delivery
conduit.
17. The method of claim 16 wherein heating the fluid includes (a)
actuating the pump to flow the fluid through the manifold and (b)
actuating a three-way valve of the manifold to route at least a
portion of the flow of the fluid through a heater.
18. A system for cleaning perception components of a vehicle, the
system comprising: a manifold including a plurality of valves
movable between open and closed positions, and wherein the manifold
is configured to receive a flow of fluid; a plurality of delivery
conduits fluidly connected to the manifold via corresponding ones
of the valves; a plurality of nozzles fluidly connected to
corresponding ones of the delivery conduits, wherein the nozzles
are configured to spray the fluid on corresponding ones of the
perception components of the vehicle; and a controller configured
to-- receive, from individual ones of the perception components, a
signal relating to washing of the perception component; and based
on the signal relating to washing of the perception component is
occluded, move the corresponding one of the valves to the open
position to route the flow of the fluid along the corresponding one
of the delivery conduits to the corresponding one of the nozzles to
spray the fluid on the perception component to clean the perception
component.
19. The system of claim 18 wherein the manifold is configured to be
positioned proximate to an engine compartment of the vehicle.
20. The system of claim 18, further comprising: a parasitic heater
fluidly connected to the manifold, wherein the parasitic heater is
configured to heat the fluid via heat exchange with an engine of
the vehicle; an electric heater fluidly connected to the manifold;
wherein the manifold includes a first three-way valve that is
actuatable to selectively route the flow of the fluid (a) to the
parasitic heater for heating or (b) to bypass the parasitic heater;
and wherein the manifold includes a second three-way valve that is
actuatable to selectively route the flow of the fluid (a) to the
electric heater for heating or (b) to bypass the electric
heater.
21. The system of claim 20 wherein the controller is further
configured to, based on a condition of the engine of the vehicle,
actuate either (a) the first three-way valve to route the flow of
the fluid to the parasitic heater or (b) the second three-way valve
to route the flow of the fluid to the electric heater.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to (i) U.S. Patent
Application No. 62/690,350, titled "SYSTEM FOR PERCEPTION SURFACE
CLEANING AND THERMAL MANAGEMENT," and filed Jun. 27, 2018; (ii)
U.S. Patent Application No. 62/717,583, titled "SELECTIVE DELIVERY
OF WASHER FLUID FOR TEMPERATURE CONTROL," and filed Aug. 10, 2018;
(iii) U.S. Patent Application No. 62/731,004, titled "COMBINED
SYSTEM OF HEATED WASHER FLUID AND FORCED GAS DRYING FOR VEHICLE
SURFACE CLEANING," and filed Sep. 13, 2018; and (iv) U.S. Patent
Application No. 62/917,825, titled "ELECTRIC WASHER FLUID HEATING
SYSTEM," and filed Dec. 31, 2018, each which is incorporated herein
by reference in its entirety.
TECHNICAL FIELD
[0002] The present technology relates to systems and methods for
cleaning vehicle components including perception surfaces, such as
sensors, windshields, mirrors, headlamps, etc.
BACKGROUND
[0003] Vehicle operation requires the ability to see. Historically,
this has meant that a human driver must be able to see around a
vehicle they are operating to safely operate the vehicle. However,
as automobiles, heavy trucks, and other vehicles have evolved over
time, so too have the systems and components that enable the
driver's ability to perceive the vehicle's surroundings. Examples
include the invention of windshields, windshield wipers, wiper
fluid, headlights, high beams, tail signals, stop signals, turn
signals, marker lights, rear and side view mirrors, window
defogging systems, window tinting, window shades, etc. More
recently, examples include sensors like backup cameras, radar, and
other advanced driver assistance systems (ADAS), which further
include LIDAR, FLIR night vision, sonar, etc. It is expected that
vehicles will increasingly rely on an array of perception sensors
like cameras and LIDAR to "see" and navigate. Accordingly, it is
expected that the safe and effective operation of vehicles will
increasingly depend upon reliable functioning of such perception
systems.
[0004] A vehicle's perception surfaces (e.g., windshield, mirrors,
headlamps, sensors, etc.) are affected by the environment in which
the vehicle operates. Common environmental obstructions include
snow, ice, mud, insect splatter, and bird droppings. A vehicle can
be expected to experience a variety of these situations in any
given trip, leading to frequent and fast-developing changes in its
ability to "see," as well as the driver's ability to see. Further,
vehicles are often stored outside in ever-changing environmental
situations. A common occurrence is windshield frost, which can be
difficult to manually remove, and which today's vehicle systems
often struggle to remove in less than ten minutes. This results in
vehicles being left to cold idle, which consumes fuel, results in
unnecessary vehicle emissions, and wastes drivers' time. Moreover,
some drivers may start driving prematurely--before having clear and
safe vision--increasing the likelihood of accidents.
[0005] Current vehicle designs may include several systems for
removing obstructions from perception surfaces, such as electric
heaters, warm air flow, specialized coatings, mechanical wipers,
wiper fluid, vibrating surfaces, and spinning surfaces. Electric
heaters, for example, often consist of thin wires embedded in
surfaces to be cleared of ice (e.g., a windshield) or in materials
put in contact with the surfaces, and can still require ten or more
minutes to effectively clear a surface. Moreover, such heaters
provide heat for deicing--but do not dissolve, mechanically remove,
or mobilize other obstructions away from the surface. In some
instances, such systems can add significantly to the cost of a
vehicle, particularly for surfaces, such as a windshield, that may
be damaged or replaced during a vehicle's lifetime.
[0006] Oppositely, wipers and fluid can dissolve, mobilize, and
mechanically remove some obstructions. However, they are inadequate
for many types of obstructions, and they do not provide thermal
energy to hasten removal of ice, snow, bug splatter, etc. Further,
washer fluid is commonly composed of water and up to 50% alcohol
(methanol or ethanol) to ensure that wiper fluid does not freeze or
"refreeze" after application (e.g., spraying)--which can reduce
visibility and/or damage the vehicle as the frozen fluid expands.
An unfortunate side effect of using alcohol is the strongly
inverted correlation between temperature and fluid viscosity. Cold
alcohol-water mixtures have been shown to have viscosity five (or
more) times higher than warm fluid, resulting in situations where
warm fluid sprays evenly across the windshield, but cold fluid
trickles out and only reaches a short distance from the spray
nozzles at greatly reduced flow rates. Therefore, it is highly
desirable to heat washer fluid before pumping it onto perception
surfaces of a vehicle.
[0007] One challenge with the use of washer fluid in surface
cleaning is that washer fluid is consumed in the process. Bottled
washer fluid (or additive concentrate added to water) can be
expensive, requires effort to replace, and washer fluid reservoirs
take space and add significant weight to a vehicle. Vehicle
engineers place a high premium on the weight and volume of
vehicular systems, especially when a vehicle's design borders on a
weight class limit. Systems that do not efficiently use washer
fluid will result in inconvenience and cost to the vehicle owner
and may not be readily implemented in automotive designs by
engineers. Therefore, it is highly desirable to utilize as little
washer fluid as possible in cleaning perception surfaces.
[0008] Moreover, washer fluid premixes can pollute the air, ground,
and water, which is becoming more problematic as the number of
vehicles in the world increases (presently there are over 1 billion
vehicles and growing). For example, the European Union (EU) has
passed strict restrictions on the amount of antifreeze that may be
in washer fluid. Therefore, vehicles in the EU commonly have
warming coils, electrically heated washer hoses, and/or
electrically heated nozzles to thaw and maintain washer fluid above
freezing. An associated problem with efficiently providing heated
fluid to perception surfaces without wasting fluid is that any
tubing carrying heated washer fluid from the heating source to the
point of application loses heat to the surrounding environment.
Even when fluid in this tubing is very hot, it quickly cools and
approaches ambient temperature. To subsequently deliver hot fluid
through the tubing, the previously cooled fluid must first be
removed from the tubing (e.g., via spraying) prior to the arrival
and delivery of hot fluid. Accordingly, more effective means to
economize on washer fluid usage and improve the efficiency of its
use have become a significant need for the future--especially where
autonomous or other vehicles may include many vehicle components
(e.g., 30 or more per vehicle) that require periodic cleaning.
[0009] Additionally, perception devices, such as high-resolution
electronic cameras, LIDAR systems, LED lighting system, etc.,
generate heat that can increase the operating temperatures of these
devices above their indicated operating ranges. Moreover, when
temperatures rise, the lifetime and performance of such devices
decrease. Similarly, other devices within a vehicle--such as those
containing batteries--must be maintained within certain temperature
ranges and can therefore benefit from heating. These temperature
constraints often present challenges with locating and mounting the
devices on a vehicle, and with the design and packaging of the
devices themselves. For example, devices that tend to overheat
typically require larger surface areas or even supplemental cooling
fins, such as those found on the back of LED headlights.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Many aspects of the present technology can be better
understood with reference to the following drawings. The components
in the drawings are not necessarily to scale. Instead, emphasis is
placed on clearly illustrating the principles of the present
technology.
[0011] FIG. 1 is a block diagram of a vehicle configured in
accordance with an embodiment of the present technology.
[0012] FIG. 2 is a schematic illustration of a perception surface
system configured in accordance with an embodiment of the present
technology.
[0013] FIG. 3 is a schematic illustration of a perception surface
cleaning system for cleaning one or more perception components
configured in accordance with an embodiment of the present
technology.
[0014] FIG. 4 is a schematic illustration of a perception surface
cleaning system including an in-line heater configured in
accordance with an embodiment of the present technology.
[0015] FIG. 5 is a schematic illustration of a perception surface
cleaning system for selectively cleaning one or more perception
components configured in accordance with an embodiment of the
present technology.
[0016] FIG. 6 is a schematic illustration of a perception surface
cleaning system for selectively cleaning one or more sensors with
heated fluid configured in accordance with an embodiment of the
present technology.
[0017] FIG. 7 is a schematic illustration of a perception surface
cleaning system for selectively cleaning one or more sensors with
heated fluid configured in accordance with another embodiment of
the present technology.
[0018] FIG. 8 is a schematic illustration of a perception surface
cleaning system for selectively cleaning one or more sensors with
heated fluid configured in accordance with another embodiment of
the present technology.
[0019] FIG. 9 is a schematic illustration of a perception surface
cleaning system for selectively cleaning one or more sensors with
heated fluid configured in accordance with another embodiment of
the present technology.
[0020] FIG. 10 is a schematic illustration of a perception surface
cleaning system for cleaning one or more sensors with heated fluid,
and for recirculating the heated fluid, configured in accordance
with an embodiment of the present technology.
[0021] FIG. 11 is a schematic illustration of a perception surface
cleaning system for cleaning one or more sensors with heated fluid,
and for recirculating the heated fluid, configured in accordance
with another embodiment of the present technology.
[0022] FIG. 12 is a schematic illustration of a perception surface
cleaning system for cleaning one or more sensors with heated fluid,
and for recirculating the heated fluid, configured in accordance
with another embodiment of the present technology.
[0023] FIG. 13 is a schematic illustration of a perception surface
cleaning system for cleaning one or more sensors with heated fluid,
and for recirculating the heated fluid, configured in accordance
with another embodiment of the present technology.
[0024] FIG. 14 is a schematic illustration of a perception surface
cleaning system for cleaning one or more sensors with heated fluid,
and for recirculating the heated fluid, configured in accordance
with another embodiment of the present technology.
[0025] FIG. 15 is a schematic illustration of a perception surface
cleaning and temperature control system configured in accordance
with an embodiment of the present technology.
[0026] FIG. 16 is a schematic illustration of a perception surface
cleaning and temperature control system configured in accordance
with another embodiment of the present technology.
[0027] FIG. 17 is a schematic illustration of a perception surface
cleaning and temperature control system configured in accordance
with another embodiment of the present technology.
[0028] FIG. 18 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with an
embodiment of the present technology.
[0029] FIG. 19 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with another
embodiment of the present technology.
[0030] FIG. 20 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with another
embodiment of the present technology.
[0031] FIG. 21 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with another
embodiment of the present technology.
[0032] FIG. 22 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with another
embodiment of the present technology.
[0033] FIG. 23 is a schematic illustration of a perception surface
cleaning and drying system configured in accordance with another
embodiment of the present technology.
[0034] FIG. 24 is a schematic illustration of a perception surface
cleaning, drying, and thermal management system configured in
accordance with an embodiment of the present technology.
[0035] FIG. 25 is a schematic illustration of a perception surface
cleaning, drying, and thermal management system configured in
accordance with another embodiment of the present technology.
[0036] FIG. 26 is a schematic illustration of a perception surface
cleaning system including multiple, hierarchically arranged
delivery systems configured in accordance with an embodiment of the
present technology.
[0037] FIG. 27 is a schematic illustration of a perception surface
cleaning system including multiple parallel delivery systems
configured in accordance with an embodiment of the present
technology.
[0038] FIG. 28 is a schematic illustration of a perception surface
cleaning system including multiple delivery systems configured in
accordance with another embodiment of the present technology.
[0039] FIG. 29 is a cross-sectional view of a fluid holding device
configured in accordance with an embodiment of the present
technology.
[0040] FIG. 30 is a cross-sectional view of a fluid heating device
configured in accordance with an embodiment of the present
technology.
[0041] FIG. 31 is a cross-sectional view of a fluid heating device
configured in accordance with another embodiment of the present
technology.
[0042] FIG. 32 is a cross-sectional view of a fluid heating and
forced airflow device configured in accordance with an embodiment
of the present technology.
[0043] FIG. 33 is a cross-sectional view of a fluid heating and
forced airflow device configured in accordance with another
embodiment of the present technology.
[0044] FIG. 34 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device configured in accordance
with another embodiment of the present technology.
[0045] FIG. 35 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device configured in accordance
with another embodiment of the present technology.
[0046] FIG. 36 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device configured in accordance
with another embodiment of the present technology.
[0047] FIG. 37 includes several cross-sectional views of
multi-lumen tubing for fluid and/or air delivery and/or
recirculation configured in accordance with embodiments of the
present technology.
[0048] FIG. 38 is a graph of fluid temperature versus time within a
washer fluid heating chamber in accordance with embodiments of the
present technology.
DETAILED DESCRIPTION
[0049] The following disclosure describes various embodiments of
systems and methods for cleaning, drying, and thermally managing
vehicle components, including surfaces of vehicle perception
components. In some embodiments, the perception surface vehicle
components can include one or more exterior surfaces of a vehicle's
perception component, such as a windshield, windows, lights,
mirrors, cameras, detectors, and other perception sensors or
features that may need to be clean to effectively perceive the
environment around the vehicle. In some embodiments, a perception
surface cleaning system includes a central delivery system
configured to route fluid, such as washer fluid, along one or more
delivery channels to remote holding chambers. The holding chambers
can hold and/or heat the fluid before delivering the fluid to
nozzles that spray the fluid on nearby perception surfaces to clean
the components.
[0050] Certain details are set forth in the following description
and in FIGS. 1-38 to provide a thorough understanding of various
embodiments of the present technology. In other instances,
well-known structures, materials, operations, and/or systems often
associated with vehicles, perception sensors, electromechanical
systems, fluid delivery systems (e.g., valves, manifolds, etc.),
etc., are not shown or described in detail in the following
disclosure to avoid unnecessarily obscuring the description of the
various embodiments of the technology. Those of ordinary skill in
the art will recognize, however, that the present technology can be
practiced without one or more of the details set forth herein, or
with other structures, methods, components, and so forth.
[0051] The terminology used below is to be interpreted in its
broadest reasonable manner, even though it is being used in
conjunction with a detailed description of certain examples of
embodiments of the technology. Indeed, certain terms may even be
emphasized below; however, any terminology intended to be
interpreted in any restricted manner will be overtly and
specifically defined as such in this Detailed Description
section.
[0052] The accompanying Figures depict embodiments of the present
technology and are not intended to be limiting of its scope. The
sizes of various depicted elements are not necessarily drawn to
scale, and these various elements may be arbitrarily enlarged to
improve legibility. Component details may be abstracted in the
Figures to exclude details such as position of components and
certain precise connections between such components when such
details are unnecessary for a complete understanding of how to make
and use the invention. Many of the details, dimensions, angles and
other features shown in the Figures are merely illustrative of
particular embodiments of the disclosure. Accordingly, other
embodiments can have other details, dimensions, angles and features
without departing from the spirit or scope of the present
invention. In addition, those of ordinary skill in the art will
appreciate that further embodiments of the invention can be
practiced without several of the details described below.
[0053] The headings provided herein are for convenience only and do
not necessarily affect the scope of the embodiments.
I. Overview
[0054] FIG. 1 is a block diagram of a vehicle 100 (e.g., an
automobile) configured in accordance with an embodiment of the
present technology. In the illustrated embodiment, the vehicle 100
includes a maneuvering system 102 (e.g., a system of vehicle
components configured to maneuver or physically displace the
vehicle) including a propulsion mechanism (e.g., an engine or a
motor), a directional mechanism (e.g., steerable wheels), a
deceleration mechanism (e.g., brakes, an opposing engine or motor,
etc.), and/or other related components. For example, for
automobiles, the maneuvering system 102 can include a drive train
(e.g., an engine and a transmission), a steering system directing
orientation of one or more wheels, a brake system, an external
indicator system (e.g., lights corresponding to the brake or a
lane-change operation), a drive-by-wire system, or a combination
thereof. In other embodiments, the vehicle 100 can be a water,
amphibious, or aerial vehicle, and the maneuvering system 102 could
include one or of rudders, flaps, movable propulsion mounts, or
other suitable components depending on the intended environment for
the vehicle.
[0055] In some embodiments, the vehicle 100 can include one or more
perception components 101 including visibility features 103. For
example, the visibility features 103 can include a windshield,
windows, mirrors, lights, and/or other surfaces of the vehicle 100.
Some or all of the visibility features 103 may require periodic
cleaning to, for example, improve the ability of an operator of the
vehicle 100 to see through the visibility features 103. The
perception components 101 also include perception sensors 108,
including cameras, detectors, and other sensors that include
external perception surfaces 109 that may be exposed to the
elements during operation of the vehicle.
[0056] The vehicle 100 further includes a vehicle component
cleaning, drying, and/or thermal management system 110 ("cleaning
system 110"; which can also be referred to as a fluid delivery
system, a perception surface cleaning system, a sensor cleaning
system, etc.). The cleaning system 110 is configured to clean, dry,
heat, and/or cool the sensors 108, the perception surfaces 109,
components of the maneuvering system 102, and/or other components
of the vehicle 100 (collectively "vehicle components"). The
cleaning system 110 can include one or more controllers 112
operably coupled to one or more fluid delivery components 114, such
as tubes, heaters, chillers, valves, manifolds, reservoirs, etc.,
as described in detail below with reference to FIGS. 2-38. In some
embodiments, all or portions of the maneuvering system 102, the
vehicle control system 104, and/or the cleaning system 110 can be
physically or functionally combined. For example, in some
embodiments the vehicle 100 can include a central (e.g., single)
controller for controlling both the maneuvering system 102 and the
cleaning system 110. Moreover, while the perception surfaces 109
and the sensors 108 are identified as separate components in FIG.
1, the sensors 108 can each include a "perception surface" for
receiving/transmitting signals (e.g., detecting light).
[0057] The controllers 112 of the cleaning system, and the
controllers 106 of the vehicle control system can include one or
more CPU(s) (processor) that can be a single processing unit or
multiple processing units in a device or distributed across
multiple devices. CPU can be coupled to other hardware devices, for
example, with the use of a bus, such as a PCI bus or SCSI bus. In
some implementations, the controllers can include a communication
device capable of communicating wirelessly or hard wired, with
features, such as sensors, valve manifolds as discussed below, or
other features related to the vehicle. The CPU can have access to a
memory in a device or distributed across multiple devices. A memory
includes one or more of various hardware devices for volatile and
non-volatile storage, and can include both read-only and writable
memory. For example, a memory can comprise random access memory
(RAM), CPU registers, read-only memory (ROM), and writable
non-volatile memory, such as flash memory, hard drives, floppy
disks, CDs, DVDs, magnetic storage devices, tape drives, device
buffers, and so forth. A memory is not a propagating signal
divorced from underlying hardware; a memory is thus non-transitory.
Memory can include program memory that stores programs and
software, such as an operating system, adaptive training system,
and other application programs. Memory can also include data memory
that can include power measurements, windowing data points,
critical power or finite work capacity determinations,
parameterized transformations for various workouts in terms of
work, adaptive workout programs based on ability functions,
configuration data, settings, user options or preferences, etc.,
which can be provided to the program memory or any element of the
vehicle component of the cleaning, drying and/or thermal management
system 110 of the present technology.
[0058] In some embodiments, the cleaning system 110 is configured
to selectively deliver fluid (e.g., washer fluid, air, etc.) to one
or more of the perception surfaces 109 to thereby clean the
perception components 101. In some embodiments, the cleaning system
110 pumps washer fluid and/ or air and delivers it to one or more
selected channels by, for example, opening or closing of one or
more valves. The valves may be located distant from each other or
may be co-located such as on a shared manifold. In some
embodiments, the control of flow in each channel may also be
directed through adjusting the position of a rotary valve. Each
channel comprises a fluid conduit through which the fluid flows
when pumped, delivering it to a nozzle or other application device
to clean one or more of the vehicle components. The fluid may be
heated prior to the pump, in between the pump and the one or more
valves, or anywhere along the length of the conduit carrying the
fluid from the one or more valves to the point of delivery. In some
embodiments, the cleaning system 110 may include a recirculating
function whereby warmed fluid may be routed through a channel to a
position proximate to its desired delivery point, and fluid located
at that point, which may have cooled over time, may be routed to
return to the washer fluid reservoir.
[0059] In some embodiments, the cleaning system 110 is configured
to selectively deliver a cooling fluid (e.g., washer fluid, air,
etc.) to one or more of the perception components 101, such as the
sensors 108 or other vehicle components, for thermal management
(e.g., cooling or heating). In some embodiments, the cleaning
system 110 can pump and deliver a cooling fluid, either at ambient
temperature or chilled by a fluid chiller, to one or more selected
channels by opening or closing selected valves. Each channel
comprises a conduit through which the cooling fluid flows when
pumped, delivering it to a heat exchanger located at the vehicle
component to be cooled. In some embodiments, the fluid chiller may
be a discrete device or may leverage an air conditioning system of
the vehicle 100 to chill the fluid and/or to provide dehumidified
air. In some embodiments, the cooling fluid may traverse a
recirculating path--wherein the cooling fluid (i) is delivered from
a central reservoir to the vehicle component to be chilled to
absorb heat from the component and (iii) subsequently returned to
the central reservoir.
[0060] In some embodiments, the cleaning system 110 is configured
to deliver fluid to one or more of the vehicle components for both
cleaning and thermal management. For example, one channel with a
single lumen can be configured to carry heated or cool washer
fluid, and heated or cooled air. The air may be ambient air and/or
dehumidified drying air, which may be provided via vehicle's air
conditioning system. In another example, one or more channels
carrying cooling fluid and/or air can be co-routed with one or more
channels carrying heated washer fluid, simplifying installation and
routing of the cleaning system 110 within the vehicle 100. In some
embodiments, the same fluid is operative at the same temperature
for both "warming" (e.g., permitting an effective occlusion wash
and dry function) and for "cooling" (e.g., for inhibiting one or
more of the sensors 108, such as cameras, from getting too hot). In
another embodiment, one or more channels can be configured to carry
a flow of air (ambient or dehumidified drying air) that is
delivered to a perception surface of, as an example, a sensor
108.
