Patent Publication Number: US-2022234546-A1

Title: Sensor visibility system

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This utility patent application claims the benefit of U.S. Provisional Patent Application Ser. No. 63/141,009 filed Jan. 25, 2021, entitled Sensor Visibility System (Attorney Docket No. AA435), which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND 
     Sensors that are exposed to environmental conditions such as, for example, but not limited to rain, snow, ice, mud, vector droppings, and other foreign bodies can become obstructed and thus can perform less optimally. If the sensors are mounted on moving vehicles, the environmental conditions can impair the ability of the sensor to visualize obstacles. Such an impairment can pose a hazard for other vehicles and users of the road or sidewalk. Windshield wipers that move side to side are in customary use to remove foreign objects. Not only are wiper blades subject to wear that can cause incomplete clearing of the windshield, conventional moving wipers generally require a relatively lateral surface to travel upon. A further deficiency of wiper blades that are commonly used is that they do not scale well, especially on the smaller scale. 
     What is needed is a system that can maintain an unobstructed pathway for a sensor to capture data. 
     SUMMARY 
     The system of the present teachings for maintaining an unobstructed pathway through which sensors can capture data can include, but is not limited to including, at least one stationary wiper assembly, at least one movable shield assembly housing the sensors, and at least one barrier assembly protecting the interior of the stationary assembly and the movable shield assembly from environmental contaminants. In particular, the system of the present teachings can provide for debris removal from the movable shield assembly. 
     The system of the present teachings for maintaining an unobstructed pathway, the unobstructed pathway enabling at least one sensor to capture sensor data, can include, but is not limited to including, at least one movable component protecting the at least one sensor, and at least one stationary component. The at least one stationary component can include, but is not limited to including, at least one at least one wiper blade assembly, at least one sensor, at least one mounting surface for the at least one sensor, and a means to move the at least one moveable component. The at least one stationary component can wipe the at least one movable component as the at least one movable component moves past the at least one wiper blade. The at least one wiper blade assembly can optionally include at least one wiper blade holder integrated with at least one wiper blade. The at least one wiper blade assembly can optionally include at least one wiper blade holder including at least one wiper blade cartridge cavity, and at least one wiper blade cartridge removably positioned within the at least one wiper blade cartridge cavity. The at least one wiper blade assembly can optionally include at least one wiper blade, and at least one spring operably coupled with the at least one wiper blade. The at least one spring can enable compliant motion of the at least one wiper blade with respect to the at least one moveable component. The at least one movement component can optionally include at least one motor gear. The at least one stationary component can optionally include at least one movement component moving the at least one movable component, and at least one barrier between the at least one sensor and an environment surrounding the at least one sensor. The at least one barrier can optionally include at least one an environmental seal, at least one housing, at least one platform, and at least one platform clamp clamping the at least one platform and the at least one housing around the at least one environmental seal. The clamping can prevent environmental contaminants from entering an interior of the at least one movement component and the at least one stationary component. The at least one platform clamp can optionally include at least one v-clamp. The at least one movable component can optionally include at least one shield situated in a field of view of the at least one sensor, and at least one movement component interface operably coupled with the at least one movement component. The at least one movement component and the at least one movement component interface can enable movement of the at least one moveable component. The at least one shield can optionally include at least one dome surrounding the at least one sensor. The at least one dome can optionally include a circular shape. The at least one movement component interface can optionally include a ring gear. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present teachings will be more readily understood by reference to the following description, taken with the accompanying drawings, in which: 
         FIG. 1  is a pictorial representation of a first configuration of the present teachings for maintaining a clear surface through which sensors can collect data; 
         FIG. 2  is a pictorial representation of a second configuration of the present teachings for maintaining a clear surface through which sensors can collect data; 
         FIG. 3  is a pictorial representation of a vehicle including an implementation of the first configuration of the present teachings mounted atop; 