[0061] In some embodiments, the cleaning system 110 is further
configured to carry and deliver forced air (heated, dried (i.e.,
dehumidified), or ambient air) for delivery to destination points
proximate to the destination points of the heated washer fluid and
the cooling fluid (e.g., to the sensors 108). For example, forced
air may be used to dry the surface of one of the sensors 108 after
it has been cleaned by the delivery of washer fluid. In some
embodiments, the channels for forced air, washing fluid, and
cooling fluid can be coaxially located on the same conduit--for
example, where the inner channel carries washer fluid and the outer
channel carries air. The proximity of the channels can
advantageously allow heat transfer between the air and the liquid
washer fluid.
[0062] In some embodiments, the vehicle control system 104 and/or
the cleaning system 110 are configured as a closed-loop system. For
example, the sensors 108 can communicate with (e.g., send signals
to) the controller(s) 106 of the vehicle control system 104 and/or
the controller(s) 112 of the cleaning system 110 when the sensors
108 become occluded, exceed a threshold temperature, etc. That is,
for example, the vehicle control system 104 and/or the cleaning
system 110 can recognize that a particular one of the sensors 108
is not seeing properly, declare a fault, and initiate an attempt to
clear the fault. To clear the fault, the cleaning system 110 can
deliver washer fluid and/or forced air to the surface of the sensor
108 to clean the surface, and the vehicle control system 104 can
check the signal coming from the sensor 108 to determine whether
the obstruction has been cleared. Alternatively or additionally,
the vehicle control system 104 can engage the cleaning system 110
on a periodic basis without determining that an obstruction exists.
For example, forced air may be applied in response to a fault, or
it may be applied periodically, or even constantly as the flow of
air over the sensor surface may reduce the likelihood that the
sensor becomes obstructed. Similarly, the cleaning system 110 can
provide cooling on a periodic basis, or cooling may be provided on
a periodic basis in which the period varies with the activity of
the particular one of the sensors 108, with an ambient temperature,
etc. In some embodiments, for example where the vehicle control
system 104 is not fully autonomous, the operator of the vehicle 100
may make the determination that one of the vehicle components
(e.g., a backup camera, windshield, etc.) needs cleaning, and may
engage with the vehicle 100 to trigger the cleaning system 110 to
clean the sensor 108 or perception surface.
II. Selected Embodiments of Vehicle Component Cleaning Systems
[0063] In some embodiments of the present technology, a cleaning
system (e.g., the cleaning system 110) can be configured to heat
and deliver fluid, such as washer fluid, to one or more vehicle
components (e.g., the sensors 108 and/or the perception surfaces
109) to clean the vehicle components. In some embodiments, the
cleaning system 110 can include a centralized heater that heats the
washer fluid at a single location and then moves the heated fluid
to the point of delivery. In one aspect of the present technology,
such a centralized approach can reduce the number of required
components. In another aspect of the present technology, a
centralized heater enables parasitic heat recovery from other
localized heat sources, such as various components of the
maneuvering system 102 (e.g., an internal combustion engine of the
vehicle 100, an exhaust system of the vehicle 100, a warm battery
encasement of the vehicle 100, etc.) However, the washer fluid will
cool as it moves from the centralized heater to the point of
delivery, and will cool more the longer it takes to deliver the
washer fluid.
[0064] In other embodiments, the cleaning system 110 can heat the
washer fluid in a decentralized manner, where ambient temperature
fluid is moved to the desired application point (or near to it),
and then heat is applied. In one aspect of the present technology,
this decentralized approach benefits from less heat loss before
delivery but can require relatively more components than a
centralized heating system. Additionally, it is more difficult to
provide a high temperature source for heat exchange to a
distributed collection of application points.
[0065] The cleaning system 110 typically heats the washer fluid by
electric resistance heating, or by heat exchange from a high
temperature source. Electric heating utilizes electric power from
the vehicle 100, which is often tightly controlled and not widely
available, and the generation of which can adversely affect the
efficiency of the vehicle 100. Because of this, electric washer
fluid heaters are typically of relatively low continuous power.
However, such electric heaters also have the advantage of being
able to apply that power even when the vehicle 100 is cold, as it
may be when starting vehicle operation. By contrast, parasitic
heating, or the recovery of waste heat from the vehicle 100 via a
heat exchanger, can often provide many times as much heating power
as electric heaters. Additionally, as vehicles often have whole
systems designed to get rid of the waste heat, recovery of a small
amount has little to no effect on the vehicle 100. However, these
heaters generally require a high temperature heat source, which may
not be available for several minutes following vehicle start.
Accordingly, in some embodiments the cleaning system 110 includes a
hybrid parasitic-electric fluid heater that utilizes both electric
heating and parasitic heating. For example, the cleaning system 110
can utilize the electric heater when the heat exchanger cannot
provide heat (e.g., during and immediately after the vehicle 100 is
started), and can then shut off or minimize the electricity draw
from the vehicle 100 and rely on the plentiful waste heat once the
vehicle 100 provides heat (e.g., after the vehicle 100 has warmed
up).
[0066] The washer fluid is typically brought into the cleaning
system 110 at ambient temperature. In some embodiments, the
cleaning system 110 heats the washer fluid in-line--in which all
pumped fluid passes through the heater. For an electric heater, the
electric current can be shut off if no heating is desired. However,
for a parasitic heat exchanger heater, all fluid flowing through
the heat exchanger will exchange heat. In some embodiments, the
cleaning system 110 can include a valving system configured to
control the flow of the washer fluid to selectively direct all of
the washer fluid to the heater or to bypass the heater, or to
direct part of the fluid to the heater, part to bypass the heater,
and then recombine the flows.
[0067] In some embodiments, the cleaning system 110 includes
distributed electric heaters. In such embodiments, ambient
temperature fluid can be pumped through a rotary valve to select a
distribution channel, and thereby to select a desired vehicle
component destination for the fluid. Just before arrival at the
point of application, one of the distributed electric heaters can
selectively heat the fluid. For example, heating can be applied
through an electric resistance heating element to a small volume of
fluid in an in-line chamber located close to a spray nozzle. This
volume is sized to hold the approximate amount of fluid expected to
be used in cleaning that channel's perception surface. Generally,
the larger the surface to be cleaned, the larger the in-line heated
fluid volume. For example, the cleaning system 110 may be designed
to apply between 0.5-3 milliliters of heated fluid per square
centimeter of area.
[0068] The cleaning system 110 can include sensors to measure the
fluid temperature in the in-line chamber as well as in the electric
heating elements. A centralized controller (e.g., one or more of
the controllers 106 and/or 112) can receive the temperature signals
from each channel's sensors and apply or shut off electric current
to the channel's heating element such that desired temperatures are
achieved. In some embodiments, instead of controlling fluid
temperature within the in-line heating chamber using sensors and a
controller, a positive temperature coefficient heater may be used
which self-limits temperature by reducing heating as temperatures
rise. Heaters can be designed to apply enough power to heat fluid
from ambient to the desired delivery temperature in a desired
amount of time, usually less than 60 seconds. This enables the
vehicle components to be repetitively cleaned with properly heated
fluid. In some embodiments, the centralized controller can
selectively apply current to the channels' heaters to maintain
electric power usage within desired limits. In other embodiments,
heating may alternatively be applied to the tubing or conduit
carrying fluid towards a nozzle.
[0069] In some embodiments, the cleaning system 110 can include
multiple fluid channels that can be selected for fluid delivery to
different ones of the vehicle components via operation of a
collection of solenoid valves (e.g., a manifold). The controller
106 and/or the controller 112 can monitor power usage on each
channel and choose whether to provide power to each channel.
[0070] FIGS. 2-9 are schematic illustrations more specifically
illustrating various embodiments of closed-loop control cleaning
systems (e.g., sensor cleaning systems) for cleaning one or more
vehicle components (e.g., perception sensors) configured in
accordance with embodiments of the present technology. The detailed
description of each embodiment focuses mainly on those components
that are new/different as compared to other embodiments. However,
one skilled in the art will appreciate that the various embodiments
can (i) include the same or generally similar features (e.g.,
components, configurations, etc.), (ii) operate the same or
generally similarly, and/or (iii) that the various embodiments can
be combined. Moreover, one of ordinary skill in the art will
appreciate that the number of components can vary in the following
embodiments. For example, the systems of the present technology can
have any number of delivery channels, return channels, sensors,
heaters, chillers, heat exchangers, nozzles, etc.
[0071] FIG. 2 is a schematic illustration of a perception surface
cleaning system (e.g., a fluid delivery system) 210 configured in
accordance with an embodiment of the present technology. In the
illustrated embodiment, a washer fluid pump 204 is configured to
pump washer fluid 201 from a reservoir 202 through a delivery
channel 228 to a nozzle 217. The nozzle 217 is configured to spray
the washer fluid onto the perception surface to clean the sensor
218. In other embodiments, the nozzle 217 can be configured to
spray and clean the surface of another perception feature, such a
window, windshield, mirror, or other perception component, instead
of or in addition to the sensor 218. In the illustrated embodiment,
a controller 224 is operably/communicatively coupled to the pump
204 and the sensor 218. The controller 224 can receive signals from
the sensor 218 or otherwise determine that the sensor 218 is
occluded and can selectively engage the pump 204 to clean the
sensor 218 (e.g., the perception surface of the sensor 218). In
some embodiments, the controller 224 can selectively engage the
pump 204 by controlling an on/off state of the pump 204. In other
embodiments, the controller 224 can selectively engage the pump 204
by controlling/selecting a desired pumping flow rate corresponding
to a level of sensor occlusion, an ambient temperature, an amount
of fluid 201 remaining in the reservoir 202, and/or other
conditions. By this arrangement, the system 210 is configured for
closed-loop control and operation.
[0072] FIG. 3 is a schematic illustration of a vehicle component
cleaning system 310 for cleaning one or more sensors 318 configured
in accordance with an embodiment of the present technology. In the
illustrated embodiment, a washer fluid pump 304 is configured to
pump washer fluid 301 from a reservoir 302 and along a delivery
channel 328 to a flow splitter 303. The flow splitter 303 splits
the flow of washer fluid 301 for delivery to a plurality of nozzles
317 configured (e.g., positioned and shaped) to deliver the fluid
301 to/onto corresponding ones of the sensors 318. While the flow
splitter 303 is shown as splitting the fluid flow to three nozzles
317 in FIG. 3, in other embodiments the flow splitter 303 can split
the delivery channel 328 into any number of sub-channels. In the
illustrated embodiment, a controller 324 is
operably/communicatively coupled to the pump 304 and the sensors
318. When the controller 324 determines that any of the sensors 318
are occluded, the controller 324 may selectively engage the pump
304 (e.g., by controlling an on/off state, pumping rate, etc., of
the pump 304) to clean the surfaces of all the sensors 318. By this
arrangement, the system 310 is configured for closed-loop control
and operation.
[0073] FIG. 4 is a schematic illustration of a perception surface
cleaning system 410 including an in-line heater 412 configured in
accordance with an embodiment of the present technology. In the
illustrated embodiment, a washer fluid pump 404 is configured to
pump washer fluid 401 (i) from a reservoir 402 to the heater 412
and (ii) from the heater 412 along a delivery channel 428 to a
nozzle 417. The nozzle 417 is configured to spray the surface of a
perception sensor 418 or another vehicle component to clean the
sensor 418 or other vehicle component. In the illustrated
embodiment, a controller 424 is operably coupled to the sensor 418,
the heater 412, and a temperature sensor 425 configured to
measure/sense/detect a temperature of the fluid 401 at and/or
proximate to the heater 412. When the controller 424 determines
that the surface of the sensor 418 is occluded, the controller 424
can selectively engage the pump 404 to clean the surface of the
sensor 418. The controller 424 can also receive one or more
temperature signals from the temperature sensor 425 and/or the
heater 412 and may selectively engage the heater 412 based on the
measured temperature, the sensed occlusion of the perception sensor
418, and/or on some other input or combination of inputs to heat
the fluid 401 to a desired temperature. In some embodiments, the
controller 424 selectively engages the heater 412 by controlling an
on/off state of the heater 412, changing a power state of the
heater 412, etc. By this arrangement, the system 410 is configured
for closed-loop control and operation.
[0074] FIG. 5 is a schematic illustration of a perception surface
cleaning system 510 for selectively cleaning one or more sensors
518 configured in accordance with an embodiment of the present
technology. In the illustrated embodiment, a washer fluid pump 504
is configured to pump washer fluid 501 from a reservoir 502 to a
delivery system 506 (e.g., a manifold, a valve system, etc.) having
a plurality of distribution valves 508. The valves 508 can be
selectively opened/closed to permit the fluid 501 to flow along one
or more delivery channels 528 to nozzles 517 configured to deliver
the fluid 501 onto corresponding ones of the sensors 518 to clean
the sensors 518. In the illustrated embodiment, a controller 524 is
operably coupled to the delivery system 506 and to the sensors 518.
When the controller 524 determines that one or more of the sensors
518 are occluded, the controller 524 can selectively engage the
pump 504 and the associated distribution valves 508 to route the
fluid 501 to the nozzles 517 corresponding to the occluded sensors
518 to clean the corresponding occluded sensors 518. In one aspect
of the present technology, the system 510 can selectively clean
only those sensors 518 that are occluded--reducing the amount of
the washer fluid 501 consumed during operation. The controller 524
can be configured to apply one or more pulses of washer fluid to
the occluded sensor 518 and then communicate with the sensor 518
after each pulse to determine whether the perception surface of the
sensor 518 has been adequately cleaned. If not, additional pulses
of washer fluid can be directed onto the sensor 518.
[0075] FIG. 6 is a schematic illustration of a perception surface
cleaning system 610 for selectively cleaning one or more sensors
618 with heated fluid configured in accordance with an embodiment
of the present technology. In the illustrated embodiment, a washer
fluid pump 604 is configured to pump washer fluid 601 (i) from a
reservoir 602 to an in-line heater 612 and (ii) from the in-line
heater 612 to a delivery system 606 (e.g., a manifold, a valve
system, etc.) having a plurality of distribution valves 608. The
valves 608 can be selectively opened to permit the fluid 601 to
flow to one or more nozzles 617 configured to deliver the fluid 601
onto corresponding ones of the sensors 618 to clean the sensors
618. In the illustrated embodiment, the controller 624 selectively
activates one distribution valve 608 at a time to maintain adequate
fluid flow rate and pressure within the system. In other
embodiments, the controller 624 may activate more than one
distribution valves simultaneously. In the illustrated embodiment,
a controller 624 is operably coupled to the heater 612, a
temperature sensor 625 configured to detect the temperature of the
fluid 601 at and/or proximate to the heater 612, the delivery
system 606, and the sensors 618. When the controller 624 determines
that one or more of the perception sensors 618 are occluded, the
controller 624 can selectively engage the pump 604 and the
associated one or more of the distribution valves 608 to route the
fluid 601 to the nozzles 617 corresponding to the occluded sensors
618 to clean the corresponding occluded sensors 618. The controller
624 can also receive one or more temperature signals from the
temperature sensor 625 and/or the heater 612 and can selectively
engage the heater 612 based on the measured temperature, the sensed
occlusion of the sensors 618, and/or on some other input or
combination of inputs.
[0076] FIG. 7 is a schematic illustration of a perception surface
cleaning system 710 for selectively cleaning one or more sensors
718 with heated fluid configured in accordance with another
embodiment of the present technology. In the illustrated
embodiment, a washer fluid pump 704 is configured to pump washer
fluid 701 from a reservoir 702 to a delivery system 706 (e.g., a
manifold, valve system, etc.) having a plurality of distribution
valves 708. A washer fluid heater 712 is arranged in parallel to
the delivery system 706. The delivery system 706 is configured to
(i) selectively route the fluid 701 to the heater 712 for heating,
(ii) subsequently receive the heated fluid 701 from the heater 712,
and (iii) selectively route the heated/unheated fluid 701 from the
delivery system 706 to one or more nozzles 717 configured to
deliver the fluid 701 onto corresponding ones of the sensors 718 to
clean the sensors 718.
[0077] In the illustrated embodiment, a controller 724 is operably
coupled to the heater 712, a temperature sensor 725, the delivery
system 706, and the sensors 718. In some embodiments, the
controller 724 can control the delivery system 706 and the pump 704
to selectively route all the fluid 701 to the heater 712 or to
bypass the heater 712 and remain unheated. In other embodiments,
the delivery system 706 may direct only a first portion of the
fluid 701 to the heater 712 for heating. The first portion can
subsequently mix with a remaining second portion of the fluid 701
that bypasses the heater 712 within a volume of the delivery system
706 to achieve a fluid temperature in between that of the fluid 701
exiting the washer fluid reservoir 702 and the fluid 701 exiting
the heater 712. For example, in some embodiments the delivery
system 706 may contain a variable aperture valve to direct a
portion of the washer fluid to the heater 712. In other
embodiments, the delivery system 706 can include a three-way valve
that selectively connects (e.g., based on a control signal from the
controller 724) the pump 704 to (i) the volume within the delivery
system 706 and the distribution valves 708 or (ii) the heater 712.
In yet other embodiments, the various valves of the delivery system
706 can be individually controlled solenoid valves or may be
combined into a rotary valve system.
[0078] When the controller 724 determines that one or more of the
perception sensors 718 are occluded, the controller 724 can
selectively engage the pump 704 and the associated one or more of
the distribution valves 708 to route the fluid 701 to the nozzles
717 corresponding to the occluded sensors 718 to clean the
corresponding occluded sensors 718. The controller 724 can also
receive one or more temperature signals from the temperature sensor
725 and/or the heater 712 and can selectively engage the heater 712
and/or the delivery system 706 based on the measured temperature to
control the temperature of the fluid 701.
[0079] FIG. 8 is a schematic illustration of a perception surface
cleaning system 810 for selectively cleaning one or more sensors
818 with heated fluid configured in accordance with another
embodiment of the present technology. In the illustrated
embodiment, a washer fluid pump 804 is configured to pump washer
fluid 801 from a reservoir 802 to a delivery system 806 (e.g., a
manifold, valve system, etc.) having a plurality of distribution
valves 808. The valves 808 can be selectively opened to permit the
fluid 801 to be pumped to one or more fluid heaters 812 and from
the fluid heaters 812 to corresponding nozzles 817 configured to
deliver the fluid 801 onto corresponding ones of the sensors 818 to
clean the sensors 818. In one aspect of the present technology, the
fluid heaters 812 are located at or proximate to the corresponding
nozzles 817. In some embodiments, this can reduce the amount of
energy needed to heat the fluid 801 since the fluid 801 will not
decrease in temperature much between the heaters 812 and the
nozzles 817 as compared to, for example, systems with a centralized
heater (e.g., the embodiments illustrated in FIGS. 6 and 7). In
some embodiments, the fluid heaters 812 can have features generally
the same as or similar to those of the fluid heating devices
described in detail below with reference to FIGS. 30-36.
[0080] In the illustrated embodiment, a controller 824 is operably
coupled to the heaters 812, temperature sensors 825 configured to
measure the temperature of the fluid 801 at or proximate to the
heaters 812 (e.g., within the heaters 812), the delivery system
806, and the sensors 818. When the controller 824 determines that
one or more of the perception sensors 818 are occluded, the
controller 824 can selectively engage the pump 804 and the
associated one or more of the valves 808 to route the fluid 801 (i)
to the heaters 812 to heat the fluid 801 and (ii) from the heaters
812 to the nozzles 817 corresponding to the occluded sensors 818 to
clean the corresponding occluded sensors 818 with the heated fluid
801. The controller 824 can also receive one or more temperature
signals from the temperature sensors 825 and/or the heaters 812 and
can selectively engage the heaters 812 based on the measured
temperatures, the sensed occlusion of the sensors 818, and/or on
some other input or combination of inputs to vary the temperature
of the fluid delivered from the nozzles 817.
[0081] FIG. 9 is a schematic illustration of a perception surface
cleaning system 910 for selectively cleaning one or more sensors
918 with heated fluid configured in accordance with another
embodiment of the present technology. In the illustrated
embodiment, a washer fluid pump 904 is configured to pump washer
fluid 901 from a reservoir 902 to a delivery system 906 (e.g., a
manifold, a valve system, etc.) having a plurality of distribution
valves 908. A washer fluid heater 912 is arranged in parallel to
the delivery system 906. In the illustrated embodiment, the heater
912 is a parasitic heater (e.g., a heat exchanger) configured to
heat the fluid 901 by transferring/exchanging heat generated from
another system, such as a vehicle engine 914, to/with the fluid
901. More specifically, for example, heat can be provided to the
heater 912 by circulation of a higher temperature fluid, such as
engine coolant carrying heat away from the engine 914, or coolant
carrying heat away from other vehicular systems needing to be
cooled, such as batteries or other electronics in an electric
vehicle. For example, the heater can utilize heat from the engine's
coolant system, as described in U.S. Pat. Nos. 8,550,147 and
8,925,620, or in U.S. Patent Application Publication No.
2018/0162327, all of which are incorporated herein by reference.
The valves 908 and/or other valves (e.g., a three-way valve) can be
selectively opened/closed to permit the fluid 901 to flow (i) to
the heater 912 for heating, (ii) subsequently back into the
delivery system 906 from the heater 912, and/or (iii) from the
delivery system 906 and along one or more parallel delivery
channels 928 to one or more nozzles 917, which are configured to
deliver the fluid 901 onto corresponding ones of the sensors 918 to
clean the sensors 918.
[0082] In the illustrated embodiment, a controller 924 is operably
coupled to the pump 904, a temperature sensor 925 configured to
sense the temperature of the fluid 901 in and/or proximate to the
delivery system 906, the delivery system 906, and the sensors 918.
In some embodiments, the controller 924 can control the valves 908
and the pump 904 to selectively route all the fluid 901 to the
heater 912 or to bypass the heater 912 and remain unheated. In
other embodiments, the delivery system 906 may direct only a first
portion of the fluid 901 to the heater 912 for heating. The first
portion can subsequently mix with a remaining second portion of the
fluid 901 that bypasses the heater 912 to achieve a fluid
temperature in between that of the fluid 901 exiting the reservoir
902 and the fluid 901 exiting the heater 912. For example, the
delivery system 906 may contain a variable aperture valve to direct
a portion of the washer fluid to the heater 912. When the
controller 924 determines that one or more of the perception
sensors 918 are occluded, the controller 924 can selectively engage
the pump 904 and the associated one or more of the distribution
valves 908 to route the fluid 901 to the nozzles 917 corresponding
to the occluded sensors 918 to clean the corresponding occluded
sensors 918. The controller 924 can also receive one or more
temperature signals from the temperature sensor 925 and can
selectively engage the delivery system 906 based on the measured
temperature and/or other inputs, parameters, etc., to control the
temperature of the fluid 901.
III. Selected Embodiments of Perception Surface Cleaning Systems
Configured to Recirculate Heated Fluid
[0083] Referring again to FIG. 1, in some embodiments of the
present technology a cleaning system (e.g., the cleaning system
110) can be configured to heat and deliver fluid, such as washer
fluid, to one or more vehicle components such as the perception
components 101 (e.g., the sensors 108 and/or the perception
features 103) to clean the perception surfaces 109 while also
recirculating the heated fluid and maintaining the heated fluid
proximate to the vehicle components. For example, heat can be
applied to the fluid in a centralized location and subsequently
moved to a location near to a desired application point.
Periodically, as the fluid cools, the cleaning system 110 can move
newly heated fluid to the location near the application point and
return the cooled fluid to a centralized reservoir (e.g., proximate
to the heater). In one aspect of the present technology, such an
approach ensures that properly heated fluid is positioned at the
application point, while also prewarming the fluid reservoir.
However, such an approach requires periodic pumping to recirculate
the fluid and some level of valving to control the flow, and
therefore may be best suited for systems where heating is plentiful
and not costly to the performance of the vehicle 100.
[0084] In some embodiments, the cleaning system 110 includes a
"hybrid" heating source that transfers heat to the fluid via the
combination of a heat exchanger and an electric resistance heating
element. The heat exchanger provides heat from a hot coolant flow
to the washer fluid. The electric heating element provides
supplemental heating when it is desired. For example, when the
vehicle 100 is first started, the coolant may not be at a high
enough temperature to adequately heat the washer fluid via the heat
exchanger, and so supplemental heating using the electric heating
element may be desired. However, during operation of the vehicle
100, the heat exchanger may provide sufficient heating without the
need for supplemental heating via the electric heating element.
[0085] In some embodiments, the cleaning system 110 includes a
rotary valve which directs the flow of heated fluid to a selected
channel. Each channel can be coupled to a distribution nozzle
configured to spray and clean a vehicle component. In operation,
when a channel is selected, heated fluid flows along the channel's
conduit to a point very close to the distribution nozzle, wherein
it enters a small holding chamber which can be better insulated
than the conduit. The volume of the holding chamber can be sized to
hold the approximate amount of fluid expected for one or two pulses
of fluid delivery to be used in cleaning that channel's perception
sensor or perception surface (e.g., the larger the surface to be
cleaned, the larger the volume). For example, the cleaning system
110 (e.g., the holding chambers) may be designed to apply between
0.5-3 milliliters per square centimeter of area during a single
cleaning spray. The holding chamber can also include a heating
element, such as an electric heating element configured to heat the
small volume of fluid within the chamber for delivery to the
associated perception surface 109. In such a configuration, the
power draw required to heat the small volume of fluid is
minimal.
[0086] In some embodiments, individual ones of the holding chambers
can have one inlet port through which heated fluid enters, and two
outlet ports. The first outlet port can connect to a conduit which
returns fluid back to the rotary valve, and from there to a washer
fluid reservoir. In some embodiments, the conduit carrying heated
fluid to the holding chamber and the conduit carrying fluid back to
the rotary valve can be combined in a dual-lumen tube to simplify
mounting and routing of the tubing within the vehicle 100. The
second outlet port of the holding chamber can carry heated fluid
from the holding chamber to a valve, and from the valve to the
distribution nozzle. In some embodiments, the valve is a one-way
valve which requires an elevated pressure to open. In operation,
the rotary valve can selectively recirculate fluid through a
selected channel by (i) opening flow from the rotary valve to the
holding chamber and (ii) opening a valve in the fluid path of the
conduit returning fluid back to the rotary valve, while a
recirculation pump is operating. To spray fluid from a distribution
nozzle, the rotary valve can (i) open the flow to the selected
channel but (ii) close the valve in the fluid path of the conduit
returning fluid back to the rotary valve, while the pump is
operating. In this case, pressure in the conduit exceeds the
pressure required to open the one-way valve positioned near the
distribution nozzle, causing the valve to open, and driving the
fluid through the nozzle. As the heated fluid from the holding
chamber is dispensed, additional fluid is pumped from the main
fluid reservoir, through the heater (e.g., the parasitic heater),
through the valve manifold, to the holding chamber and toward the
nozzle. Once the one-way valve near the distribution nozzle is
closed, the flow of fluid will refill the holding chamber.
[0087] In some embodiments, each return channel is fit with a
one-way check valve and connected into one common flow path such
that flow through individual ones of the return channels can be
opened or closed by a single, common return valve in the common
flow path. The return valve--which closes during spraying--can be
an elastomeric open bill duckbill valve which faces the bill into
the flow stream and automatically self closes upon facing a high
flow generated by the (e.g., more powerful) spraying pump. In some
embodiments, the one-way check valves are selected in combination
with the diameter of the return flow tubing to ensure that the
restriction in the return flow paths is less than the pressure
required to open the one-way valves positioned proximate to the
distribution nozzles. In some embodiments, a centralized controller
operates the washer fluid pump and the valves. In other
embodiments, controllable check valves can be used that allow
multiple return channels to be combined and controlled, for example
by a single solenoid valve connected to the controller. The
controller can receive an ambient temperature signal from a sensor
positioned near one of the holding channels or from the vehicle
100, and can use a preset function or look-up table to select the
frequency and length of time each channel should be recirculated to
maintain temperatures in the holding chambers within desired
targets.
[0088] In other embodiments, the cleaning system 110 can include a
central, electric heating element or heat exchanger instead of a
hybrid system. In such embodiments, the selective distribution of
washer fluid to channels may be accomplished by a collection of
solenoid valves, which may be collectively located on one or more
flow manifolds. The holding chambers may be replaced with Y- or
T-shaped branches in the flow path, such that hot fluid is simply
held in the line feeding into the junction. A check valve before
the nozzle may be replaced with a controlled solenoid valve. Each
return tube may be equipped with its own return valve. Each channel
may be equipped with a temperature sensor connected to a central
controller to enable direct monitoring of temperature before the
valve and decision making as to frequency of recirculation of that
channel. Additionally, as semi-warmed fluid may be returned to the
washer fluid reservoir, temperature sensors may measure the
temperature of the coolant entering and exiting the heating source,
and that information may be utilized in determining frequency of
recirculation. Alternatively, a single temperature sensor could be
added to the common return tube, after each return tube's check
valve and after the flow paths have been combined into a single
path. By measuring this temperature while recirculating fluid, the
system may adaptively learn the appropriate frequency of
recirculation of that channel.
[0089] FIGS. 10-14 are schematic illustrations more specifically
illustrating various embodiments of closed-loop control cleaning
systems (e.g., sensor cleaning systems) for cleaning one or more
vehicle components (e.g., perception sensors) while recirculating
heated fluid configured in accordance with embodiments of the
present technology. The detailed description of each embodiment
focuses mainly on those components that are new/different as
compared to other embodiments. However, one skilled in the art will
appreciate that the various embodiments can (i) include the same or
generally similar features (e.g., components, configurations,
etc.), (ii) operate the same or generally similarly, and/or (iii)
that the various embodiments can be combined. Further, one skilled
in the art will appreciate that the various embodiments discussed
with reference to FIGS. 10-14 can (i) include the same or generally
similar features (e.g., components, configurations, etc.) as those
embodiments discussed with reference to FIGS. 2-9, (ii) operate the
same or generally similarly as those embodiments discussed with
reference to FIGS. 2-9, and/or (iii) that the various embodiments
can be combined with each other and/or the embodiments discussed
with reference to FIGS. 2-9. Moreover, one of ordinary skill in the
art will appreciate that the number of components can vary in the
following embodiments. For example, the systems of the present
technology can have any number of delivery channels, return
channels, sensors, heaters, chillers, heat exchangers, nozzles,
etc.
[0090] FIG. 10 is a schematic illustration of a perception surface
cleaning system 1010 for cleaning one or more perception sensors
1018 with heated fluid, and for recirculating the heated fluid,
configured in accordance with an embodiment of the present
technology. In the illustrated embodiment, a washer fluid pump 1004
is configured to pump washer fluid 1001 from a reservoir 1002 to a
delivery system 1006 (e.g., a valve system, manifold, etc.) having
a plurality of distribution valves 1008. A parasitic heater 1012 is
arranged in parallel to the delivery system 1006 and configured to
heat the fluid 1001 by transferring heat generated by a vehicle
engine 1014 (or other system) to the fluid 1001. The valves 1008
and/or one or more additional valves of the delivery system 1006
(e.g., a 3-way bypass valve) can be selectively opened/closed to
permit the fluid 1001 to flow (i) to the heater 1012 for heating
and subsequently back into the delivery system 1006 and/or (ii)
from the delivery system 1006 and along one or more parallel
delivery channels 1028 to corresponding holding chambers 1016. As
described in detail above, the delivery system 1006 can selectively
route all, none, or a portion of the fluid 1001 to the heater 1012
to heat the fluid 1001 to a desired temperature before directing
the fluid 1001 to one or more of the holding chambers 1016.
[0091] In the illustrated embodiment, each of the holding chambers
1016 is fluidly connected to a nozzle 1017 via a three-way
pre-nozzle valve 1019. The three-way pre-nozzle valve 1019 is
configured to selectively fluidly connect the holding chamber 1016
to (i) the nozzle 1017 or (ii) a return channel 1026 configured to
return the fluid 1001 to the reservoir 1002 and/or the delivery
system 1006. The return channels 1026 can be coupled to the
delivery system 1006 (e.g., to return the fluid 1001 thereto)
and/or to the reservoir 1002 (e.g., to return the fluid 1001
thereto). In some embodiments, the holding chamber 1016 is
configured to hold a volume of fluid of between about one and five
times the volume of the fluid 1001 generally delivered via the
nozzles 1017 to the sensors 1018. In one aspect of the present
technology, the holding chambers 1016 allow the system 1010 to
deliver the heated fluid 1001 when needed and for the volume to be
quickly flushed and replaced with warmer fluid 1001 when
recirculated. In some embodiments, the holding chambers 1016 can
have a lower ratio of surface area to volume than the delivery
channels 1028 through which the fluid 1001 generally flows, such
that the fluid 1001 cools more slowly in the holding chambers 1016
than in the delivery channels 1028. In some embodiments, the
holding chambers 1016 can include heating elements and/or can be
thermally insulated to reduce the rate of heat loss from the fluid
1001.
[0092] In the illustrated embodiment, a controller 1024 is operably
coupled to the pump 1004, a temperature sensor 1025 configured to
sense the temperature of the fluid 1001 in and/or proximate to the
delivery system 1006, the delivery system 1006, the three-way
pre-nozzle valves 1019, and the sensors 1018. Periodically, the
controller 1024 can recirculate the fluid 1001 in one or more of
the delivery channels 1028 to ensure that the fluid 1001 within the
holding chambers 1016 is within a desired temperature range. More
specifically, to recirculate the fluid 1001 within the delivery
channels, the controller 1024 can (i) open the corresponding
distribution valves 1008 to pump the fluid 1001 into the selected
delivery channels 1028 to move the fluid 1001 from the holding
chambers 1016 into the three-way pre-nozzle valves 1019, and (ii)
actuate the three-way pre-nozzle valves 1019 to route the fluid
1001 into the return channels 1026. The controller 1024 can elect
to recirculate the fluid 1001 in one or more the holding chambers
1016 based on signals received from the temperature sensor 1025, an
elapsed time, an ambient temperature, and/or other information. In
some embodiments, the controller 1024 can also control the pump
1004 to pump the fluid 1001 at a rate selected for fluid
recirculation and may choose to heat the fluid 1001 to different
temperatures by selectively routing a portion of the flow to the
heater 1012 (e.g., based on signals received from the temperature
sensor 1025). These parameters may be varied for each of sensors
1018 and the corresponding delivery channels 1028. When the
controller 1024 determines that one or more of the perception
sensors 1018 are occluded, the controller 1024 can selectively
engage the pump 1004 and the associated one or more of the
distribution valves 1008 to route the fluid 1001 along the selected
delivery channels 1028 to the nozzles 1017 corresponding to the
occluded sensors 1018 to clean the corresponding occluded sensors
1018.
[0093] In the illustrated embodiment, the holding chambers 1016 are
positioned proximate to the corresponding nozzles 1017 to minimize
a channel distance/volume therebetween. In one aspect of the
present technology, the volume of the fluid 1001 held between the
holding chambers 1016 and the nozzles 1017 is not recirculated
(e.g., because it is positioned beyond the three-way pre-nozzle
valves 1019) and therefore must be ejected from the nozzles 1017
before heated fluid is delivered. Thus, positioning the holding
chambers 1016 proximate to the corresponding nozzles 1017 can
minimize the inefficient ejection of cooled fluid 1001.
Additionally, by locating the holding chambers 1016 and the
three-way pre-nozzle valves 1019 close to the nozzles 1017, the
time required to initiate and to complete a dose of washer fluid
1001 is reduced.
[0094] In some embodiments, to simplify plumbing of the
flow-containing channels of the sensor cleaning system 1010, each
channel is constructed of dual lumen tubing 1029 (shown in
cross-section in FIG. 10), wherein one lumen contains the fluid
1001 traveling from the delivery system 1006 to the three-way
pre-nozzle valve 1019, and the other lumen carries the fluid 1001
traveling from the three-way pre-nozzle valve 1019 to the delivery
system 1006 and/or the reservoir 1002. That is, the delivery
channels 1028 and the return channels 1026 can be combined in the
dual lumen tubing 1029. In some embodiments, dual lumen tubing can
be used to transport the fluid 1001 between the delivery system
1006 and the heater 1012.
[0095] FIG. 11 is a schematic illustration of a perception surface
cleaning system 1110 for cleaning one or more perception sensors
1118 with heated fluid, and for recirculating the heated fluid,
configured in accordance with another embodiment of the present
technology. In the illustrated embodiment, a washer fluid pump 1104
is configured to pump washer fluid 1101 from a reservoir 1102 to a
delivery system 1106 (e.g., a manifold, valve system, etc.) having
a plurality of delivery valves 1108 and a plurality of return
valves 1120. In some embodiments, one or more of the delivery
valves 1108, the return valves 1120, and/or other valves of the
delivery system 1106 can be individually controlled solenoid valves
or can be combined into a rotary valve system. A parasitic heater
1112 is arranged in parallel to the delivery system 1106 and
configured to heat the fluid 1101 by transferring heat generated by
a vehicle engine 1114 (or other system) to the fluid 1101. The
delivery valves 1108 and/or one or more other valves (e.g., a 3-way
bypass valve) can be selectively opened/closed to permit the fluid
1101 to flow (i) to the heater 1112 for heating and subsequently
back into the delivery system 1106 and/or (ii) from the delivery
system 1106 and along one or more parallel delivery channels 1128
to corresponding holding chambers 1116. As described in detail
above, the delivery system 1106 can selectively route all, none, or
a portion of the fluid 1101 to the heater 1112 to heat the fluid
1101 to a desired temperature before directing the fluid 1101 to
one or more of the holding chambers 1116.
[0096] In the illustrated embodiment, each of the holding chambers
1116 is fluidly connected to a nozzle 1117 via a pre-nozzle check
valve 1121. The nozzles 1117 are configured to distribute or spray
the fluid 1101 onto corresponding ones of the sensors 1118 to clean
the sensors 1118 (e.g., clear the sensors 1118 of occlusions). The
pre-nozzle check valves 1121 are configured to selectively fluidly
connect the holding chambers 1116 to corresponding (i) ones of the
nozzles 1117 or (ii) return channels 1126 configured to return the
fluid 1101 to the reservoir 1102 and/or the delivery system 1106.
The return channels 1126 can be coupled to the delivery system 1106
(e.g., to return the fluid 1101 thereto) and/or to the reservoir
1102 (e.g., to return the fluid 1101 thereto). For example, in the
illustrated embodiment the return valves 1120 are fluidly coupled
to corresponding ones of the return channels 1126.
[0097] A controller 1124 can be operably coupled to the pump 1104,
a temperature sensor 1125 configured to sense the temperature of
the fluid 1101 in and/or proximate to the delivery system 1106, the
delivery system 1106, and the sensors 1118. Periodically, the
controller 1124 can recirculate the fluid 1101 in one or more of
the delivery channels 1128 to ensure that the fluid 1101 within the
holding chambers 1116 is within a desired temperature range. More
specifically, to recirculate the fluid 1101 within a selected one
of the holding chambers 1116, the controller 1124 can open both the
delivery valve 1108 and the return valve 1120 of the delivery
system 1106 that correspond to the selected one of the holding
chambers 1116. This permits the fluid 1101 to return along the
corresponding return channel 1126, as the pressure at the
pre-nozzle check valve 1121 remains below the cracking pressure of
the pre-nozzle check valve 1121. When the return valve 1120 is
open, the pre-nozzle check valve 1121 is closed such that the fluid
1101 does not exit the nozzle 1117. When the controller 1124
determines that one or more of the perception sensors 1118 are
occluded, the controller 1124 can selectively engage the pump 1104
and the associated one or more of the delivery valves 1108 to route
the fluid 1101 along the selected delivery channels 1128 to the
nozzles 1117 corresponding to the occluded sensors 1118 to clean
the corresponding occluded sensors 1118. Specifically, with the
return valves 1120 closed, the pressure at the pre-nozzle check
valves 1121 exceeds the cracking pressures of the pre-nozzle check
valves 1121--allowing the fluid 1101 to pass therethrough to the
nozzles 1117. As described in detail above, the delivery channels
1128, the return channels 1126, and/or other components of the
system 1110 can comprise a dual lumen tubing 1129 (shown in
cross-section in FIG. 11).
[0098] FIG. 12 is a schematic illustration of a perception surface
cleaning system 1210 for cleaning one or more sensors 1218 with
heated fluid, and for recirculating the heated fluid, configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, a washer fluid pump 1204 is configured
to pump washer fluid 1201 from a reservoir 1202 to a delivery
system 1206 having a plurality of delivery valves 1208 and a
plurality of return valves 1220. A parasitic heater 1212 and an
electric heater 1213 are arranged (i) in series with each other and
(ii) in parallel (e.g., to form a hybrid parasitic-electric heater)
with the delivery system 1206. The parasitic heater 1212 is
configured to heat the fluid 1201 by transferring heat generated by
a vehicle engine 1214 (or other system) to the fluid 1201, while
the electric heater 1213 is configured to receive the fluid 1201
(heated or unheated) from the parasitic heater 1212 and heat the
fluid 1201 via, for example, a resistive heating element. The
delivery valves 1208 and/or one or more other valves (e.g., a 3-way
bypass valve) can be selectively opened/closed to permit the fluid
1201 to flow to (i) the parasitic heater 1212 and electric heater
1213 for heating and subsequently back into the delivery system
1206 and/or (ii) from the delivery system 1206 and along one or
more parallel delivery channels 1228 to corresponding holding
chambers 1216.
[0099] In the illustrated embodiment, each of the holding chambers
1216 is fluidly connected to a nozzle 1217 via a pre-nozzle check
valve 1221. The nozzles 1217 are configured to distribute or spray
the fluid 1201 onto corresponding ones of the sensors 1218 to clean
the sensors 1218 (e.g., to clear the sensors 1218 of occlusions).
The pre-nozzle check valves 1221 are configured to selectively
fluidly connect the holding chambers 1216 to corresponding (i) ones
of the nozzles 1217 or (ii) return channels 1226 configured to
return the fluid 1201 to the delivery system 1206 via the return
valves 1220.
[0100] A controller 1224 can be operably coupled to the pump 1204,
a first temperature sensor 1225 configured to sense the temperature
of the fluid 1201 in and/or proximate to the delivery system 1206,
the delivery system 1206, and the sensors 1218. Periodically, the
controller 1224 can recirculate the fluid 1201 in one or more of
the delivery channels 1228 to ensure, that the fluid 1201 within
the holding chambers 1216 is within a desired temperature range.
More specifically, as described in detail above, the controller
1224 can control the delivery valves 1208 and the return valves
1220 of the delivery system 1206 to control recirculation and
disbursement of the fluid 1201. For example, when the pump 1204
moves the fluid 1201 through the delivery valves 1208 and along the
delivery channels 1228, the pre-nozzle check valves 1221 are (i)
open to permit the fluid 1201 to be forced through the nozzles 1217
when the return valves 1220 are closed and (ii) closed to cause the
fluid 1201 to be forced through the return channels 1226 when the
return valves 1220 are open. The delivery channels 1228, the return
channels 1226, and/or other components of the system 1210 can
comprise a dual lumen tubing 1229 (shown in cross-section in FIG.
12).
[0101] In some embodiments, the controller 1224 is also operably
coupled to a second temperature sensor 1231 configured to
sense/detect a temperature of the fluid 1201 at and/or proximate to
the electric heater 1213. When fluid circulating between the engine
1214 and the parasitic heater 1212 is not hot (e.g., when the
engine 1214 is not hot after a vehicle incorporating the engine
1214 first starts up), the parasitic heater 1212 may not
sufficiently heat the washer fluid 1201. In this case, the
controller 1224 can receive a temperature signal from the second
temperature sensor 1231 indicating that the fluid 1201 is below a
threshold temperature, and can selectively activate the electric
heater 1213 to provide supplemental heating to the washer fluid
1201 before it returns to the delivery system 1206. In some
embodiments, the controller 1224 is configured to selectively
disengage the electric heater 1213 when the hot fluid 1201
recirculating between the engine 1214 and the parasitic heater 1212
is sufficiently warm (e.g., after a predetermined time period, when
the vehicle is put into drive, and/or under some other
condition).
[0102] FIG. 13 is a schematic illustration of a perception surface
cleaning system 1310 for cleaning one or more perception sensors
1318 with heated fluid, and for recirculating the heated fluid,
configured in accordance with another embodiment of the present
technology. In the illustrated embodiment, a washer fluid pump 1304
is configured to pump washer fluid 1301 from a reservoir 1302 to a
delivery system 1306 having a plurality of delivery valves 1308 and
a plurality of return valves 1320. A parasitic heater 1312 and an
electric heater 1313 are individually connected to the delivery
system 1306. The parasitic heater 1312 is configured to heat the
fluid 1301 by transferring heat generated by a vehicle engine 1314
(or other system) to the fluid 1301, while the electric heater 1313
is configured to heat the fluid 1301 via, for example, a resistive
heating element. More specifically, one or more of the delivery
valves 1308 and/or one or more other valves (e.g., a 3-way bypass
valve) can be opened to route all, none, or a portion of the fluid
1301 to the parasitic heater 1312 and/or to the electric heater
1313. For example, in some embodiments all the fluid 1301 can be
routed to the parasitic heater 1312 for heating, and can be routed
to the electric heater 1313 only if the parasitic heater 1312 is
unable to heat the fluid 1301 to a predetermined temperature. In
other embodiments, a first portion of the fluid 1301 can be routed
to the parasitic heater 1312 and a second portion of the fluid 1301
can be routed to the electric heater 1313. The first and second
portions can have the same or different volumes. That is, the
delivery system 1306 can selectively route the fluid 1301 to the
electric heater 1313, the parasitic heater 1312, to neither, or to
both.
[0103] Regardless of the one of or combination of the parasitic
heater 1312 and the electric heater 1313 used to heat the fluid
1301, the delivery valves 1308 can be selectively opened/closed to
permit the heated fluid 1301 to flow to from the delivery system
1306 and along one or more parallel delivery channels 1328 to
corresponding holding chambers 1316. In the illustrated embodiment,
each of the holding chambers 1316 is fluidly connected to a nozzle
1317 via a pre-nozzle check valve 1321. The nozzles 1317 are
configured to distribute or spray the fluid 1301 onto corresponding
ones of the sensors 1318 to clean the sensors 1318 (e.g., to clear
the sensors 1318 of occlusions). The pre-nozzle check valves 1321
are configured to selectively fluidly connect the holding chambers
1316 to corresponding (i) ones of the nozzles 1317 or (ii) return
channels 1326 configured to return the fluid 1301 to the delivery
system 1306 via the return valves 1320.