         FIG. 4  is a perspective diagram of a cargo box having an implementation of the first configuration the present teachings mounted atop; 
         FIG. 5A  is a perspective diagram of an implementation of the first configuration of the system of the present teachings; 
         FIG. 5B  is a exploded perspective diagram of an implementation of the first configuration of the major components of the system of the present teachings including at least one sensor; 
         FIG. 5C  is a exploded perspective diagram of an implementation of the first configuration of the major components of the sensor vision issue mitigation device of the present teachings; 
         FIG. 5D  is a perspective diagram of an implementation of the first configuration of the system of the present teachings without the rotatable shield, seen from various perspectives; 
         FIG. 6  is a schematic exploded perspective diagram of rotatable and stationary components of the present teachings; 
         FIGS. 7A, 7B, and 7C  are cross section perspective diagrams of an implementation of the first configuration of the system of the present teachings; 
         FIG. 7D  is an exploded cross section perspective diagram of an implementation of the first configuration of the system of the present teachings; 
         FIG. 8A  shows various views of perspective diagrams of an implementation of the first configuration of the wiper blade holder of the present teachings; 
         FIG. 8B  shows various views of perspective diagrams of an implementation of the first configuration of the wiper blade cartridge and wiper blade holder of the present teachings; 
         FIG. 8C  shows various views of perspective diagrams of an implementation of the first configuration of the clamp of the present teachings; 
         FIG. 8D  shows various views of perspective diagrams of an implementation of the first configuration of the interface flange of the present teachings; 
         FIG. 8E  shows various views of perspective diagrams of an implementation of the first configuration of the output flange of the present teachings; 
         FIG. 8F  shows various views of perspective diagrams of an implementation of the first configuration of the housing of the present teachings; 
         FIG. 8G  shows various views of perspective diagrams of an implementation of the first configuration of the ring gear of the present teachings; 
         FIG. 8H  shows various views of perspective diagrams of an implementation of the first configuration of the sensor platform of the present teachings; 
         FIG. 8I  shows various views of perspective diagrams of an implementation of the first configuration of the stationary platform of the present teachings; 
         FIG. 8J  shows various views of perspective diagrams of an implementation of the first configuration of the motor of the present teachings; 
         FIG. 8K  shows various views of perspective diagrams of an implementation of the first configuration of the motor gear of the present teachings; 
         FIGS. 9A-9B  are perspective diagrams of an implementation of a second configuration of the system of the present teachings; 
         FIG. 10  is a exploded perspective diagram of the configuration of  FIGS. 9A-9B  of the major components of the system of the present teachings including at least one sensor; 
         FIG. 11  is an exploded perspective diagram of parts of an implementation of the second configuration of the system of the present teachings; 
         FIG. 12  is a cross section diagram of an implementation of the second configuration of  FIGS. 9A-9B ; and 
         FIG. 13  is a top view of an implementation of the second configuration of the present teachings. 
     
    
    
     DETAILED DESCRIPTION 
     The system of the present teachings for maintaining an unobstructed pathway through which sensors can capture data can include, but is not limited to including, a shield assembly for protecting the sensors, a stationary wiper for clearing the shield, and a barrier between the sensors and the environment. 
     Referring now to  FIG. 1 , first configuration system  100  can include, but is not limited to including, a movable component, a stationary component that moves the movable component and cleans the transparent movable component, and an environmental barrier or seal between the movable and the stationary components. The stationary component includes sensors, a stationary movement means, a wiper configuration, and the environmental barrier. The movable component includes a shield configuration and a moveable movement means. With respect to the stationary component, in some configurations, the wiper configuration includes, for example, wiper blade holder  23  and wiper blade  15 . In some configurations, wiper blade holder  23  and wiper blade  15  can be separate parts. In some configurations, wiper blade holder  23  and wiper blade  15  can be formed into a single component. In some configurations, the movement means includes motor  22 . Other movement options are possible. In some configurations, sensor(s)  27 , environmental barrier  328 , wiper configuration and movement means are mounted to a platform, for example, mounting platform  12 . In some configurations, there can be multiple mounting platforms, or other means to stabilize the components. Environmental barrier  328  protects the interior of the system from environmental contaminants such as water and debris. 