[0104] A controller 1324 can be operably coupled to the pump 1304,
a first temperature sensor 1325 configured to sense the temperature
of the fluid 1301 in and/or proximate to the delivery system 1306,
the delivery system 1306, and the sensors 1318. Periodically, the
controller 1324 can recirculate the fluid 1301 in one or more of
the delivery channels 1328 to ensure, that the fluid 1301 within
the holding chambers 1316 is within a desired temperature range.
More specifically, as described in detail above, the controller
1324 can control the delivery valves 1308 and the return valves
1320 of the delivery system 1306 to control recirculation and
disbursement of the fluid 1301. For example, when the pump 1304
moves the fluid 1301 through the delivery valves 1308 and along the
delivery channels 1328, the pre-nozzle check valves 1321 are (i)
open to permit the fluid 1301 to be forced through the nozzles 1317
when the return valves 1320 are closed and (ii) closed to cause the
fluid 1301 to be forced through the return channels 1326 when the
return valves 1320 are open. The delivery channels 1328, return
channels 1326, and/or other components of the system 1310 can
comprise a dual lumen tubing 1329 (shown in cross-section in FIG.
13).
[0105] In some embodiments, the controller 1324 is also operably
coupled to a second temperature sensor 1331 configured to
sense/detect a temperature of the fluid 1301 at and/or proximate to
the electric heater 1313. When fluid circulating between the engine
1314 and the parasitic heater 1312 is not hot (e.g., when the
engine 1314 is not hot after a vehicle incorporating the engine
1314 first starts up), the parasitic heater 1312 may not
sufficiently heat the washer fluid 1301. In this case, the
controller 1324 can receive a temperature signal from the second
temperature sensor 1331 indicating that the fluid 1301 is below a
threshold temperature, and can operate the delivery system 1306 to
selectively direct all or a portion of the fluid 1301 to the
electric heater 1313 to sufficiently heat the fluid 1301. In some
embodiments, the controller 1324 is configured to selectively
disengage the electric heater 1313 when the hot fluid recirculating
between the engine 1314 and the parasitic heater 1312 is
sufficiently warm (e.g., after a predetermined time period, when
the vehicle is put into drive, and/or under some other
condition).
[0106] FIG. 14 is a schematic illustration of a perception surface
cleaning system 1410 for cleaning one or more perception sensors
1418 with heated fluid, and for recirculating the heated fluid,
configured in accordance with another embodiment of the present
technology. In the illustrated embodiment, a washer fluid pump 1404
is configured to pump washer fluid 1401 from a reservoir 1402 to a
delivery system 1406 having a plurality of delivery valves 1408 and
a single return valve 1420. A parasitic heater 1412 is arranged in
parallel with the delivery system 1406 and configured to heat the
fluid 1401 by transferring heat generated by a vehicle engine 1414
(or other system) to the fluid 1401. The delivery valves 1408
and/or one or more other valves (e.g., a 3-way bypass valve) can be
selectively opened/closed to permit the fluid 1401 to flow to (i)
the heater 1412 for heating and subsequently back into the delivery
system 1406 and/or (ii) from the delivery system 1406 and along one
or more parallel delivery channels 1428 to corresponding holding
chambers 1416. As described in detail above, the delivery system
1406 can selectively route all, none, or a portion of the fluid
1401 to the heater 1412 to heat the fluid 1401 to a desired
temperature before directing the fluid 1401 to one or more of the
holding chambers 1416.
[0107] In the illustrated embodiment, each of the holding chambers
1416 is fluidly connected to a nozzle 1417 via a pre-nozzle check
valve 1421. The nozzles 1417 are configured to distribute or spray
the fluid 1401 onto corresponding ones of the perception sensors
1418 to clean the sensors 1418 (e.g., to clear the sensors 1418 of
occlusions). The pre-nozzle check valves 1421 are configured to
selectively fluidly connect the holding chambers 1416 to
corresponding (i) ones of the nozzles 1417 or (ii) return channels
1426 configured to return the fluid 1401 to the reservoir 1402
and/or the delivery system 1406. In the illustrated embodiment,
each of the return channels 1426 includes a return check valve
1432, and the return channels 1426 are merged together via a return
T-connector 1434 into a single channel received by the single
return valve 1420 of the delivery system 1406. In some embodiments,
the delivery channels 1428, the return channels 1426, and/or other
components of the system 1410 can comprise a dual lumen tubing 1429
(shown in cross-section in FIG. 14).
[0108] A controller 1424 can be operably coupled to the pump 1404,
a temperature sensor 1425 configured to sense the temperature of
the fluid 1401 in and/or proximate to the delivery system 1406, the
delivery system 1406, and the sensors 1418. Periodically, the
controller 1424 can recirculate the fluid 1401 in one or more of
the delivery channels 1428 to ensure, that the fluid 1401 within
the holding chambers 1416 is within a desired temperature range.
More specifically, to recirculate the fluid 1401 within one or more
of the holding chambers 1416 and the delivery channels 1428, the
controller 1424 can open (i) selected ones of the delivery valves
1408 and (ii) the return valve 1420. In this case, when the pump
1404 moves the fluid 1401 through the delivery valves 1408 and
along the delivery channels 1428, the fluid 1401 in the holding
chambers 1416 is forced along the return channels 1426, through the
return check valves 1432, through the return T-connector 1434, and
through the return valve 1420 of the delivery system 1406. Because
the return valve 1420 is open during recirculation, the pressure in
the holding chambers 1416 does not exceed the threshold pressure
required to open the pre-nozzle check valves 1421. In one aspect of
the present technology, the dimensions (e.g., length, diameter,
etc.) of the return check valves 1432, the return T-connector 1434,
the return valve 1420, and the return channels 1426 (e.g., tubing)
is selected to limit the pressure drop in this flow path. This can
ensure that the pressure at the pre-nozzle check valves 1421 does
not exceed the cracking pressure of these valves during
recirculation--which would permit the fluid 1401 to pass
therethrough. The return check valves 1432 are configured to
inhibit or prevent back flow of the fluid 1401 from, for example,
the delivery system 1406 into the return channels 1426 during
recirculation.
[0109] When the controller 1424 determines that one or more of the
perception sensors 1418 are occluded, the controller 1424 can close
the return valve 1420 and selectively engage the pump 1404 and the
associated one or more of the delivery valves 1408 to route the
fluid 1401 along the selected delivery channels 1428 to the nozzles
1417 corresponding to the occluded sensors 1418 to clean the
corresponding occluded sensors 1418. Specifically, when the pump
1404 is activated with the return valve 1420 closed, the pressure
in the delivery channels 1428 can increase until pressure at the
pre-nozzle check valves 1421 exceeds the cracking pressures of the
pre-nozzle check valves 1421--allowing the fluid 1401 to pass
therethrough to the nozzles 1417.
IV. Selected Embodiments of Systems for Cleaning and Thermally
Managing Vehicle Components
[0110] As set forth above, many vehicle components require or can
benefit from surface cleaning with a fluid (e.g., heated washer
fluid). Often, the same vehicle components and/or other proximate
components can also benefit from temperature control. For example,
in some instances one component requires surface cleaning while a
different nearby component requires cooling. When these components
are near to each other, it can be advantageous to provide a
combined system for cleaning and thermal management. Accordingly,
referring again to FIG. 1, in some embodiments of the present
technology a cleaning system (e.g., the cleaning system 110) can be
configured to deliver fluid, such as washer fluid, to one or more
vehicle components (e.g., the sensors 108 and/or the perception
surfaces 109) to both thermally manage (e.g., heat and/or cool) the
vehicle components and to clean the vehicle components. In one
aspect of the present technology, the present technology can
advantageously use the same or generally similar components to
route and distribute fluid for cleaning and temperature control.
For example, the cleaning system 110 can be configured to route
warmed fluid or cooled fluid to components of the vehicle 100,
utilizing the same or similar washer fluid reservoir, washer fluid,
fluid pump, delivery system, distribution tubing, controller,
temperature sensors, etc., as described in detail above with
reference to FIGS. 2-14.
[0111] Washer fluid commonly used in vehicles is frequently a mix
of water and up to 50% alcohol by volume (e.g., methanol
(CH.sub.3OH) or ethanol (C.sub.2H.sub.6O), depending on local
regulations). Such washer fluid is commonly used across a range of
temperatures from -30-65.degree. C., and has well understood
thermal properties including a heat capacity between 3.0-4.1 joules
per milliliter per degree Celsius, depending on the temperature and
composition of the washer fluid. Because of its broad operating
temperature range and reasonably high heat capacity, such washer
fluid may serve as a heat transfer medium in addition to a surface
cleaning solution.
[0112] In some embodiments, the cleaning system 110 (e.g., a sensor
cleaning and temperature control system) is configured to pump
washer fluid from a fluid reservoir and deliver the fluid to a
distribution system comprising valves, pathways directing fluid
flow, sensors, and connectors. Fluid within the distribution system
may be selectively routed by the actuation of valves to be heated,
to be cooled, or to do neither (e.g., leaving the fluid at ambient
temperature or a temperature of the fluid in the reservoir). The
distribution system can selectively route this fluid to one or more
selected channels (e.g., tubes, conduits, etc.) that direct the
fluid to a selected destination (e.g., to one of the components of
the vehicle 100) for cleaning and/or temperature control. In some
embodiments, the channels are selected by opening or closing one or
more valves. The valves may be located distant from each other or
near each other. For example, the valves can be
electrically-actuated solenoid valves mounted to or built into a
shared manifold. In other embodiments, the control of flow in each
channel may be directed through adjusting the position of one or
more multi-position valves such as rotary valves or may be directed
through the combination of different types of valves such as rotary
valves and solenoid valves.
[0113] In some embodiments, heated washer fluid may be highly
desirable for cleaning perception components or other vehicle
components during particular times of the year, such as when
ambient temperatures are low, and snow and ice can occlude
perception surfaces. In contrast, cooled washer fluid may be highly
desirable for cooling the same vehicle components during times of
the year when ambient temperatures are higher. Further, some
vehicle components may require cooling at the same times of the
year that their surfaces require cleaning, necessitating the
delivery of both hot and cold fluid.
[0114] In some embodiments, the cleaning system 110 is configured
to deliver fluid for temperature control and for cleaning at
different locations on or features of a vehicle component. For
example, cleaning fluid may be sprayed on the lens of a camera,
while temperature control fluid may pass through a heat exchanger
mounted to the rear or the side of the camera. Similarly, cleaning
fluid may be sprayed on the surface of a headlamp, while
temperature control fluid may pass through a heat exchanger mounted
to the rear or one of the sides of the headlamp.
[0115] In some embodiments, the cleaning system 110 includes a
recirculating function including, for example, any of the
components, features, and/or configurations described in detail
above with reference to FIGS. 10-14. For example, in some
embodiments the cleaning system 110 can (i) route fluid to a fluid
heater and then through a channel to a position proximate a desired
delivery point, and (ii) selectively route the fluid from the
position proximate the delivery point, where it may have cooled
over time, to return to the washer fluid reservoir. By this
arrangement/method, warm fluid is maintained proximate to a desired
point of delivery. Similarly, when component cooling is desired,
the fluid may be routed to a chiller and then through a channel to
a heat exchanger on the component to be cooled, and then returned
to the fluid reservoir. The channel which carries the warmed fluid
may be the same as the channel which carries the cooled fluid, or
warmed and cooled fluids may be carried in separate channels.
[0116] In one aspect of the present technology, the cleaning system
110 can thermally manage vehicle components intended to be fully
hermetically sealed, but that may not be completely sealed (e.g.,
100%) during operation. More particularly, complete hermetic
sealing is desirable to protect internal electrical/electronic
componentry of perception sensors such as cameras (which are
expected to be the most common type of perception sensor in
vehicles) and headlamp assemblies. However, if the sealing is not
perfect, contaminants (e.g., dust) and moisture can degrade the
performance of these components. For example, condensation on the
internal and/or external surfaces of a camera can cause temporary
and permanent malfunction of the camera. Likewise, cold camera
lenses or headlamp lenses can condense moisture in the form of
water droplets, which eventually dry out and leave a film on the
internal side of the lens. With headlamps, such contaminants can
cause oncoming glare to approaching vehicles, while also
deteriorating visibility for the driver of the offending vehicle.
With cameras, any condensed moisture or traces of dust or film on
the inside of the camera lens can make it difficult to generate a
clear image.
[0117] More specifically, electronic cameras (e.g., as used in
vehicle camera perception systems) can be particularly susceptible
to permanent internal electrical malfunction when moisture
condenses on electric/electronic circuitry and causes electrolysis
corrosion that can interfere with and damage this circuitry.
Moreover, such corrosion can also generate oxidation gasses that
condense on the inside surface of the camera lens--further
degrading the camera. Such electrolysis/corrosion can happen at an
increased rate in higher population and industrial areas which
commonly precipitate atmospheric dust that, when combined with
condensed water, can form an electrolyte and result in accelerated
electrolysis corrosion.
[0118] Similarly, whenever a cold vehicle enters a warm ambient
environment (which will often contain higher levels of air moisture
than cold outside air)--as might happen when a car operating on a
cold winter day enters a warm garage, parking structure, or service
area--the higher moisture ambient air will tend to condense as
water droplets on the cold surfaces of the vehicle, including those
of the perception cameras. In a reverse manner, when a car that has
been parked inside a warm garage drives outside into cold air, the
warm higher moisture air contained within the car--and thus within
vehicle perception cameras or sensors--will tend to condense into
water and interrupt camera/sensor function. Even though electronic
cameras generate some heat, the rate of heat generation may not be
great enough to prevent condensation or to quickly dry out
moisture. Accordingly, in one aspect of the present technology, the
cleaning system 110 can provide thermal heating to such cameras
and/or other vehicle components to rapidly warm the cameras to
reduce the above-noted deleterious effects of condensation.
[0119] FIGS. 15-17 are schematic illustrations more specifically
illustrating various embodiments of closed-loop systems for
cleaning and temperature control of vehicle components configured
in accordance with embodiments of the present technology. The
detailed description of each embodiment focuses mainly on those
components that are new/different as compared to other embodiments.
However, one skilled in the art will appreciate that the various
embodiments can (i) include the same or generally similar features
(e.g., components, configurations, etc.), (ii) operate the same or
generally similarly, and/or (iii) that the various embodiments can
be combined. Further, one skilled in the art will appreciate that
the various embodiments discussed with reference to FIGS. 15-17 can
(i) include the same or generally similar features (e.g.,
components, configurations, etc.) as those embodiments discussed
with reference to FIGS. 2-14, (ii) operate the same or generally
similarly as those embodiments discussed with reference to FIGS.
2-14, and/or (iii) that the various embodiments can be combined
with each other and/or the embodiments discussed with reference to
FIGS. 2-14. Moreover, one of ordinary skill in the art will
appreciate that the number of components can vary in the following
embodiments. For example, the systems of the present technology can
have any number of delivery channels, return channels, sensors,
heaters, chillers, heat exchangers, nozzles, etc.
[0120] FIG. 15 is a schematic illustration of a perception surface
cleaning and temperature control system 1510 configured in
accordance with an embodiment of the present technology. In the
illustrated embodiment, a washer fluid pump 1504 is configured to
pump washer fluid 1501 from a reservoir 1502 to a delivery system
1506 (e.g., a manifold, valve system, etc.) having a plurality of
delivery valves 1508 and a plurality of return valves 1520. A fluid
heater 1512 and a fluid cooler or chiller 1540 are individually
connected to the delivery system 1506. The fluid heater 1512 can
comprise a parasitic heater configured to heat the fluid 1501 by
transferring heat generated by a vehicle engine (or other system)
to the fluid 1501, an electric heater configured to heat the fluid
1501 via a resistive heating element, another type of heater,
and/or a combination of heaters (e.g., including an electric heater
and a parasitic heater). In some embodiments, the fluid cooler 1540
is configured to cool the fluid 1501 via exchange with a cold
fluid, such as air or liquid cooled by an air conditioning system
of a vehicle. One or more of the delivery valves 1508 and/or one or
more other valves (e.g., a 3-way bypass valve) can be opened to
route all, none, or a portion of the fluid 1501 to the heater 1512
and/or to the fluid cooler 1540. For example, a first portion of
the fluid 1501 can be routed to the fluid heater 1512 and a second
portion of the fluid 1501 can be routed to the fluid cooler 1540.
The first and second portions can have the same or different
volumes. In other embodiments, all of the fluid 1501 can be routed
to the heater 1512, such as when only heated fluid is
required/desirable. Put differently, the fluid 1501 can be
selectively directed to the fluid heater 1512, the fluid cooler
1540, to neither, or to both.
[0121] Regardless of the one or more combinations of the fluid
heater 1512 and the fluid cooler 1540 used to heat/cool the fluid
1501, the delivery valves 1508 can be selectively opened/closed to
permit the heated/cooled fluid 1501 to flow from the delivery
system 1506 and along one or more parallel delivery channels 1528
to corresponding pre-sensor valves 1523. The pre-sensor valves 1523
are configured to selectively fluidly connect each of the delivery
channels 1528 to (i) a nozzle 1517 configured to spray the fluid
1501 onto a corresponding perception sensor 1518 or (ii) a heat
exchanger 1542 configured to heat and/or cool the sensor 1518 by
generating a temperature differential between the fluid 1501
therein and the sensor 1518. In the illustrated embodiment, the
nozzle 1517 and the heat exchanger 1542 clean and cool/heat,
respectively, the same component--the sensor 1518. In other
embodiments, the nozzle 1517 and the heat exchanger 1542 can
operate with respect to different vehicle components. For example,
the nozzle 1517 could be configured to clean the sensor 1518 (e.g.,
a camera) while the heat exchanger 1542 could be configured to cool
a different nearby component (e.g., another camera, a sensor,
etc.). As further shown in FIG. 15, return channels 1526 fluidly
connect the heat exchangers 1542 to the return valves 1520 of the
delivery system 1506 and are configured to return the fluid 1501 to
the delivery system 1506 and/or the reservoir 1502.
[0122] A controller 1524 can be operably coupled to the pump 1504,
a temperature sensor 1525 configured to sense the temperature of
the fluid 1501 in and/or proximate to the delivery system 1506, the
delivery system 1506, the sensors 1518, and/or the pre-sensor
valves 1523. In operation, the controller 1524 is configured to
receive a signal (e.g., a signal 1544) from one or more of the
sensors 1518 and determine whether the sensors 1518 require
cleaning and/or thermal management. Based on the determination, the
controller 1524 can operate the pump 1504 (e.g., by sending a
control signal 1546) and the delivery system 1506 to selectively
heat and/or cool the fluid 1501 before opening one or more of the
delivery valves 1508 to route the heated/cooled fluid 1501 along
the delivery channels 1528 corresponding to the sensors 1518
requiring cleaning and/or thermal management. The controller 1524
can then operate (e.g., actuate) the pre-sensor valves 1523 to
selectively direct the fluid 1501 to the nozzles 1517 and/or the
heat exchangers 1542. Any of the fluid 1501 directed to the heat
exchangers 1542 is subsequently returned to the delivery system
1506 and/or the reservoir 1502 via the return valves 1520.
[0123] In some embodiments, one or more of the delivery valves
1508, the return valves 1520, and/or other valves of the delivery
system 1506 can be individually controlled solenoid valves or can
be combined into a rotary valve system. In some embodiments, the
delivery channels 1528, the return channels 1526, and/or other
components of the system 1510 can comprise a dual lumen tubing 1529
(shown in cross-section in FIG. 15).
[0124] FIG. 16 is a schematic illustration of a perception surface
cleaning and temperature control system 1610 configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, a washer fluid pump 1604 is configured
to pump washer fluid 1601 from a reservoir 1602 to a delivery
system 1606 having a plurality of first delivery valves 1608a, a
plurality of second delivery valves 1608b, a plurality of first
return valves 1620a, and a plurality of second return valves 1620b.
A fluid heater 1612 and a fluid cooler or chiller 1640 are
individually connected to the delivery system 1606. One or more of
the first delivery valves 1608a, the second delivery valves 1608b,
and/or other valves (e.g., a 3-way bypass valve) can be opened to
route all, none, or a portion of the fluid 1601 to the fluid heater
1612 and/or to the fluid cooler 1640 to selectively heat/cool the
fluid 1601.
[0125] In the illustrated embodiment, the first delivery valves
1608a can be selectively opened/closed to permit the heated/cooled
fluid 1601 to flow from the delivery system 1606 and along one or
more parallel first delivery channels 1628a to corresponding heat
exchangers 1642. The heat exchangers 1642 can be configured to heat
and/or cool nearby perception sensors 1618. First return channels
1626a fluidly connect the heat exchangers 1642 to the first return
valves 1620a of the delivery system 1606 and are configured to
return the fluid 1601 to the delivery system 1606 and/or the
reservoir 1602. By this arrangement, the fluid 1601 routed to the
heat exchangers 1642 is recirculated within the system 1610. The
second delivery valves 1608b can be selectively opened/closed to
permit the heated/cooled fluid 1601 to flow from the delivery
system 1606 and along one or more parallel second delivery channels
1628b to pre-nozzle delivery valves 1623. Each of the pre-nozzle
delivery valves 1623 is configured to selectively route the fluid
1601 to (i) a nozzle 1617 configured to spray the fluid 1601 onto a
corresponding one of the perception sensors 1618 or (ii) a second
return channel 1626b configured to return the fluid 1601 to the
delivery system 1606 and/or the reservoir 1602 via the second
return valves 1620b. The pre-nozzle delivery valves 1623 can be
three-way valves (e.g., three-way solenoid valves), check valves,
and/or other types of valves. As described in detail above with
reference to FIGS. 10-14, the pre-nozzle delivery valves 1623 allow
for the fluid 1601 in the second delivery channels 1628b to be
recirculated back into the delivery system 1606 and/or the
reservoir 1602 to be heated again. Moreover, in some embodiments,
the system 1610 can include fluid holding chambers (e.g., insulated
chambers configured to hold a volume of the fluid 1601 that is
between about 1-5 times greater than the expected volume of the
fluid 1601 to be delivered by the nozzles 1617) fluidly connected
to the second delivery channels 1628b. In some such embodiments,
the fluid holding chambers can be positioned near the nozzles 1617
and before the pre-nozzle delivery valves 1623.
[0126] A controller 1624 can be operably coupled to the pump 1604,
a temperature sensor 1625 configured to sense the temperature of
the fluid 1601 in and/or proximate to the delivery system 1606, the
delivery system 1606, the sensors 1618, and/or the pre-nozzle
delivery valves 1623. In operation, the controller 1624 is
configured to receive a signal (e.g., a signal 1644) from one or
more of the sensors 1618 and determine whether the sensors 1618
require cleaning and/or thermal management. Based on the
determination, the controller 1624 can operate the pump 1604 (e.g.,
by sending a control signal 1646) and the delivery system 1606 to
selectively heat and/or cool the fluid 1601 before opening one or
more of the first delivery valves 1608a and/or the second delivery
valves 1608b to route the heated/cooled fluid 1601 along the first
delivery channels 1628a and/or the second delivery channels 1628b
corresponding to the sensors 1618 requiring cleaning and/or thermal
management. More specifically, for example, if one the sensors 1618
requires thermal management, the controller 1624 can actuate (e.g.,
open) the corresponding one of the first delivery valves 1608a to
route the fluid 1601 along the first delivery channel 1628a to the
heat exchanger 1642. Similarly, if one the sensors 1618 requires
cleaning, the controller 1624 can actuate the corresponding one of
the second delivery valves 1608b to route the fluid 1601 along the
second delivery channel 1628b to the pre-nozzle delivery valve
1623. If the pre-nozzle delivery valve 1623 is a
controller-actuatable valve (e.g., a three-way solenoid valve), the
controller 1624 can control the pre-nozzle delivery valve 1623 to
route the fluid to the nozzle 1617 for cleaning the sensor 1618. If
the pre-nozzle delivery valve 1623 is a check valve or other
passive valve, the controller 1624 can control the delivery system
1606 to close the corresponding one of the second return valves
1620b such that that the pressure in the second delivery channel
1628b exceeds the cracking pressure of the pre-nozzle delivery
valve 1623, allowing the fluid 1601 to exit through the nozzle
1617.
[0127] In some embodiments, the controller 1624 is configured to
determine that recirculation of the fluid 1601 second delivery
channels 1628b is needed or desirable based on a temperature signal
received from the temperature sensor 1625 or another temperature
sensor (e.g., positioned along one of the second delivery channels
1628b or at a holding chamber coupled thereto). In other
embodiments, the controller 1624 can periodically recirculate the
second delivery channels 1628b or can base the determination that
recirculation is needed on another input or criteria. If the
pre-nozzle delivery valves 1623 are controller-actuatable valves
(e.g., three-way solenoid valves), the controller 1624 can
recirculate the fluid 1601 in the second delivery channels 1628b by
controlling the pre-nozzle delivery valves 1623 to route the fluid
1601 to the second return channels 1626b. If the pre-nozzle
delivery valves 1623 are check valves or other passive valves, the
controller 1624 can recirculate the fluid 1601 in the second
delivery channels 1628b by controlling the delivery system 1606 to
open the second return valves 1620b such that that the pressure in
the second delivery channels 1628b does not exceed the cracking
pressure of the pre-nozzle delivery valves 1623, preventing the
fluid 1601 from exiting through the nozzles 1617 and allowing the
fluid 1601 to flow into the second return channels 1626b.
[0128] In some embodiments, the first delivery channels 1628a, the
second delivery channels 1628b, the first return channels 1626a,
the second return channels 1626b, and/or other components of the
system 1610 can comprise a four-lumen tubing 1649 (shown in
cross-section in FIG. 16). In some embodiments, the four-lumen
tubing 1649 can be co-extruded. Such an arrangement can reduce the
number of tubes/conduits required to service each of the sensors
1618.
[0129] FIG. 17 is a schematic illustration of a perception surface
cleaning and temperature control system 1710 configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, a washer fluid pump 1704 is configured
to pump washer fluid 1701 from a reservoir 1702 to a delivery
system 1706 (e.g., a manifold) having a plurality of first delivery
valves 1708a, a plurality of second delivery valves 1708b, and a
plurality of return valves 1720. A fluid heater 1712 and a fluid
cooler or chiller 1740 are individually connected to the delivery
system 1706. One or more of the first delivery valves 1708a, the
second delivery valves 1708b, and/or other valves (e.g., a 3-way
bypass valve) can be opened to route all, none, or a portion of the
fluid 1701 to the fluid heater 1712 and/or to the fluid cooler 1740
to heat/cool the fluid 1701. As described in detail above, the
first delivery valves 1708a can be selectively opened/closed to
permit the heated/cooled fluid 1701 to flow from the delivery
system 1706 and along one or more parallel first delivery channels
1728a to corresponding heat exchangers 1742 configured to heat
and/or cool nearby perception sensors 1718. First return channels
1726a are fluidly connected to the heat exchangers 1742 and are
configured to receive the fluid 1701 after it has been
heated/cooled by the heat exchangers 1742. The second delivery
valves 1708b can be selectively opened/closed to permit the
heated/cooled fluid 1701 to flow from the delivery system 1706 and
along one or more parallel second delivery channels 1728b to
pre-nozzle delivery valves 1723 (e.g., controller-operable solenoid
valves, check valves, etc.). Each of the pre-nozzle delivery valves
1723 is configured to selectively route the fluid 1701 to (i) a
nozzle 1717 configured to spray the fluid 1701 onto a corresponding
one of the sensors 1718 or (ii) a second return channel 1126b.
[0130] In the illustrated embodiment, each of the first return
channels 1726a includes a first return check valve 1732a and each
of the second return channels 1726b includes a second return check
valve 1732b. The first return channels 1726a and the second return
channels 1726b corresponding to the same one of the sensors 1718
are merged together via a return T-connector 1734 into a single
return channel 1748 received by a corresponding one of the return
valves 1720 of the delivery system 1706. In the illustrated
embodiment, three channels are used to carry the fluid 1701 between
the delivery system 1706 (e.g., the first delivery channels 1728a,
the second delivery channels 1728b, and the single return channel
1748) and each of the sensors 1718. In some embodiments, these
channels can comprise a three-lumen tubing 1739 (shown in
cross-section in FIG. 17) that can be, for example, co-extruded.
Such an arrangement can reduce the number of tubes/conduits
required to service each of the sensors 1718.
[0131] A controller 1724 can be operably coupled to the pump 1704,
a temperature sensor 1725 configured to sense the temperature of
the fluid 1701 in and/or proximate to the delivery system 1706, the
delivery system 1706, the sensors 1718, and/or the pre-nozzle
delivery valves 1723. In operation, the controller 1724 is
configured to receive a signal (e.g., a signal 1744) from one or
more of the sensors 1718 and determine whether the sensors 1718
require cleaning and/or thermal management. Based on the
determination, the controller 1724 can operate the pump 1704 (e.g.,
by sending a control signal 1746) and the delivery system 1706 to
selectively heat and/or cool the fluid 1701 before opening one or
more of the first delivery valves 1708a and/or the second delivery
valves 1708b to route the heated/cooled fluid 1701 along the first
delivery channels 1728a and/or the second delivery channels 1728b
corresponding to the sensors 1718 requiring cleaning and/or thermal
management. As described in detail above with reference to FIGS.
10-14 and 17, the pre-nozzle delivery valves 1723 allow for the
fluid 1701 in the second delivery channels 1728b to be recirculated
back into the delivery system 1706 and/or the reservoir 1702 to be
reheated. For example, to recirculate the fluid 1701 in the second
delivery channels 1728b, the controller 1724 can activate the pump
1704 to pump the fluid 1701 through the second delivery valves
1708b while (i) opening the return valves 1720 of the delivery
system 1706 if the pre-nozzle delivery valves 1723 are check valves
(or other passive valves) or (ii) actuating the pre-nozzle delivery
valves 1723 to direct the fluid 1701 to the second return channels
1726b if the pre-nozzle delivery valves 1723 are
controller-operable valves (e.g., solenoid valves). The first
return check valves 1732a and the second return check valves 1732b
are configured to inhibit or prevent back flow of the fluid 1701
from, for example, the delivery system 1706 into the first return
channels 1726a and second return channels 1726b during
recirculation.
[0132] Moreover, in some embodiments, the system 1710 can include
fluid holding chambers (e.g., insulated chambers configured to hold
a volume of the fluid 1701 that is between about 1-5 times greater
than the expected volume of the fluid 1701 to be delivered by the
nozzles 1717) fluidly connected to the second delivery channels
1728b. In some such embodiments, the fluid holding chambers can be
positioned near the nozzles 1717 and before the pre-nozzle delivery
valves 1723.
[0133] Accordingly, referring to FIGS. 15-17 together, a perception
surface cleaning and temperature control system configured in
accordance with the present technology can include (i) combined
delivery channels for routing fluid together to a nozzle and a heat
exchanger and a single return channel for recirculating the fluid
from the heat exchanger (FIG. 15), (ii) separate delivery channels
for routing fluid to a nozzle and a heat exchanger and separate
return channels for recirculating the fluid from the heat exchanger
and proximate to the nozzle (FIG. 16), and/or (iii) separate
delivery channels for routing fluid to a nozzle and a heat
exchanger and a combined return channel for recirculating the fluid
from the heat exchanger and proximate to the nozzle (FIG. 17).
V. Selected Embodiments of Systems for Cleaning and Drying Vehicle
Components
[0134] As set forth above, many perception components require or
can benefit from surface cleaning with a fluid (e.g., heated washer
fluid). Often, the same perception components and/or other
components can also benefit from drying or cleaning via forced air.
For example, in some instances a perception sensor's ability to
"see" may be hindered by the presence of water or dust on the
surface of the sensor. Water droplets may occur due to rain,
condensation, spraying of cleaning fluid, or some other source.
While washer fluid might remove dust, the surface might require a
second air drying step before vision is fully restored.
Accordingly, referring again to FIG. 1, in some embodiments of the
present technology a cleaning system (e.g., the cleaning system
110) can be configured to deliver forced air to one or more vehicle
components (e.g., the sensors 108 and/or the perception surfaces
109). For example, the cleaning system 110 can deliver forced air
to one or components of the vehicle 100 to remove water droplets,
dust, and/or other contaminants therefrom. That is, the cleaning
system can selectively blow air across one or more perception
surfaces to provide improved surface cleaning, clearing, and
drying. In some embodiments, the cleaning system 110 is configured
to deliver air at high velocities, pre-dry the air, and/or warm the
air. In some embodiments, the cleaning system 110 can also deliver
washer fluid to clean the vehicle components and/or deliver fluid
to thermally control the components.
[0135] The source of forced air can be a blower, an air compressor,
an air accumulator and/or another source. In some embodiments, the
cleaning system 110 includes a valve system that selectively routes
the air to a heating and/or drying system and back to the valve
system before being routed to one or more air distribution
channels. In some embodiments, the valve system does not select an
air flow containing conduit, but rather pressurizes a plenum which
delivers forced air to multiple channels at once. In some
embodiments, forced air is delivered continuously during vehicle
operation, as forced air may help prevent occlusion of vehicle
components. In other embodiments, forced air can be selectively
provided.
[0136] In some embodiments, washer fluid and forced air may be
routed from a central valve system (e.g., manifold) to a plurality
of nozzles configured to deliver the air and fluid. The air and
fluid may be delivered through the same nozzle or nozzles, or may
be delivered through separate nozzles. In other embodiments, washer
fluid and forced air may be routed from a central valve system to
one or more peripheral valve systems (e.g., hierarchical
manifolds), which route the washer fluid and air to the
nozzles.
[0137] In some embodiments, the cleaning system 110 includes (i) a
washer fluid manifold and valve system configured to direct flow to
a flow channel (e.g., a hose, tube, etc.) corresponding to a
vehicle component to be cleaned and (ii) an air flow manifold and
valve system configured to direct airflow to a flow channel (e.g.,
a hose, tube, etc.) corresponding to the vehicle component to be
cleaned and/or dried. In other embodiments, distribution of washer
fluid and air is accomplished via a common manifold in which either
washer fluid or compressed air may be selected as the input fluid
and routed--via a tube that may hold either washer fluid or
compressed air--to a common nozzle which applies the washer fluid
and/or the air to the vehicle component.
[0138] In some embodiments, the cleaning system 110 can be
configured to recirculate washer fluid. For example, the cleaning
system 110 can include a tube configured to carry fluid from a
valve system to a nozzle, and another tube configured to carry
fluid back from the nozzle to the valve system. Washer fluid may be
pumped so as to recirculate in the tubes without spraying out of
the nozzle. When a surface needs cleaning, the recirculation of
fluid is stopped and compressed air is allowed to flow into the
tubes, forcing washer fluid out of the nozzle under high pressure.
Subsequently, the recirculation pathway can be re-opened, forcing
liquid out of the remainder of the tubing flowing towards the
nozzle. When the tubing behind the nozzle has cleared of liquid,
the recirculation pathway can be closed again, causing the forced
air to exit the nozzle to dry the surface.
[0139] In some embodiments, tubes for carrying air and fluid can be
combined into a dual-lumen tubing. For example, the air and fluid
can be carried by a coaxial conduit including an inner channel for
carrying washer fluid and an outer channel for carrying air. In
some such embodiments, the inherent proximity of the inner and
outer channels provides for advantageous heat transfer between the
air and the liquid washer fluid. Alternatively, the flow channels
may be side-by-side in parallel tubes or in co-extruded multi-lumen
tubing. As the volumetric flow rates of washer fluid and air may
differ significantly, the diameters of the flow paths within the
tubing may not be the same.
[0140] FIGS. 18-23 are schematic illustrations more specifically
illustrating various embodiments of closed-loop systems for
cleaning and/or drying vehicle components configured in accordance
with embodiments of the present technology. The detailed
description of each embodiment focuses mainly on those components
that are new/different as compared to other embodiments. However,
one skilled in the art will appreciate that the various embodiments
can (i) include the same or generally similar features (e.g.,
components, configurations, etc.), (ii) operate the same or
generally similarly, and/or (iii) that the various embodiments can
be combined. Further, one skilled in the art will appreciate that
the various embodiments discussed with reference to FIGS. 18-23 can
(i) include the same or generally similar features (e.g.,
components, configurations, etc.) as those embodiments discussed
with reference to FIGS. 2-17, (ii) can operate the same or
generally similarly as those embodiments discussed with reference
to FIGS. 2-17, and/or (iii) can be combined with each other and/or
the embodiments discussed with reference to FIGS. 2-17. Moreover,
one of ordinary skill in the art will appreciate that the number of
components can vary in the following embodiments. For example, the
systems of the present technology can have any number of delivery
channels, return channels, sensors, heaters, chillers, heat
exchangers, nozzles, etc.
[0141] FIG. 18 is a schematic illustration of a perception surface
cleaning and drying system 1810 configured in accordance with an
embodiment of the present technology. In the illustrated
embodiment, the system 1810 includes a washer fluid pump 1804
configured to pump washer fluid 1801 from a reservoir 1802 to a
delivery system 1850 (e.g., a manifold, valve system, etc.) having
a plurality of fluid delivery valves 1808 and a single return valve
1820. A heater 1812 (e.g., a parasitic and/or electric heater) is
configured to heat the fluid 1801. A bypass valve (e.g., a
three-way bypass valve) 1851 can be selectively opened/closed to
permit the fluid 1801 to flow to the heater 1812 for heating and
subsequently back into the delivery system 1850. The fluid delivery
valves 1808 can be selectively opened/closed to permit the fluid
1801 to flow from the delivery system 1850 and along one or more
parallel fluid delivery channels 1828 to corresponding holding
chambers 1816. Each of the holding chambers 1816 is fluidly
connected to a nozzle 1817 via a pre-nozzle check valve 1821. The
nozzles 1817 are configured to distribute or spray the fluid 1801
onto corresponding perception sensors 1818 to clean the sensors
1818 (e.g., clear the sensors 1818 of occlusions). The pre-nozzle
check valves 1821 are configured to selectively fluidly connect the
holding chambers 1816 to corresponding (i) ones of the nozzles 1817
or (ii) return channels 1826 configured to return the fluid 1801 to
the reservoir 1802 and/or the delivery system 1850. In the
illustrated embodiment, each of the return channels 1826 includes a
return check valve 1832, and the return channels 1826 are merged
together via a return T-connector 1834 into a single channel
received by the single return valve 1820 of the delivery system
1850. As described in detail above, this arrangement can enable the
selective recirculation of the fluid 1801 from the holding chambers
1816.
[0142] In the illustrated embodiment, the system 1810 further
includes a forced air source 1852 (e.g., a blower, an air
compressor, and/or a compressed air accumulator) configured to
provide air flow to the delivery system 1850. More specifically,
the delivery system 1850 can include an air manifold 1854 that
divides the air flow from the air source 1852 into one or more
parallel air delivery channels 1858. In operation, the air flows
through the air delivery channels 1858 to nozzles 1855 configured
to direct the air against corresponding ones of the sensors 1818.
In one aspect of this embodiment, the delivery system 1850 does not
select an air flow containing conduit, but rather pressurizes the
air manifold 1854 which delivers forced air to all of the air
delivery channels 1858 at once.
[0143] A controller 1824 can be operably coupled to the pump 1804,
the air source 1852, the delivery system 1850, and the sensors
1818. When the controller 1824 determines that one or more of the
perception sensors 1818 are occluded, the controller 1824 can close
the return valve 1820 and selectively engage the pump 1804 and the
associated one or more of the fluid delivery valves 1808 to route
the fluid 1801 along the selected fluid delivery channels 1828 to
the nozzles 1817 corresponding to the occluded sensors 1818 to
clean the corresponding occluded sensors 1818. Similarly, the
controller 1824 can control the air source 1852 to provide air flow
at the sensors 1818. In some embodiments, the controller 1824 is
configured to trigger air flow soon after and/or during delivery of
the fluid 1801 to one or more of the sensors 1818. For example,
forced air can be provided immediately after delivery of the fluid
1801 to dry the sensors 1818.
[0144] In some embodiments, the air source 1852 is operated
continuously during operation of a vehicle incorporating the system
1810 to, for example, help prevent occlusion of the sensors 1818.
In other embodiments, the controller 1824 can selectively engage
the air source 1852 during operation.
[0145] FIG. 19 is a schematic illustration of a perception surface
cleaning and drying system 1910 configured in accordance with
another embodiment of the present technology. In the illustrated
embodiment, a fluid pump 1904 is configured to deliver washer fluid
1901 from a reservoir 1902 to a delivery system 1950 for heating
via a heater 1912 and subsequent delivery to one or more perception
sensors 1918 and/or recirculation to the reservoir 1902, as
described in detail above. In some embodiments, the fluid delivery
components of the system 1910 are identical to those of the system
1810 described in detail above with reference to FIG. 18.
[0146] In the illustrated embodiment, however, the system 1910
includes an air source comprising an air compressor 1957 and a
compressed air accumulator 1959 configured to provide air flow to
the delivery system 1950. For example, the delivery system 1950 can
include an air manifold 1954 that divides the air flow from the air
source into one or more parallel air delivery channels 1958. In the
illustrated embodiment, the delivery system 1950 includes an air
accumulator valve 1960 that can be opened/closed to allow air flow
into the air manifold 1954. When the air accumulator valve 1960 is
open and the air source is activated, air flows through the air
delivery channels 1958 to nozzles 1955 configured to direct the air
against corresponding ones of the sensors 1918.
[0147] A controller 1924 can be operably coupled to the pump 1904,
the air source (e.g., the air compressor 1957), the delivery system
1950, the sensors 1918, and one or more delivery system sensors
1962 (e.g., temperature sensors, pressure gauges, transducers,
and/or other sensors for sensing a condition, parameter, etc., of
the fluid 1901 and/or air within and/or proximate to the delivery
system 1950). When the controller 1924 determines that one or more
of the sensors 1918 are occluded, the controller 1924 can route the
fluid 1901 to the nozzles 1917 corresponding to the occluded
sensors 1918 to clean the corresponding occluded sensors 1918.
Similarly, the controller 1924 can control the air source (e.g.,
the air compressor 1957) and open the air accumulator valve 1960 to
provide air flow at the sensors 1918. In some embodiments, the
controller 1924 is configured to trigger air flow soon after and/or
during delivery of the fluid 1901 to one or more of the sensors
1918. For example, forced air can be provided immediately after
delivery of the fluid 1901 to dry the sensors 1918.
[0148] FIG. 20 is a schematic illustration of a perception surface
cleaning and drying system 2010 configured in accordance with
another embodiment of the present technology. In the illustrated
embodiment, a fluid pump 2004 is configured to deliver washer fluid
2001 from a reservoir 2002 to a delivery system 2050 for heating
via a heater 2012 and subsequent delivery to one or more perception
sensors 2018 and/or recirculation to the reservoir 2002, as
described in detail above. In some embodiments, the fluid delivery
components of the system 2010 are identical to those of the system
1810 and/or the system 1910 described in detail above with
reference to FIGS. 18 and 19. Likewise, the system 2010 includes an
air source comprising an air compressor 2057 and a compressed air
accumulator 2059 configured to provide air flow to the delivery
system 2050.
[0149] In the illustrated embodiment, however, the delivery system
2050 includes an air manifold 2054 that divides the air flow from
the air source into one or more parallel air delivery channels
2058, and a plurality of air delivery valves 2060 that can be
selectively opened/closed to allow air flow into individual ones of
the air delivery channels 2058. That is, one or more of the air
delivery valves 2060 can be selectively opened to allow air to flow
through a corresponding one of the air delivery channels 2058 to a
nozzle 2055 configured to direct the air against a corresponding
one of the sensors 2018.
[0150] A controller 2024 can be operably coupled to the pump 2004,
the air source (e.g., the air compressor 2057), the delivery system
2050, the sensors 2018, and one or more delivery system sensors
2062 (e.g., temperature sensors, pressure gauges, transducers,
and/or other sensors for sensing a condition, parameter, etc., of
the fluid 2001 and/or air within and/or proximate to the delivery
system 2050). When the controller 2024 determines that one or more
of the sensors 2018 are occluded, the controller 2024 can route the
fluid 2001 to the nozzles 2017 corresponding to the occluded
sensors 2018 to clean the corresponding occluded sensors 2018.
Similarly, the controller 2024 can control the air source (e.g.,
the air compressor 2057) and selectively open one or more of the
air delivery valves 2060 to provide air flow to corresponding ones
of the sensors 2018.
[0151] FIG. 21 is a schematic illustration of a perception surface
cleaning and drying system 2110 configured in accordance with
another embodiment of the present technology. In the illustrated
embodiment, a fluid pump 2104 is configured to deliver washer fluid
2101 from a reservoir 2102 to a delivery system 2150 for heating
via a heater 2112. The delivery system 2150 is configured to
selectively deliver (e.g., via actuation of one or more delivery
valves) the fluid 2101 along one or more parallel fluid delivery
channels 2128 to corresponding holding chambers 2116. The system
2110 further includes an air source comprising an air compressor
2157 and a compressed air accumulator 2159 configured to provide
air flow to the delivery system 2150. The delivery system 2150
includes an air manifold 2154 that divides the air flow from the
air source into one or more parallel air delivery channels 2158,
and a plurality of air delivery valves 2160 that can be selectively
opened/closed to allow air flow into individual ones of the air
delivery channels 2158.
[0152] In the illustrated embodiment, the air delivery channels
2158 and the fluid delivery channels 2128 for each of the sensors
2118 are joined together via a T-connector 2166 connected to an air
and fluid delivery nozzle 2164. That is, the nozzles 2164 are
configured to both (i) distribute or spray the fluid 2101 onto the
sensors 2118 to clean the sensors 2118 (e.g., to clear the sensors
2118 of occlusions) and (ii) direct the air against the sensors
2118 to clean, dry, etc., the sensors 2118. In the illustrated
embodiment, an air flow check valve 2167 inhibits or prevents back
flow of the fluid 2101 into the air delivery channels 2158.
Similarly, a fluid flow check valve 2169 inhibits or even prevents
back flow of air into the fluid delivery channels 2128.
[0153] A controller 2124 can be operably coupled to the pump 2104,
the air source (e.g., the air compressor 2157), the delivery system
2150, the sensors 2118, and one or more delivery system sensors
2162. When the controller 2124 determines that one or more of the
sensors 2118 are occluded, the controller 2124 can route the fluid
2101 to the nozzles 2164 corresponding to the occluded sensors 2118
to clean the corresponding occluded sensors 2118. Similarly, the
controller 2124 can control the air source (e.g., the air
compressor 2157) and selectively open one or more of the air
delivery valves 2160 to provide air flow to the occluded sensors
2118 via the same nozzles 2164. In some embodiments, air can be
delivered after the fluid 2101 to, for example, dry the sensors
2118. In other embodiments, the fluid 2101 and air can be delivered
simultaneously, or air can be delivered before the fluid 2101.
[0154] FIG. 22 is a schematic illustration of a perception surface
cleaning and drying system 2210 configured in accordance with
another embodiment of the present technology. In the illustrated
embodiment, a pump 2204 is configured to deliver washer fluid 2201
from a reservoir 2202 to a delivery system 2250 for heating via a
heater 2212. The delivery system 2250 includes a fluid and air
delivery manifold 2268 including a plurality of delivery valves
2208. The system 2210 further includes an air source comprising an
air compressor 2257 and a compressed air accumulator 2259
configured to provide air flow to the delivery system 2250. More
specifically, in the illustrated embodiment the air source is
selectively connected to the delivery manifold 2268 via an air
delivery valve 2260. By this arrangement, the delivery manifold
2268 is connected to both the air source and the fluid reservoir
2202 and is configured to divide and deliver the fluid 2201 along
one or more parallel delivery channels 2228 to holding chambers
2216.
[0155] Each of the holding chambers 2216 is fluidly connected to an
air and fluid delivery nozzle 2264 via a pre-nozzle check valve
2221. The pre-nozzle check valves 2221 are configured to
selectively fluidly connect the holding chambers 2216 to
corresponding (i) ones of the nozzles 2217 or (ii) return channels
2226 configured to return the fluid 2201 to the reservoir 2202
and/or the delivery system 2206. For example, in the illustrated
embodiment each of the return channels 2226 includes a return check
valve 2232, and the return channels 2226 are merged together via a
return T-connector 2234 into a single channel received by a single
return valve 2220 of the delivery system 2250. As described in
detail above, this arrangement allows for the recirculation of the
fluid 2201 from the holding chambers 2216 to the fluid reservoir
2202.
[0156] A controller 2224 can be operably coupled to the pump 2204,
the air source (e.g., the air compressor 2257), the delivery system
2250, the sensors 2218, and one or more delivery system sensors.
When the controller 2224 determines that one or more of the sensors
2218 are occluded, the controller 2224 can route the fluid 2201 to
the nozzles 2264 corresponding to the occluded sensors 2218 to
clean the corresponding occluded sensors 2218. More specifically,
the controller 2224 can close the return valve 2220 of the delivery
system 2250 while operating the pump 2204 and/or the air source
(e.g., the air compressor 2257) to increase the pressure in the
delivery channels 2228 above the cracking-pressure of the
pre-nozzle check valves 2221. That is, either or both of the pump
2204 and the air source can be selectively operated to provide the
required pressure for delivering the fluid 2201 from the nozzles
2264.
[0157] When the air source is used to initiate delivery of the
fluid 2201, the air flows behind the fluid 2201 in the delivery
channels 2228, thereby driving the fluid 2201. In one aspect of the
present technology, as the fluid 2201 is ejected from the holding
chambers 2216 through the nozzles 2264, the fluid 2201 within the
delivery channels 2228 flows to refill the holding chamber 2216,
while compressed air fills part or all of the delivery manifold
2268, and possibly a portion of the delivery channels 2228.
Pressure moves through the fluid 2201 at the speed of sound
resulting in nearly instantaneous commencement of fluid flow from
the nozzles 2264. Moreover, the fluid 2201 is expelled through the
nozzle 2264 at a high rate depending on the pressure in and the
volume of the air source. In some embodiments, for example, the
fluid 2201 can be expelled at a rate of about 50 milliliters per
second. Delivery of 5 milliliters of the fluid 2201 can therefore
occur within about 0.1 second of the opening of the air delivery
valve 2260.
[0158] To stop delivery of the fluid 2201 from the nozzles 2264,
the controller 2224 can close the air delivery valve 2260, open the
return valve 2220, and/or close the selected delivery valves 2208.
If forced air delivery to the sensors 2218 is not desired, the air
delivery valve 2260 is closed, and the pump 2204 can pump the fluid
2201 through the delivery system 2250 to (i) refill the selected
delivery channels 2228 and the holding chambers 2216 and (ii) expel
any remaining air entrapped in the delivery manifold 2268 and/or
the delivery channels 2228 into the washer fluid reservoir 2202. If
forced air delivery to the sensors 2218 is desired, the air
delivery valve 2260 and the return valve 2220 are opened (or remain
open). This allows pressurized air to continue to drive the fluid
2201 out of the selected delivery channels 2228 and the holding
chambers 2216. After a short period (e.g., less than about 3
seconds, less than about 1 second, less than about 0.5 second,
etc.) in which the fluid 2201 is forced through the return channels
2226 and into the reservoir 2202, the return valve 2220 can be
closed. This allows the air source to increase the pressure within
the holding chambers 2216 above the cracking pressure of the
pre-nozzle check valves 2221 so that the pre-nozzle check valves
2221 open, thereby allowing air to be expelled onto the sensors
2218.
[0159] In some embodiments, the delivery channels 2228 (e.g.,
tubes) can have a relatively small inner diameter (e.g., about 4
millimeters) such that the volume per unit length of the delivery
channels 2228 is relatively small (e.g., about 12.6 milliliters per
meter of length of a 4-millimeter inner diameter tube). The volume
of the fluid 2201 desired to be delivered to the sensors 2218 can
vary depending on the size of the sensors 2218 (e.g., a surface
size), the type of occlusion, environmental factors, etc. However,
the volume to be delivered may be quite small, such as 1 milliliter
per square centimeter. A small (e.g., 2.5-centimeter diameter
circular surface of one of the sensors 2218) might require 5
milliliters of hot washer fluid or less.
[0160] FIG. 23 is a schematic illustration of a perception surface
cleaning and drying system 2310 configured in accordance with
another embodiment of the present technology. In the illustrated
embodiment, a fluid pump 2304 is configured to deliver washer fluid
2301 from a reservoir 2302 to a delivery system 2350 for heating
via a heater 2312 (e.g., a parasitic heater configured to transfer
heat generated by a vehicle engine 2314 (or other system) to the
fluid 2301. The delivery system 2350 is configured to selectively
deliver the fluid 2301--via actuation of one or more fluid delivery
valves 2308--along one or more parallel fluid delivery channels
2328 to perception sensors 2318 to clean the sensors 2318. The
system 2310 further includes an air source 2352 comprising a
blower. The delivery system 2350 includes an air manifold that
divides the air flow from the air source 2352 into one or more
parallel air delivery channels 2358, and a plurality of air
delivery valves 2360 that can be selectively opened/closed to allow
air flow into individual ones of the air delivery channels
2358.
[0161] In the illustrated embodiment, the delivery system 2350 is
configured to selectively route the air from the air source 2352 to
the heater 2312 to heat the air. More specifically, a controller
2324 can be operably coupled to the delivery system 2350, the air
source 2352, the sensors 2318, the pump 2304, temperature sensors,
pressure sensors, and/or other components of the system 2310. In
some embodiments, the controller 2324 can control the delivery
system 2350 and/or the air source 2352 to selectively route all of
the air to the heater 2312 or to bypass the heater 2312 and remain
unheated. In other embodiments, the delivery system 2350 may direct
only a first portion/volume of air to the heater 2312 for heating.
The first portion can subsequently mix with a remaining second
portion/volume of air that bypasses the heater 2312 within a volume
of the delivery system 2350 (e.g., within the air manifold) to
achieve an air temperature in between that of the air exiting the
air source 2352 and the air exiting the heater 2312. For example,
in some embodiments the delivery system 2350 may contain a variable
aperture valve to direct a portion of the air to the heater 2312.
In other embodiments, the delivery system 2350 can include a
three-way valve that selectively connects (e.g., based on a control
signal from the controller 2324) the air source 2352 to (i) the air
manifold and the air delivery valves 2360 or (ii) the heater 2312.
In yet other embodiments, the various valves of the delivery system
2350 can be individually controlled solenoid valves or may be
combined into a rotary valve system.
[0162] When the controller 2324 determines that one or more of the
sensors 2318 are occluded, the controller 2324 can route the fluid
2301 to fluid delivery nozzles 2317 corresponding to the occluded
sensors 2318 to clean the corresponding occluded sensors 2318.
Similarly, the controller 2324 can control the air source 2352 and
the delivery system 2350 to provide heated and/or unheated air flow
to the occluded sensors 2318 via nozzles 2355.
[0163] As one of ordinary skill in the art will appreciate, any of
the embodiments described with reference to FIGS. 18-22 can be
modified to include heating air prior to delivering the air to one
or more occluded sensors.
VI. Selected Embodiments of Systems for Cleaning, Drying, and
Thermally Managing Vehicle Components
[0164] As set forth above, many vehicle components require or can
benefit from surface cleaning with a fluid (e.g., heated washer
fluid), surface cleaning or drying via forced air, and/or
temperature control. Accordingly, referring again to FIG. 1, in
some embodiments of the present technology a cleaning system (e.g.,
the cleaning system 110) can be configured to (i) heat and deliver
fluid, such as washer fluid, to one or more vehicle components
(e.g., the sensors 108 and/or the perception surfaces 109), (ii) to
deliver forced air to clean, dry, remove contaminants, etc., from
the vehicle components, and (iii) control a temperature (heat
and/or cool) of the vehicle components.
[0165] Accordingly, FIGS. 24 and 25 are schematic illustrations
more specifically illustrating various embodiments of closed-loop
systems for cleaning, drying, and thermally managing vehicle
components configured in accordance with embodiments of the present
technology. The detailed description of each embodiment focuses
mainly on those components that are new/different as compared to
other embodiments. However, one skilled in the art will appreciate
that the various embodiments can (i) include the same or generally
similar features (e.g., components, configurations, etc.), (ii)
operate the same or generally similarly, and/or (iii) that the
various embodiments can be combined. Further, one skilled in the
art will appreciate that the various embodiments discussed with
reference to FIGS. 24 and 25 can (i) include the same or generally
similar features (e.g., components, configurations, etc.) as those
embodiments discussed with reference to FIGS. 2-23, (ii) operate
the same or generally similarly as those embodiments discussed with
reference to FIGS. 2-23, and/or (iii) that the various embodiments
can be combined with each other and/or with the embodiments
discussed with reference to FIGS. 2-23. Moreover, one of ordinary
skill in the art will appreciate that the number of components can
vary in the following embodiments. For example, the systems of the
present technology can have any number of delivery channels, return
channels, sensors, heaters, chillers, heat exchangers, nozzles,
etc.
[0166] FIG. 24 is a schematic illustration of a vehicle component
cleaning, drying, and thermal management system 2410 configured in
accordance with an embodiment of the present technology. In the
illustrated embodiment, a washer fluid pump 2404 is configured to
pump washer fluid 2401 from a reservoir 2402 to a delivery system
2470 having a plurality of first fluid delivery valves 2408a, a
plurality of second fluid delivery valves 2408b, a plurality of air
delivery valves 2460, and a plurality of return valves 2420. A
fluid heater 2412 (e.g., a parasitic heater configured to transfer
heat generated by a vehicle engine 2414 (or other system) to the
fluid 2401) and a fluid cooler or chiller 2440 are individually
connected to the delivery system 2470. The delivery system 2470 is
configured to route all or a portion of the fluid 2401 to the fluid
heater 2412 and/or to the fluid cooler 2440 to heat/cool the fluid
2401. The system 2410 also includes an air source 2452 configured
to provide air flow to the delivery system 2450 (e.g., to an air
manifold).
[0167] The air delivery valves 2460 can be selectively
opened/closed to allow air to flow from the delivery system 2470
and along one or more parallel air delivery channels 2458 to air
delivery nozzles (not shown) configured to direct the air against
perception sensors 2418. The first fluid delivery valves 2408a can
be selectively opened/closed to permit the heated/cooled fluid 2401
to flow from the delivery system 2470 and along one or more
parallel first fluid delivery channels 2428a to corresponding heat
exchangers (not shown) configured to heat and/or cool the
perception sensors 2418. The second fluid delivery valves 2408b can
be selectively opened/closed to permit the heated/cooled fluid 2401
to flow from the delivery system 2470 and along one or more
parallel second fluid delivery channels 2428b to holding chambers
2416 and pre-nozzle delivery valves 2423 (e.g., controller-operable
solenoid valves, check valves, etc.). Each of the pre-nozzle
delivery valves 2423 is configured to selectively route the fluid
2401 to a nozzle 2417 configured to spray the fluid 2401 onto a
corresponding one of the sensors 2418. The fluid 2401 from the heat
exchangers and/or recirculated from the holding chambers 2416 is
aggregated in a single, common return channel 2448.
[0168] A controller 2424 can be operably coupled to the pump 2404,
the air source 2452, the delivery system 2470, the sensors 2418,
temperature sensors, pressure sensors, and/or other components.
When the controller 2424 determines that one or more of the sensors
2418 are occluded and/or require thermal management, the controller
2424 can operate the pump 2404 and the delivery system 2470 to
selectively heat and/or cool the fluid 2401 before opening one or
more of the first fluid delivery valves 2408a and/or the second
fluid delivery valves 2408b to route the heated/cooled fluid 2401
along the first fluid delivery channels 2428a and/or the second
fluid delivery channels 2428b corresponding to the sensors 2418
requiring cleaning and/or thermal management. Similarly, the
controller 2424 can control the air source 2452 and/or selectively
open one or more of the air delivery valves 2460 to provide air
flow to the occluded sensors 2418. In some embodiments, air can be
delivered after the fluid 2401 to, for example, dry the sensors
2418. In other embodiments, the fluid 2401 and air can be delivered
simultaneously, or air can be delivered before the fluid 2401.
[0169] In some embodiments, to simplify plumbing of the various
channels, a quad-lumen tubing 2449 can be used--wherein (i) a first
lumen carries the fluid 2401 traveling from the delivery system
2470 to the holding chambers 2416, (ii) a second lumen carries the
fluid 2401 returning/recirculating from the heat exchangers and/or
holding chambers 2416 to the delivery system 2470 and the reservoir
2402, (iii) a third lumen carries cooling fluid from the delivery
system 2470 to the heat exchangers, and (iv) a fourth lumen carries
air from the delivery system 2470 to the sensors 2418.
[0170] FIG. 25 is a schematic illustration of a vehicle component
cleaning, drying, and thermal management system 2510 configured in
accordance with another embodiment of the present technology. The
system 2510 is generally similar to the system 2410 described in
detail with reference to FIG. 34, but the valving of delivery
system 2570 is illustrated in greater detail. In the illustrated
embodiment, a washer fluid pump 2504 is configured to pump washer
fluid 2501 from a reservoir 2502 to the delivery system 2570. A
first 3-way valve 2551a receives the flow of the fluid 2501 and
either directs the flow to a parasitic heater 2512 or bypasses the
flow past the parasitic heater 2512. In either case, a second 3-way
valve 2551b receives the flow of the fluid 2501 and directs the
flow to an electric heater 2513 or bypasses the flow past the
electric heater 2513. Any of the fluid 2501 exiting the electric
heater 2513 is routed to second fluid delivery valves 2508b. Any of
the fluid 2501 bypassing the electric heater 2513 is received by a
third 3-way valve 2551c and directs the flow (i) to the second
fluid delivery valves 2508b or (ii) to a fluid chiller or cooler
2540 for cooling. Cooled fluid 2501 from the fluid cooler is
directed to first fluid delivery valves 2508a. The first fluid
delivery valves 2508a can be selectively opened/closed to permit
the cooled fluid 2501 to flow from the delivery system 2570 and
along one or more parallel first fluid delivery channels 2528a to
corresponding heat exchangers (not shown) configured to heat and/or
cool nearby perception sensors 2518. The second fluid delivery
valves 2508b can be selectively opened/closed to permit the
heated/unheated fluid 2501 to flow from the delivery system 2570
and along one or more parallel second fluid delivery channels 2528b
to holding chambers 2516 and pre-nozzle check valves 2523 (e.g.,
controller-operable solenoid valves, check valves, etc.). While six
first fluid delivery channels 2528a and six second fluid delivery
channels 2528b are shown in FIG. 25, the system 2510 can include
any number of delivery channels.
[0171] To provide hot fluid 2501 during normal hot engine
operation, the delivery system 2570 is configured to route the
fluid 2501 (i) from the first 3-way valve 2551a to the parasitic
heater 2512, (ii) from the parasitic heater 2512 to the second
3-way valve 2551b, (iii) from the second 3-way valve 2551b to the
second fluid delivery valves 2508b. To provide hot fluid 2501
during engine startup (or when the parasitic heater 2512 is
otherwise unable to provide heated fluid), the delivery system 2570
is configured to route the fluid 2501 (i) from the first 3-way
valve 2551a to the second 3-way valve 2551b bypassing the parasitic
heater 2512, (ii) from the second 3-way valve 2551b to the electric
heater 2513, and (iii) from the electric heater 2513 to the second
fluid delivery valves 2508b. To provide unheated fluid 2501, the
delivery system 2570 is configured to route the fluid 2501 (i) from
the first 3-way valve 2551a to the second 3-way valve 2551b
bypassing the parasitic heater 2512, (ii) from the second 3-way
valve 2551b to the third 3-way valve 2551c bypassing the electric
heater 2513, and (iii) from the third 3-way valve 2551c to the
second fluid delivery valves 2508b bypassing the fluid cooler 2540.
To provide cooled fluid 2501, the delivery system 2570 is
configured to route the fluid 2501 (i) from the first 3-way valve
2551a to the second 3-way valve 2551b bypassing the parasitic
heater 2512, (ii) from the second 3-way valve 2551b to the third
3-way valve 2551c bypassing the electric heater 2513, and (iii)
from the third 3-way valve 2551c to fluid cooler 2540, and (iv)
from the fluid cooler 2540 to the first fluid delivery valves
2508a.
[0172] As one example, in the illustrated embodiment a first
perception sensor 2518a needs to be cleaned and so hot fluid 2501
is directed to its surface by opening a first one of the second
fluid delivery valves 2508b-a and closing a return valve 2520 of
the delivery system 2570 so that the pressure in a first holding
chamber 2516a exceeds the cracking pressure of a first pre-nozzle
check valve 2523a and the fluid 2501 flows through and exits a
first nozzle 2517a. To maintain hot fluid 2501 in the first holding
chamber 2516a, the fluid 2501 may be recirculated by opening (i)
the first one of the second fluid delivery valves 2508b-a and (ii)
opening the return valve 2520 while pumping heated fluid 2501 to
the second fluid delivery valves 2508b. The fluid 2501 returning to
the reservoir 2502 goes through a first return check valve 2532a to
a single return channel 2548 connected to the return valve 2520
[0173] The system 2510 further includes an air source 2552
connected to the delivery system 2570. In the illustrated
embodiment, a fourth 3-way valve 2551d receives the air flow from
the air source 2552 and directs the air flow (i) to an air heater
2579 (which could be the parasitic heater 2512 and/or the electric
heater 2513) or (ii) to bypass the air heater 2579. In either case,
the air is directed to air delivery valves 2560. The air delivery
valves 2560 can be selectively opened/closed to allow air to flow
from the delivery system 2570 and along one or more parallel air
delivery channels 2558 to air delivery nozzles (not shown)
configured to direct the air against the sensors 2518.
[0174] As a second example, in the illustrated embodiment a second
perception sensor 2518b needs to be cleaned, cooled, and air dried.
Accordingly, heated fluid 2501 can be directed to a second nozzle
2517b by opening a second one of the second fluid delivery valves
2508b-b and closing the return valve 2520, as described in detail
above. Similarly, a cooled fluid 2501 can be directed to the second
perception sensor 2518b by opening a second one of the first fluid
delivery valves 2508a-b and opening the return valve 2520. The
fluid 2501 used to cool the second perception sensor 2518b is
subsequently returned to the delivery system 2570 via a second
return check valve 2532b to the return channel 2548. Similarly,
heated or unheated air can be directed against the second
perception sensor 2518b by opening a second one of the air delivery
valves 2560b.
[0175] In some embodiments, any of the 3-way valves 2551a-2551d can
be variable aperture valves or other types of valves.
VII. Selected Embodiments of Perception Surface Cleaning Systems
with Multiple Delivery Systems
[0176] Referring again to FIG. 1, in some embodiments of the
present technology a cleaning system (e.g., the cleaning system
110) can distribute fluids to clean and/or cool vehicle components
(e.g., the sensors 108 and/or the perception surfaces 109) using
any suitable combination of valves, manifolds, etc. For example, in
some embodiments the cleaning system 110 can distribute fluid to
one or more channels by selectively opening/closing one or more
valves (e.g., electrically-actuated solenoid valves) co-located at
(e.g., mounted to or built into) a shared delivery system or
manifold. In other embodiments, the valves may be located distant
from one another. In other embodiments, the cleaning system 110
includes one or more rotary valves that are adjustable to
distribute the fluid to the channels.
[0177] In some embodiments, the cleaning system includes two or
more delivery systems arranged hierarchically. That is, for
example, a central collection of valves (e.g., a first or central
delivery system) can route fluid to a plurality of first channels
which can each distribute the fluid (i) either to a vehicle
component to be cleaned (ii) or to another collection of valves
(e.g., a second or peripheral delivery system), which can route the
fluid on to one or more second channels. In some such embodiments,
each delivery system is configured to selectively direct flow to
between three and eight channels, using between three and eight
valves. In some embodiments, the delivery systems are connected in
series to comprise a system capable of selectively directing flow
to a larger number of channels. In some embodiments, if the
delivery systems provide more channels than are required, one or
more of the channels can be plugged instead of fluidly connected to
a valve. In some embodiments, each delivery system connects to an
electronic circuit board (e.g., via a modular electrical connector)
configured to control the function of the valves.
[0178] In one aspect of the present technology, the use of multiple
delivery system is advantageous when multiple sensors are located
near to each other but remote from a central delivery system. For
example, a central delivery system may be in the engine compartment
of a vehicle, a cluster of sensors may be located on the rear
bumper of the vehicle, and another cluster of sensors may be
located on the roof of the vehicle. By utilizing multiple delivery
systems to hierarchically route the fluid, the length and size of
tubing traversing the vehicle may be greatly reduced.
[0179] Accordingly, FIGS. 26-28 are schematic illustrations more
specifically illustrating various embodiments of closed-loop
systems for cleaning vehicle components and including multiple,
distributed delivery systems configured in accordance with
embodiments of the present technology. The detailed description of
each embodiment focuses mainly on those components that are
new/different as compared to other embodiments. However, one
skilled in the art will appreciate that the various embodiments can
(i) include the same or generally similar features (e.g.,
components, configurations, etc.), (ii) operate the same or
generally similarly, and/or (iii) that the various embodiments can
be combined. Further, one skilled in the art will appreciate that
the various embodiments discussed with reference to FIGS. 26-28 can
(i) include the same or generally similar features (e.g.,
components, configurations, etc.) as those embodiments discussed
with reference to FIGS. 2-25, (ii) operate the same or generally
similarly as those embodiments discussed with reference to FIGS.
2-25, and/or (iii) that the various embodiments can be combined
with each other and/or with the embodiments discussed with
reference to FIGS. 2-25. Moreover, one of ordinary skill in the art
will appreciate that the number of components can vary in the
following embodiments. For example, the systems of the present
technology can have any number of delivery channels, return
channels, sensors, heaters, chillers, heat exchangers, nozzles,
etc.
[0180] FIG. 26 is a schematic illustration of a perception surface
cleaning system 2610 including multiple, hierarchically arranged
delivery systems configured in accordance with an embodiment of the
present technology. In the illustrated embodiment, the system 2610
includes a washer fluid pump 2604 configured to pump washer fluid
2601 from a reservoir 2602 to a first delivery system 2606a (e.g.,
a manifold, valve system, etc.) having a plurality of first fluid
delivery valves 2608a. The first fluid delivery valves 2608a can be
selectively opened/closed to permit the fluid 2601 to flow from the
first delivery system 2606a and along one or more first delivery
channels 2628a. The first delivery channels 2628a can direct the
fluid 2601 to one or more additional delivery systems 2606 (e.g., a
second delivery system 2606b shown in FIG. 26) and/or one or more
first perception sensors 2618a to clean the first perception
sensors 2618a. The second delivery system 2606b includes a
plurality of second fluid delivery valves 2608b configured to
selectively route the fluid 2601 along one or more second delivery
channels 2628b to one or more additional delivery systems 2606
(e.g., a third delivery system 2606c shown in FIG. 26) and/one or
more second perception sensors 2618b to clean the second perception
sensors 2618b. The third delivery system 2606c includes a plurality
of third fluid delivery valves 2608c configured to selectively
route the fluid 2601 along one or more third delivery channels
2628c to one or more third perception sensors 2618c to clean the
third perception sensors 2618c. Accordingly, in the arrangement
shown in FIG. 26, the delivery systems 2606 are arranged in
series.
[0181] FIG. 27 is a schematic illustration of a perception surface
cleaning system 2710 including multiple delivery systems configured
in accordance with an embodiment of the present technology. In the
illustrated embodiment, the system 2710 includes a washer fluid
pump 2704 configured to pump washer fluid 2701 from a reservoir
2702 to a first delivery system 2706a (e.g., a manifold, valve
system, etc.) having a plurality of first fluid delivery valves
2708a. The first fluid delivery valves 2708a can be selectively
opened/closed to permit the fluid 2701 to flow from the first
delivery system 2706a and along one or more first delivery channels
2728a to clean first perception sensors 2718a. In the illustrated
embodiment, the system 2710 further includes a second delivery
system 2706b connected to the first delivery system 2706a via a
fluid channel 2703 such that the first delivery system 2706a and
the second delivery system 2706b are arranged in parallel. The
second delivery system 2706b includes a plurality of second fluid
delivery valves 2708b that can be selectively opened/closed to
permit the fluid 2701 to flow from the second delivery system 2706b
and along one or more second delivery channels 2728b to clean
second perception sensors 2718b. In other embodiments, one or more
additional delivery systems can be arranged in parallel with the
first delivery system 2706a and/or the second delivery system 2706b
to, for example, increase the number of fluid distribution channels
available in a given region of a vehicle. In some embodiments, the
first delivery system 2706a and the second delivery system 2706b
are modular systems.
[0182] FIG. 28 is a schematic illustration of a perception surface
cleaning system 2810 including multiple delivery systems configured
in accordance with another embodiment of the present technology.
More particularly, the system 2810 includes several features
generally similar to the system 2210 described in detail above with
reference to FIG. 22 but, in the illustrated embodiment, the system
2810 includes multiple hierarchically arranged delivery systems
2850, including a central delivery systems 2850a and a plurality of
peripheral delivery systems 2850b. In some embodiments, the
peripheral delivery systems 2850b can be closer to perception
sensors 2818 than the central delivery system 2850a. In one aspect
of the present technology, this architecture may be advantageous
when the sensors 2818 are arranged in clusters remote from the
central delivery system 2850a. For example, the central delivery
system 2850a may be in the engine compartment of a vehicle, while
the sensors 2818 may be located in clusters on the rear bumper of
the vehicle, on the roof of the vehicle, etc. By utilizing multiple
delivery systems to hierarchically route washer fluid, the length
and size of tubing traversing the vehicle may be greatly
reduced.
[0183] In the illustrated embodiment, a pump 2804 is configured to
deliver washer fluid 2801 from a reservoir 2802 to the central
delivery system 2850a for heating via a heater 2812. An air source
comprising an air compressor 2857 and a compressed air accumulator
2859 is configured to provide air flow to the central delivery
system 2850a, which includes a plurality of central delivery valves
2808a. The central delivery valves 2808a can be selectively
opened/closed to divide and deliver the fluid 2801 and/or air along
one or more parallel first delivery channels 2828a to the
peripheral delivery systems 2850b.
[0184] Individual ones of the peripheral delivery systems 2850b can
include peripheral delivery valves 2808b that can be selectively
opened/closed to divide and deliver the fluid 2801 and/or air along
one or more parallel second delivery channels 2828b to holding
chambers 2816. Each of the holding chambers 2816 is fluidly
connected to an air and fluid delivery nozzle 2864 via a pre-nozzle
check valve 2821. The pre-nozzle check valves 2821 are configured
to selectively fluidly connect the holding chambers 2816 to
corresponding (i) ones of the nozzles 2864 or (ii) second return
channels 2826b configured to return the fluid 2801 and/or air to
the peripheral delivery systems 2850b and, more particularly,
through second return valves 2820b of the peripheral delivery
systems 2850b. For example, in the illustrated embodiment each of
the second return channels 2826b includes a second return check
valve 2832b, and the second return channels 2826b are merged
together (e.g., via a T-connector) into a single channel received
by the corresponding one of the second return valves 2820b. Each of
the peripheral delivery systems 2850b is, in turn, further
connected to the central delivery system 2850a via first return
channels 2826a. The first return channels 2826a can each include a
first return check valve 2832a and can be merged together (e.g.,
via a T-connector) into a single channel received by a single first
return valve 2820a of the central delivery system 2850a. As
described in detail above, this arrangement allows for the
recirculation of the fluid 2801 and/or air from the holding
chambers 2816 to the fluid reservoir 2802.
[0185] A controller 2824 can be operably coupled to the pump 2804,
the air source (e.g., the air compressor 2857), the central
delivery system 2850a, the peripheral delivery systems 2850b, the
sensors 2818, and any one or combination of additional sensors
(e.g., temperature sensors, pressure sensors, etc.) When the
controller 2824 determines that one or more of the sensors 2818 are
occluded, the controller 2824 can route the fluid 2801 and/or air
to the nozzles 2864 corresponding to the occluded sensors 2818 to
clean and/or dry the corresponding occluded sensors 2818. More
specifically, the controller 2824 can close the first return valve
2820a of the central delivery system 2850a and the second return
valve 2820b of the corresponding peripheral delivery system 2850b
while operating the pump 2804 and/or the air source (e.g., the air
compressor 2857) to increase the pressure in the second delivery
channels 2828b above the cracking-pressure of the pre-nozzle check
valves 2821. To recirculate the fluid 2801, both the first return
valve 2820a of the central delivery system 2850a and the second
return valve 2820b of the corresponding one of the peripheral
delivery systems 2850b can be opened, and the pump 2804 and/or the
air source activated to recirculate the fluid 2801 and/or air to
the reservoir 2802. The first return check valves 2832a and the
second return check valves 2832b are configured to inhibit backflow
during recirculation.
VIII. Selected Embodiments of Fluid Holding, Fluid Heating, and/or
Forced Airflow Devices
[0186] As described in detail above, some embodiments of the
present technology can include fluid holding chambers configured to
receive fluid (e.g., washer fluid) and hold and/or heat the fluid
before delivering the fluid to a nozzle. In some embodiments, the
fluid is heated and held within a desired temperature range within
the holding chambers so that it is ready to be delivered. The
holding chambers can be positioned proximate to the nozzles to, for
example, reduce the distance the heated fluid must travel for
delivery and therefore reduce fluid heat loss. In some embodiments,
a flow divider can be connected to and/or integrally formed with
one or more of the holding chambers such that the heated fluid can
be subdivided after leaving the holding chamber for, for example,
delivery to multiple perception surfaces or sensors.
[0187] In one aspect of the present technology, the holding
chambers are configured to hold a minimum volume of fluid such that
they can (i) vary a fluid pulse volume and/or (ii) deliver a series
of fluid pulses in a short period of time. The larger the volume of
fluid, the more energy is required for heating, and the longer the
fluid will take to heat. Accordingly, the volume of fluid held
within each of the heating chambers can be between an upper limit
and a lower limit relative to a desired pulse volume. In some
embodiments, each of the holding chambers can hold between one and
five times the expected pulse volume for a particular channel. For
example, if a sensor's required average fluid pulse is five
milliliters, the holding chamber can hold between 5-25 milliliters
of fluid. Likewise, if a sensor's required average fluid pulse is
25 milliliters, the holding chamber can hold between 25-125
milliliters of fluid. In certain embodiments, the holding chambers
are configured to hold about two times the expected pulse volume
for an associated sensor surface.
[0188] Heat loss from a holding chamber to its surroundings is
inefficient and wastes vehicle energy. Accordingly, in some
embodiments the heating chambers are configured to minimize heat
loss to the surrounding environment. For example, the holding
chambers can be designed to minimize a ratio of surface area to
volume to minimize heat transfer away from the holding chambers.
For example, the heating chambers can have a ratio of surface area
(SA) to volume (V) of about 1 cm.sup.-1, or about the value defined
by the function SA/V=6.2V.sup.-0.33. Moreover, the holding chambers
can be thermally insulated. For example, outer surfaces of the
holding chambers can be fully or partially covered by an insulating
material which reduces conductive heat transfer to the outer
surfaces. In some embodiments, each of the holding chambers can be
insulated by an outer shell which is separated from the outer
surface of the heating chamber by a gap (e.g., an air gap, a vacuum
gap, etc.). In yet other embodiments, the outer surfaces of the
holding chambers can be covered with material (e.g., a thin layer
of foil or other reflective material) which reflects radiated heat
emitted from the chambers back into the chambers.
[0189] As cooler fluid may be less effective at cleaning surfaces
than hotter fluid, delivery of fluid not within the desired
temperature range should be minimized. Accordingly, in some
embodiments the heating chambers can be located proximate to the
nozzles configured to deliver the fluid for cleaning perception
sensors or other vehicle components. This can minimize the heat
lost by the fluid during transport from the holding chambers to the
perception sensors. More specifically, in some embodiments the
volume of fluid located in the flow path between the heating
chambers and the nozzles is less than 20% of the volume of the
average fluid pulse for the corresponding channels. For example, if
a fluid pulse of 10 milliliters is used to clean a specific sensor,
the volume of fluid between the heating chamber and the nozzle can
be less than 2 milliliters. If this fluid is contained within a
four-millimeter inner diameter hose, this equates to roughly 15
centimeters of hose length. As a further example, if a fluid pulse
of 50 milliliters is used to clean a sensor, the volume of fluid
between the heating chamber and the nozzle can be less than about
10 milliliters, or roughly 80 centimeters of four-millimeter inner
diameter tubing.
[0190] In some embodiments, the fluid channels between the heating
chambers and the nozzles can be insulated (e.g., covered with
insulation) to reduce conductive and/or radiative heat transfer. In
some embodiments, one one-way check valves are built into the
heating chambers such that fluid may flow in a direction from the
chamber to the nozzle, but not from the nozzle to the heating
chamber.
[0191] In some embodiments, holding chambers can be configured as
heating chambers including heating elements (e.g., electric heating
elements) for heating washer fluid therein. In some embodiments,
the heating chambers include a phase change material (PCM) used to
store thermal energy and to provide the thermal energy to washer
fluid flowing into the heating chambers. The electric heating
elements may heat the fluid directly, or the electric heating
elements may heat the PCM directly, and heat may be transferred to
the fluid from the PCM. As described in detail above, in some
embodiments unheated fluid is pumped into a holding chamber after
fluid is delivered from a holding chamber through a nozzle to
replace the delivered fluid. With electric heating only, the speed
at which this fluid is heated to the desired temperature is limited
by the power of the heater, which in turn may be limited by
available electric current from the vehicle. However, when a PCM is
present, a substantial amount of thermal energy is available at a
constant temperature until the PCM has completely changed phase.
Therefore, a lower rate of electric heating may be provided to a
heating chamber when washer fluid is not being pumped, and a
portion of this energy may be stored in the PCM so that it can be
quickly extracted when needed. In some embodiments, a specific PCM
can be selected to limit the upper temperature of the washer fluid.
For example, the upper limit can be between about 50-65.degree. C.
As heat is applied to the PCM, the temperature of the fluid in the
holding chamber will rise until it reaches the phase change
temperature of the PCM. At that temperature, the addition of
thermal energy does not raise the temperature, but rather drives
the PCM's phase transition (for example, from solid to liquid
phase). In this manner, heating via a PCM may be used as protection
for over-heating the fluid. Moreover, the time in which the PCM may
heat fluid is limited only by the heat transfer properties internal
to the system, which may enable much faster heating than with
electric heating only and/or may allow the system to use a lower
peak electric current.
[0192] In some embodiments, heating chambers are configured to
enable the delivery of forced air. For example, in some embodiments
a heating chamber can include (i) a fluid inlet port for receiving
fluid into the heating chamber, (ii) an air inlet port for
receiving airflow into the heating chamber or a separate chamber,
and (iii) one or more outlet ports for connecting the air flow and
fluid flow to a nozzle. In some such embodiments, the forced air
pathway connects with the fluid pathway after the heating chamber
such that airflow does not disrupt the contents of the heating
chamber, but forces fluid from the outlet port and the nozzle such
that air is emitted from the nozzle (e.g., onto a vehicle component
to be cleaned). In other embodiments, the forced air pathway
connects with the fluid pathway within the heating chamber such
that airflow forces fluid from the heating chamber through the
nozzle before air flows from the nozzle onto the perception surface
to be cleaned. Following the delivery of fluid and air, a fluid
pump can refill the heating chamber with washer fluid.
[0193] In some embodiments, forced air can be delivered to evacuate
fluid tubing to, for example, inhibit of even prevent fluid from
freezing within the tubing. For example, a fluid heating and forced
airflow device can include a channel including a fluid valve which
regulates fluid flow into the channel, a fluid lumen carrying fluid
to a heating chamber, an air valve which regulates air flow into
the channel, an air lumen carrying air to a point where it joins
the fluid outflow of the heating chamber, and a check valve
configured to prevent fluid flow into the air lumen. When fluid
delivery is desired, the fluid valve can be opened, and a fluid
pump can push fluid through the fluid lumen, the heating chamber,
and a nozzle configured to receive the fluid and air outflow and
direct it against a vehicle component. When air delivery is
desired, the fluid pump can be turned off, the fluid valve can be
closed, and the air valve can be opened to allow airflow to eject
fluid from a short span of tubing between the heating chamber and
the nozzle before spraying air on the perception surface. When
evacuation of the system is desired for freeze protection, the air
valve can be opened to allow air flow to eject liquid from the span
of tubing between the heating chamber and the nozzle, and then the
fluid valve can be opened to allow the forced air to push fluid out
of the heating chamber and out of fluid lumen back into a fluid
reservoir. When the system is restarted, the fluid pump can refill
the fluid lumen and heating chamber with fluid.
[0194] In some embodiments, a heating chamber is configured to
enable self-pumping. For example, the heating chamber can include
(i) a fluid inlet port controlled by a one-way check valve that
only allows fluid flow from the fluid inlet port into the heating
chamber and (ii) a fluid outlet port controlled by a variable
(e.g., solenoid) valve. Washer fluid can be heated within the
heating chamber to a temperature above the boiling point of
methanol, causing a rapid rise in the pressure within the heating
chamber. When methanol boils, its vapor phase accumulates at the
top of the heating chamber, while washer fluid exits towards the
solenoid valve and a nozzle from the bottom of the heating chamber.
When the solenoid valve opens, the expanding gas forcibly ejects
the fluid through the nozzle. When the solenoid valve is closed,
the remaining fluid in the chamber will cool, creating a vacuum,
pulling fluid from the reservoir back into the chamber.
[0195] FIGS. 29-36 are cross-sectional views more specifically
illustrating various embodiments of fluid holding, fluid heating,
and/or forced airflow devices configured in accordance with
embodiments of the present technology. The detailed description of
each embodiment focuses mainly on those components that are
new/different as compared to other embodiments. However, one
skilled in the art will appreciate that the various embodiments can
(i) include the same or generally similar features (e.g.,
components, configurations, etc.), (ii) operate the same or
generally similarly, and/or (iii) that the various embodiments can
be combined. Further, one skilled in the art will appreciate that
the various embodiments discussed with reference to FIGS. 29-36 can
be combined/incorporated with each other and/or the embodiments
discussed with reference to FIGS. 2-28.
[0196] FIG. 29 is a cross-sectional view of a fluid holding device
2980 configured in accordance with an embodiment of the present
technology. In the illustrated embodiment, the fluid holding device
2980 includes a fluid holding chamber 2982 connected to an inlet
port 2981, a return/recirculation port 2983, and an outlet port
2985. The fluid holding device 2980 further includes a
pressure-actuated check valve (e.g., a pre-nozzle check valve)
comprising a spring 2992 and a seal 2994. The seal 2994 is
configured to block/seal a check valve aperture 2986 to prevent
fluid from flowing from the holding chamber 2982 through the outlet
port 2985. More specifically, the check valve aperture 2986 remains
blocked when the pressure within the holding chamber 2982 is too
low to compress the spring 2992 and depress the seal 2994. However,
when the pressure in the holding chamber 2982 exceeds the cracking
pressure, the spring 2992 compresses and depresses the seal
2994--unsealing the check valve aperture 2986 and allowing fluid
(e.g., washer fluid) to exit via the outlet port 2985 and to flow
to, for example, a delivery nozzle.
[0197] In one aspect of the embodiment illustrated in FIG. 29, the
fluid holding device 2980 includes an integrated check-valve.
Therefore, in some embodiments the fluid holding device 2980
comprises a single device that could be incorporated into any of
the embodiments described in detail above to integrate a holding
chamber into a pre-nozzle check valve. As one representative
example, the fluid holding device 2980 could be incorporated into
the system 1110 described in detail with reference to FIG. 1110 to
replace any pair of the holding chambers 1116 and the pre-nozzle
check valves 1121.
[0198] FIG. 30 is a cross-sectional view of a fluid heating device
3080 configured in accordance with an embodiment of the present
technology. In the illustrated embodiment, the device 3080 includes
a fluid holding chamber 3082 connected to an inlet port 3081 and an
outlet port 3085. Fluid (e.g., washer fluid) can enter the holding
chamber 3082 via the inlet port 3081 and can exit the holding
chamber 3082 via the outlet port 3085. In some embodiments, a
one-way check valve 3084 is positioned within the holding chamber
3082 and configured to prevent fluid back-flow from the outlet port
3085 into the holding chamber 3082. In the illustrated embodiment,
the device 3080 includes an electric heating element 3094
configured to heat a fluid in the holding chamber 3082. The
electric heating element 3094 can be connected to a controller
and/or a power bus by electrical leads 3093. In some embodiments,
the leads 3093 can be configured to transmit signals (e.g.,
temperature signals) sensed from within the holding chamber 3082
(e.g., via one or more sensors; not shown). The device 3080 can
also include thermal insulation 3095 configured to limit heat loss
from the fluid to the environment.
[0199] In some embodiments, the device 3080 can be positioned
proximate to a washer fluid nozzle in a cleaning system. Thus, in
one aspect of the present technology, the device 3080 is configured
to provide localized heating and holding of heated fluids proximate
to delivery nozzles or other components for cleaning vehicle
components.
[0200] FIG. 31 is a cross-sectional view of a fluid heating device
3180 configured in accordance with another embodiment of the
present technology. In the illustrated embodiment, the device 3180
includes a fluid holding chamber 3182 connected to an inlet port
3181 and an outlet port 3185. Fluid (e.g., washer fluid) can enter
the holding chamber 3182 via the inlet port 3181 and can exit the
holding chamber 3182 via the outlet port 3185. A one-way check
valve 3184 is positioned within the holding chamber 3182 and
configured to prevent fluid back-flow from the outlet port 3185
into the holding chamber 3182.
[0201] In the illustrated embodiment, the device 3180 further
includes a phase change material chamber 3196 positioned within the
holding chamber 3182 or otherwise thermally coupled to the holding
chamber 3082. An electric heating element 3194 is connected to a
controller and/or a power bus by electrical leads 3193 and is
configured to heat a phase change material in the phase change
material chamber 3196 to thereby heat the fluid in the holding
chamber 3182 to, for example, a target temperature range. In some
embodiments, the phase change material is selected such that it
changes phase within the target temperature range. For example, the
target temperature of the fluid in the holding chamber 3182 may be
between about 45-55.degree. C. and the phase change material can be
selected to shift phases at about 53.degree. C. In some
embodiments, the electric heating element 3194 is coupled to a
controller configured to provide trickle heating to maintain the
temperature of both the washer fluid and the phase change material
at 55.degree. C., maintaining the phase change material in its
elevated state. When the fluid in the holding chamber 3182 is
expelled via the outlet port 3185 (e.g., to be sprayed onto a
vehicle component), it can be replaced with cold fluid via the
inlet port 3181. The electric heating element 3194 can transfer
heat to the cold fluid via the phase change material to thereby
accelerate re-heating of the holding chamber 3182 and the fluid
therein. In some embodiments, the device 3180 can also include
thermal insulation 3195 (e.g., an outer blanket of insulation)
configured to limit heat loss from the holding chamber 3182 and the
phase change material chamber 3196 to the environment.
[0202] In some embodiments, the holding chamber 3182 is configured
to hold (e.g., has a volume of about) about 50 milliliters of fluid
and the phase change material chamber 3196 is configured to hold
about 60 milliliters of an organic phase change material that melts
at 63.degree. C. with a latent heat of 150 kilojoules per kilogram
and a specific gravity of 0.91. In such embodiments, the thermal
energy released by the phase change material as it solidifies is
8.2 kilojoules--enough heat to raise the temperature of 20
milliliters of washer fluid by 120.degree. C. (or twice by
60.degree. C.). In this manner, an electric vehicle including the
device 3180 could pre-heat the phase change material and the
initial volume of washer fluid in the holding chamber 3182 while
charging, and still retain enough energy to deliver 60 milliliters
of heated fluid (e.g., in six pulses of 10 milliliters each). The
vehicle would only expend energy on maintaining the temperature of
the holding chamber 3182 thereafter.
[0203] FIG. 32 is a cross-sectional view of a fluid heating and
forced airflow device 3280 configured in accordance with an
embodiment of the present technology. In the illustrated
embodiment, the device 3280 includes a fluid holding chamber 3282
connected to a fluid inlet port 3281 and a fluid outlet port 3285.
Fluid (e.g., washer fluid) can enter the holding chamber 3282 via
the fluid inlet port 3281 and can exit the holding chamber 3282 via
the fluid outlet port 3285. A one-way check valve 3284 is
positioned within the holding chamber 3282 and configured to
prevent fluid back-flow from the fluid outlet port 3285 into the
holding chamber 3282. An electric heating element 3294 is
configured to heat the fluid in the holding chamber 3282, and
thermal insulation 3295 is configured to limit heat loss from the
holding chamber 3282 to the environment. In the illustrated
embodiment, the device 3280 further includes a forced air inlet
3297 and a forced air outlet 3299 separated by a forced air one-way
valve 3298. The forced air outlet 3299 can join the fluid outlet
port 3285 (e.g., at a T-junction) for outlet and delivery to a
nearby vehicle component.
[0204] FIG. 33 is a cross-sectional view of a fluid heating and
forced airflow device 3380 configured in accordance with another
embodiment of the present technology. In the illustrated
embodiment, the device 3380 includes a fluid holding chamber 3382
connected to a fluid inlet port 3381 and an air holding chamber
3302 connected to an air inlet port 3397. The fluid holding chamber
3382 and the air holding chamber 3302 are connected to a common
plenum 3301 via a first one-way check valve 3384 and a second
one-way check valve 3398, respectively. The plenum 3301 is, in
turn, connected to an outlet port 3306 configured to deliver fluid
and air to a nearby perception sensor. An electric heating element
3394 is configured to heat the fluid in the fluid holding chamber
3382, and thermal insulation 3395 is configured to limit heat loss
from the fluid holding chamber 3382 to the environment. In some
embodiments, washer fluid may be provided to outlet port 3306
(e.g., to a nozzle) for cleaning when fluid is pumped, and air may
be provided to the outlet port 3306 for surface drying when air
flows. Air and washer fluid may be transported to the fluid inlet
port 3381 and the air inlet port 3397 by two separate tubes or
within two lumens in a dual-lumen tube.
[0205] FIG. 34 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device 3480 configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, the device 3480 includes a holding
chamber 3403 connected to a fluid inlet port 3481, an air inlet
port 3497, a return/recirculation port 3483, and a common air and
fluid outlet port 3406. The holding chamber 3403 is connected to
(i) the outlet port 3406 via a first one-way check valve 3407 and
the (ii) air inlet port 3497 via a second one-way check valve 3498.
The outlet port 3406 is configured to deliver fluid and/or air to a
nearby vehicle component to clean and/or dry the vehicle component.
An electric heating element 3494 is configured to heat fluid and/or
air in the holding chamber 3403, and thermal insulation 3495 is
configured to limit heat loss from the holding chamber 3403 to the
environment.
[0206] In the illustrated embodiment, a fluid pump 3404 is
connected to the fluid inlet port 3481 via a fluid distribution
channel and a fluid distribution valve 3408 and is configured to
selectively route fluid from a fluid reservoir 3402 to the holding
chamber 3403. An air source 3452 is connected to the air inlet port
3497 via an air distribution channel and air distribution valve
3460 and is configured to selectively route air to the holding
chamber 3403. The second one-way check valve 3498 can prevent fluid
from flowing back into the air inlet port 3497 from the holding
chamber 3403. The fluid reservoir 3402 is connected to the return
port 3483 of the holding chamber 3403 via a return channel and
return valve 3420 which can be selectively opened/closed to allow
fluid and/or air to return to the reservoir 3402.
[0207] When fluid delivery is desired, the pump 3404 pumps fluid
into the holding chamber 3403 while the return valve 3420 remains
closed, thereby increasing the pressure within the holding chamber
3403 above the cracking pressure of the first one-way valve 3407.
This allows the fluid to flow through the outlet port 3406 to a
nozzle or other delivery element. If forced air delivery is
subsequently desired, the air source 3452 can pump/force air into
the holding chamber 3403 to expel the fluid in the holding chamber
3403 through the first one-way valve 3407 and the outlet port 3406.
When the volume of fluid in the holding chamber 3403 has been
reduced or depleted, air may then flow out the first one-way valve
3407 and the outlet port 3406 to the nozzle. To refill the holding
chamber 3403 with fluid, fluid is pumped into the holding chamber
3403 while the return valve 3420 is open. This allows the holding
chamber 3403 to fill with fluid and forces air and fluid through
the return port 3483. In some embodiments, if freeze prevention is
desired, air may be forced into the holding chamber 3403 while the
return valve 3420 is open to evacuate any fluid in the holding
chamber 3403.
[0208] FIG. 35 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device 3580 configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, the device 3580 includes (i) a fluid
holding chamber 3582 connected to a fluid inlet port 3581 via first
one-way check valve 3512 and (ii) an air holding chamber 3509
connected to an air inlet port 3597 via a second one-way valve
3598. The fluid holding chamber 3582 and the air holding chamber
3509 are connected to a common outlet port 3506 via a selectable
valve 3513 (e.g., a solenoid valve) and a third one-way check valve
3514, respectively. An electric heating element 3594 is configured
to heat the fluid in the fluid holding chamber 3582, and thermal
insulation 3595 is configured to limit heat loss from the fluid
holding chamber 3582 and/or the air holding chamber 3509 to the
environment.
[0209] In the illustrated embodiment, a movable piston 3510
separates the fluid holding chamber 3582 from the air holding
chamber 3509 and is coupled to a spring 3511. Under normal
conditions, the selectable valve 3513 is closed, and the fluid pump
3504 maintains pressure in the washer fluid holding chamber 3582.
This pressure drives the piston 3510 toward the air inlet port 3597
(e.g., toward the left of the page in FIG. 35), thereby compressing
the spring 3511. When fluid delivery is desired, the selectable
valve 3513 is opened and heated fluid exits through the outlet port
3506. This reduces the pressure within the fluid holding chamber
3582 and permits the piston 3510 to be driven toward the fluid
inlet port 3581 (e.g., toward the right of the page in FIG. 35) by
the spring 3511. Movement of the piston 3510 toward the fluid inlet
port 3581 draws air into the air holding chamber 3509. Once a pulse
of fluid is ejected through the outlet port 3506, the selectable
valve 3513 closes--increasing the pressure in the fluid holding
chamber 3582 due to the pressure flow of fluid provided by the pump
3504. This pressure again drives the piston 3510 toward the air
inlet port 3597, which drives air from the air holding chamber 3509
and through the outlet port 3506.
[0210] Therefore, in one aspect of the present technology, the
device 3580 is configured to deliver both heated fluid and forced
air using only the pressure from the fluid pump 3504. That is,
forced air delivery is achieved without the need for a pressurized
air source.
[0211] FIG. 36 is a partially-schematic, cross-sectional view of a
fluid heating and forced airflow device 3680 configured in
accordance with another embodiment of the present technology. In
the illustrated embodiment, the device 3680 includes (i) a fluid
holding chamber 3682 connected to a fluid inlet port 3681 via first
one-way check valve 3612 and (ii) an air holding chamber 3609
connected to an air inlet port 3697 via a second one-way valve
3698. The fluid holding chamber 3682 and the air holding chamber
3609 are connected to a common outlet port 3606 via a third one-way
check valve 3613 and a fourth one-way check valve 3614,
respectively. An electric heating element 3694 is configured to
heat the fluid in the fluid holding chamber 3682, and thermal
insulation 3695 is configured to limit heat loss from the fluid
holding chamber 3682 and/or the air holding chamber 3609 to the
environment. A movable piston 3610 separates the fluid holding
chamber 3682 from the air holding chamber 3609 and is coupled to a
spring 3611.
[0212] In the illustrated embodiment, the air inlet port 3697 is
connected to an air source 3652 via a selectable valve (e.g., a
solenoid valve) 3660. The fluid inlet port 3681 is connected to a
fluid reservoir 3602. Under normal conditions, the fluid holding
chamber 3682 is filled with fluid and (ii) the air holding chamber
3609 and the fluid holding chamber 3682 are at near-ambient
pressure such that the spring 3611 is extended and the piston 3610
is extended (e.g., in a most-extend position) toward the air inlet
port 3697 (e.g., toward the left of the page in FIG. 36). When
fluid delivery is desired, the selectable valve 3660 is opened and
air flows into the air holding chamber 3609. This increases the
pressure within the air holding chamber 3609 and drives the piston
toward the fluid inlet port 3681 (e.g., toward the right of the
page in FIG. 36). Movement of the piston 3610 toward the fluid
inlet port 3681 increases the pressure in the fluid holding chamber
3682 until the cracking pressure of the third one-way check valve
3613 is exceeded and fluid is expelled through the outlet port 3606
to a nozzle or other delivery element. The piston 3610 eventually
stops moving as the spring 3611 compresses until the air pressure
in the air holding chamber 3609 exceeds the cracking pressure of
the fourth one-way check valve 3614, which drives air from the air
holding chamber 3609 through the fourth one-way check valve 3614
and through the outlet port 3606 to the nozzle or other delivery
element. When the selectable valve 3660 is closed, the pressure in
the air holding chamber 3609 returns to ambient, and the spring
3611 extends and drives the piston 3610 toward the air inlet port
3697. This movement of the piston 3610 draws fluid from the
reservoir 3602 into the fluid holding chamber 3682.
[0213] Therefore, in one aspect of the present technology, the
device 3680 is configured to deliver both heated fluid and forced
air using only the pressure from the air source 3652. That is,
heated fluid delivery is achieved without the need for a fluid
pump.
IX. Selected Embodiments of Delivery/Return Channels
[0214] Because washer fluid and forced air distribution systems may
be designed to deliver air and/or fluid to twenty or more vehicle
components (e.g., surfaces, sensors, etc.), the management of
tubing within a vehicle may become quite complex. In some
embodiments, the routing, mounting, and tracing may be
significantly easier for a co-extruded bundle of tubes than a
collection of individual tubes. Similarly, because recirculating
washer fluid systems bring washer fluid to and back from component
locations around the vehicle, and forced air systems bring air to
the same points, using co-extruded multi-lumen tubing may greatly
simplify such systems.
[0215] Accordingly, FIG. 37 includes several cross-sectional views
of multi-lumen tubing for fluid and/or air delivery and/or
recirculation configured in accordance with embodiments of the
present technology. In some embodiments, a selected fluid delivery
channel and the associated return channel can be combined in a
single tube 3702 having two equally-sized lumen. In some
embodiments of systems including forced air delivery, fluid
delivery, and fluid recirculation the various delivery and return
channels can be combined in a tube 3706 having three equal sized
lumens in a linear (e.g. planar) arrangement or a tube 3708 having
three equally sized lumens in a bunched arrangement. In some
embodiments, the washer fluid and/or of forced air can flow at
significantly different flow velocities. Accordingly, the various
delivery and return channels can be combined in a tube 3710 having
three unequally-sized lumens in a linear arrangement or a tube 3712
having three unequally sized lumens in a bunched arrangement. In
yet other embodiments, a tube 3704 having two unequally sized
lumens can be used to, for example, combine fluid delivery and
return channels. As one of ordinary skill in the art will
appreciate, many other configurations of multi-lumen tubing are
within the scope of the present technology.
[0216] In some embodiments, the various tube lumens can be used to
carry wires instead of or in addition to fluid and air. Such wires
can include, for example, any wires necessary to sense, control,
and/or operate localized heating elements within distributed
heating chambers.
X. Selected Embodiments of Fluid Heating
[0217] Referring again to FIG. 1, in some embodiments the cleaning
system 110 is configured to heat fluid such that it has a
temperature of between about 35-60.degree. C. when it is held
within one or more holding and/or heating chambers positioned near
corresponding vehicle components (e.g., corresponding ones of the
sensors 108 and/or perception surfaces 109). In some embodiments, a
target temperature within each chamber may be different based on,
for example, a surface to be cleaned, a vehicle operating state,
ambient weather conditions, etc. For example, the cleaning system
110 may have one or more preset temperature target modes, and each
channel (corresponding to a chamber) may be assigned one of these
preset modes which determines the temperature to which it will heat
fluid held in its heating chamber. For example, the cleaning system
110 can have a high temperature mode set to 60.degree. C., a medium
mode set to 45.degree. C., a low temperature mode set to 30.degree.
C., and/or an ambient temperature mode in which no heating is
provided. The cleaning system 110 can determine which mode to
assign to each channel through the use of inputs, such as inputs
from ambient temperature sensors or information conveyed by a
vehicle control system.
[0218] In some embodiments, the vehicle 100 is an electric vehicle
having one or more batteries and the cleaning system 110 is
configured to pre-heat fluid during charging of the batteries. That
is, initial fluid heating may be performed while the vehicle 100 is
charging to minimize energy consumption from the batteries of the
vehicle 100 during operation.
[0219] In some embodiments, the cleaning system 110 is configured
heat fluid within one or more heating chambers using closed-loop
temperature control of electric resistance heating elements.
Accordingly, one or more electric resistance heating elements and
one or more temperature sensors can be located within each heating
chamber. The temperature in the heating chamber can be measured on
one or more heating elements, in the fluid in the heating chamber,
or elsewhere in the heating chamber. In some embodiments, bang-bang
heating control is done wherein power to the one or more heating
elements is turned on when the measured temperature is below a
first threshold value and is turned off when it is above a second
threshold value. In other embodiments, power provided to the one or
more heating elements is reduced to reduce the heating rate. For
example, power can be reduced via pulse width modulation of the
electrical circuit of each heating element to reduce the average
voltage provided to the one or more heating elements. In yet other
embodiments, heating power is reduced by low frequency switching of
the power to the one or more heating elements, such as turning the
heaters on for several seconds and then off for several seconds. In
some embodiments, heating power is increased or reduced based on
the difference between the measured temperature and a target
temperature.
[0220] In some embodiments, the cleaning system 110 is configured
to heat fluid within one or more heating chambers using
uncontrolled positive temperature coefficient fluid heating within
the heating chambers. For example, the heating can be done by
providing electric power to positive temperature coefficient
heating elements positioned at and/or within the heating chambers.
The cleaning system 110 can provide a constant voltage to the
positive temperature coefficient heating elements or a modulated
voltage to, for example, control the heating rate or the
equilibrium temperature of the heating elements.
[0221] In some embodiments, the cleaning system 110 is configured
to heat fluid within one or more heating chambers using switched
positive temperature coefficient fluid heating within the heating
chambers. For example, the heating can be done by independently
controlling the electric power to positive temperature coefficient
heating elements positioned at and/or within the heating chambers.
In other embodiments, the heating chambers can be grouped, and the
electric power can be modulated to each group of associated heating
elements. Each heating chamber can contain one or more one positive
temperature coefficient heating elements that can have the same or
different power ratings, the same or different equilibrium
temperatures, and/or can be controlled together or
independently.
[0222] FIG. 38 is a graph of fluid temperature versus time for the
heating of washer fluid within a heating chamber (e.g., by a
cleaning system, such as the cleaning system 110 of FIG. 1) in
accordance with embodiments of the present technology. In the
illustrated embodiment, the fluid heating system provides an
initial rapid fluid heating 3806 curve such that the washer fluid
temperature rises quickly to a lower limit 3802 of a target
temperature range. This can provide the washer fluid with enough
thermal energy to reduce its viscosity, increase its flow rate, and
improve its cleaning ability. Once the lower limit 2802 of the
target temperature range is reached, the fluid heating system may
manage the expenditure of power in different ways to reduce power
draw from the vehicle. If power is readily available, heating may
continue as before, following the curve 3808 denoting continued
rapid fluid heating. If cumulative power management is needed, the
fluid heating system may reduce the power provided to the heater in
the heating chamber, resulting in a reduced power fluid heating
curve 3810. In extreme cases, power may be greatly reduced, as in a
curve 3812 denoting power-limited fluid heating. In some
embodiments, heating may be turned off, yielding pauses in heating
(and associated temperature decline)--denoted by a first paused
heating period 3814 and a second paused heating period 3818. The
fluid heating system may intermittently have power available,
allowing the system to continue heating as shown by a resumed
power-limited heating curve 3816, and a second resumed
power-limited heating curve 3820 until an upper limit 3804 of the
target temperature range is achieved. Once the upper limit 3084 is
reached, heating is reduced, stopped, or the temperature is
thermostatically controlled at a minimal heating rate required to
offset thermal losses to the environment.
XI. Selected Embodiments of Pulsed Fluid Delivery
[0223] Referring again to FIG. 1, in some embodiments the cleaning
system 110 is configured to deliver fluid to clean vehicle
components in pulses as one or more fluid delivery valves are
opened and subsequently closed (while a fluid pump operates) to
deliver the fluid along selected channels to corresponding ones of
the fluid delivery components 114. In some embodiments, the
parameters which control the pulse may be preset and correspond to
the vehicle component to be cleaned such that each vehicle
component (e.g., a surface thereof) receives an appropriate amount
of fluid. In some embodiments, each vehicle component to be cleaned
has a standard set of parameters which control the delivery of a
fluid pulse. These parameters may be added to, subtracted from,
multiplied, or divided based on changes to input parameters which
include an ambient temperature, a temperature of the fluid, a
detected occlusion severity, a mode of vehicle operation, a
location of the vehicle 100, and/or other factors. In some
embodiments, standard pulses for warmed fluid delivery are set to
be between 0.5-5 milliliters per square centimeter of surface area
to be cleaned.
[0224] In some embodiments, each fluid pulse is controlled by
actuating the pump and the delivery valves for a preset time. The
preset time may be different for each vehicle component to be
cleaned and may change based on other sensed parameters. For
example, longer duration pulses may occur when ambient temperatures
are lower or detected occlusions are severe. In some embodiments,
the delivery of each fluid pulse may be controlled to deliver a
specified volume of fluid. This volume may be different for each
vehicle component to be cleaned and may change based on other
sensed parameters. For example, larger volume pulses may occur when
ambient temperatures are lower, and the viscosity of the delivered
fluid is greater (e.g., resulting in lower flow rates for a given
pump pressure). As another example, pulse volumes may increase when
difficult-to-clean occlusions are sensed, perhaps such as insect
splatter, or may be decreased when minor occlusions like surface
dust are detected.
XII. Selected Embodiments of Cleaning System Control
[0225] Referring again to FIG. 1, in some embodiments an electronic
control system (e.g., the controller 106 of the vehicle delivery
system 104 and/or the controller 112 of the cleaning system 112)
includes a microprocessor configured to control/actuate the
components of the cleaning system 110, such as one or more fluid
pumps, valves, electric heaters, etc. The electronic control system
can be separate from the vehicle control system 104 or can
communicate with the vehicle control system to receive signals,
such as operating states of the vehicle 100, ambient temperatures,
power limits, sensors to be cleaned, error signals (such as empty
washer fluid reservoir), etc. In some embodiments, the vehicle
control system 104 directly controls the cleaning system 110.
[0226] When the vehicle 100 is an electric vehicle, it is often
important to manage power and energy draw from the batteries of the
vehicle 100. The vehicle 100 can include energy management controls
which prioritize and de-prioritize expenditure of stored electric
energy on vehicle systems. When the cleaning system 110 uses
electric energy to heat washer fluid, the vehicle 100 may command a
state in the cleaning system 110 which limits electric power usage.
In some embodiments, the vehicle control system 104 communicates an
operating state to the cleaning system 110, and the cleaning system
110 modifies the fluid heating temperatures accordingly.
[0227] In some embodiments, the vehicle control system 104
communicates an operating state to the cleaning system 110, and the
cleaning system 110 manages the cumulative consumption of
electricity from the cleaning system 110 to remain within a
corresponding preset range. In other embodiments, the vehicle
control system 104 communicates a numerical value for a preset
power limit to the cleaning system 110, and the cleaning system 110
allocates the cumulative power consumption of the system to stay
within this limit.
[0228] In some embodiments, the cleaning system 110 includes one or
more energy storage devices in which in which electrical energy may
be stored over a period and released for fluid heating and valve
operation over a shorter period. The energy storage devices can be
batteries, capacitors, and/or other devices. The energy storage
devices can be located proximate to one or more fluid heating
chambers and the heating elements contained therein. In such
embodiments, small wires may carry low electric current over longer
spans to the energy storage devices, and larger wires can carry the
higher currents from the energy storage devices to the heating
elements over a shorter distance. In some embodiments, the energy
storage devices are designed to hold enough energy to heat the
washer fluid within a heating chamber by about 50.degree. C., can
store between 1-10 kilojoules of electrical energy, and/or can
release their stored energy in less than 30 seconds.
XIII. Exemplary System
[0229] Referring again to FIG. 1, in some embodiments, the cleaning
system 110 includes 20 parallel fluid delivery channels, 15 of
which service small, 5 square centimeter camera sensor surfaces,
and 5 of which service larger, 25 square centimeter LIDAR sensor
surfaces. In some embodiments, maintaining the cleanliness of the
LIDAR sensor surfaces can be relatively more important than
maintaining the cleanliness of the camera surfaces. When a camera
surface occlusion is detected, delivery of a 10-milliliter bolus of
heated fluid is specified. In line, just before nozzles configured
to clean the camera surfaces, each channel can have a 20-milliliter
heating chamber including a 20-watt electric heater capable of
heating the volume from 0.degree. C. to 30.degree. C. in less than
three minutes, and to 55.degree. C. in less than ten minutes. To
clean the LIDAR surfaces, a 50-milliliter bolus of heated fluid is
specified. In line, just before the LIDAR surfaces, each channel
has a 100-milliliter heating chamber including a 100-watt electric
heater.
[0230] Accordingly, operating all 20 channels at maximum power can
requires 800 watts. This power can be available from the vehicle
100 while the vehicle 100 is charging (in the case of an electric
vehicle), or for a short period of up to five minutes after
start-up. After the start-up period, the cleaning system 110 can
have a maximum allowable power draw of 130 watts. The system
controller selectively applies this power to the 20 fluid holding
chambers to compensate for their heat loss and to maintain their
temperatures, or to reheat fluid in a chamber following fluid
delivery.
[0231] The cumulative heat loss from the holding chambers--even in
very cold conditions--can total less than approximately 25 watts.
Reheating a large holding chamber following delivery of a pulse of
fluid may draw as much as approximately 100 watts if rapid
reheating is allowed, or less, if the heating rate is throttled to
limit system power. Cumulatively, the cleaning system 110 may see
short peaks of 125-watt power draw but, over time, the average
power draw is expected to be much closer to 25 watts. When ambient
temperatures are warmer, or when the target washer fluid
temperature is reduced, this power draw can be reduced
considerably.
XIV. Conclusion
[0232] The above Detailed Description of examples of the present
technology is not intended to be exhaustive or to limit the present
technology to the precise form disclosed above. While specific
examples for the present technology are described above for
illustrative purposes, various equivalent modifications are
possible within the scope of the present technology, as those
skilled in the relevant art will recognize. For example, while
processes or blocks are presented in a given order, alternative
implementations may perform routines having steps, or employ
systems having blocks, in a different order, and some processes or
blocks may be deleted, moved, added, subdivided, combined, and/or
modified to provide alternative or sub-combinations. Each of these
processes or blocks may be implemented in a variety of different
ways. Also, while processes or blocks are at times shown as being
performed in series, these processes or blocks may instead be
performed or implemented in parallel, or may be performed at
different times. Further, any specific numbers noted herein are
only examples; alternative implementations may employ differing
values or ranges.
[0233] These and other changes can be made to the present
technology in light of the above Detailed Description. While the
Detailed Description describes certain examples of the present
technology as well as the best mode contemplated, the present
technology can be practiced in many ways, no matter how detailed
the above description appears in text. Details of the system may
vary considerably in its specific implementation, while still being
encompassed by the technology disclosed herein. As noted above,
particular terminology used when describing certain features or
aspects of the present technology should not be taken to imply that
the terminology is being redefined herein to be restricted to any
specific characteristics, features, or aspects of the present
technology with which that terminology is associated. Accordingly,
the present technology is not limited, except as by the appended
claims. In general, the terms used in the following claims should
not be construed to limit the present technology to the specific
examples disclosed in the specification, unless the above Detailed
Description section explicitly defines such terms.
[0234] Although certain aspects of the present technology are
presented below in certain claim forms, the applicant contemplates
the various aspects of the present technology in any number of
claim forms. Accordingly, the applicant reserves the right to
pursue additional claims after filing this application to pursue
such additional claim forms, in either this application or in a
continuing application.
* * * * *