     Continuing to still further refer to  FIG. 1 , with respect to the moveable component, in some configurations, the shield configuration includes shield  19  that protects sensor(s)  27  from visual impairment as shield  19  is moved and cleared of obstructions by wiper  15 . Shield  19  is positioned to surround sensor(s)  27  to protect the fields of view of sensor(s)  27 , and is transparent to the electromagnetic spectrum associated with sensor(s)  27 . For example, if sensor(s)  27  include camera and devices, shield  19  would at least be transparent in the visual spectrum. The shield configuration includes lid  17  that is weather-sealed to shield  19 , and protects sensor(s)  27  from environmental hazards. In some configurations, sensor(s)  27  gather data over a pre-selected field of view, for example, but not limited to, a 360° view. In some configurations, shield  19  encircles sensor(s)  27 . No matter the configuration of sensor(s)  27 , the wiper configuration, sensor(s)  27 , and environmental barrier  328  remain stationary with respect to the underlying platform upon which sensor(s)  27  are mounted while shield  19  moves, for example, but not limited to, laterally, vertically, and/or rotationally. In a rotational configuration, as shield  19  rotates around axis  324 , wiper blade holder  23  retains wiper blade  15  in a stationary position with respect to the moving shield configurations. Wiper  15  is positioned to be in contact with the exterior of shield  19  so that, as shield  19  rotates, wiper blade  15  clears any obstructions from shield  19 , leaving sensor(s)  27  free to collect data without being impaired by obstructions. In some configurations, the movable movement mechanism includes a gear that is driven by motor  22 . Other movable movement mechanisms are possible. In some configurations, shield  19  includes a circular shape that completely or partially surrounds sensor(s)  27 . Shield  19  is rotated in various ways including, but not limited to, a ring gear that is operably coupled with, and rotates with, shield  19 . Motor  22  rotates a motor gear around axis  326 . The motor gear drives the ring gear. Environmental barrier  328  seals sensors  27  from environmental debris as shield  19  rotates. 
     Referring now to  FIG. 2 , second configuration system  200  includes multiple sensors and multiple shield configurations. For example, sensor(s)  27 A are surrounded by rotating shield  19 A, and sensor(s)  27 B are surrounded by rotating shield  19 B. Each rotating configuration is accompanied by stationary wiper  15 A/ 15 B. In some configurations, environmental seal  328 , motor  22 , and the ring gear drive and protect both shields  19 A/ 19 B. In some configurations, multiple ring gears, multiple motors, and multiple environmental seals drive and protect shields  19 A/ 19 B separately. The present teachings are not limited to two sets of sensors  27 A/ 27 B. The present teachings are not limited to stacked sensors, but can also include side-by-side sensors protected by a single shield configuration, or separate shield configurations. 
     Referring now to  FIG. 3 , an exemplary first configuration system  100  of the present teachings for maintaining sensor visions can be mounted upon exemplary vehicle  10 , wherever sensors are located. For example, when sensors are mounted atop and/or beneath a vehicle, first configuration system  100  can surround the sensors to maintain a 360° field of view free from obstructions. Common obstructions for top-mounted sensors can include precipitation, insects, bird excrement, and road/sidewalk dirt. Common obstructions for bottom-mounted sensors can include mud, dirt, road salt, road debris, and snow plow debris. When sensors are mounted to the front, sides, and/or rear of a vehicle, other configurations of system  100  can be mounted in front of the sensors to maintain a view for the sensors that is free from obstructions. Common obstructions for front-mounted sensors can include road debris, precipitation, and insects. Common obstructions for side-mounted sensors can include road/sidewalk splashing and precipitation. Common obstructions for rear-mounted sensors can include road splashings and mud. The systems of the present teachings can enable vehicle  10  to autonomously navigate during sub-optimal environmental situations. 
     Referring now to  FIGS. 4, 5A-5D and 6 , exemplary vehicle cargo box  60  can include exemplary system  300  mounted upon cargo chassis  13 . Exemplary system  300  can include rotatable assembly  109  ( FIG. 6 ) and stationary assembly  111  ( FIG. 6 ). Rotatable assembly  109  ( FIG. 6 ) includes components of exemplary system  300  that rotate during operation of exemplary system  300 . Stationary assembly  111  ( FIG. 6 ) includes components of exemplary system  300  that remain stationary during operation of exemplary system  300  while enabling environmental isolation and smooth movement of rotation assembly  109  ( FIG. 6 ). Exemplary system  300  can include assemblies such as dome assembly  101  ( FIG. 5B ), sensor assembly  107  ( FIG. 5B ), rotation support assembly  103  ( FIG. 5B ), environmental barrier assembly  104  ( FIG. 5B ), and wiper assembly  105  ( FIG. 5B ). Dome assembly  101  ( FIG. 5B ) and rotation support assembly  103  ( FIG. 5B ) rotate, while sensor assembly  107  ( FIG. 5B ), environmental barrier assembly  104  ( FIG. 5B ), and wiper assembly  105  ( FIG. 5B ) provide support to the rotating components and remain themselves stationary. In some configurations, rotatable assembly  109  ( FIG. 6 ) can rotate at about  60 rpm, but can rotate at any desired speed to wipe water, snow, sleet, and debris, for example, from dome assembly  101  ( FIG. 5C ). 
     Continuing to refer to  FIGS. 5A-5D and 6 , dome assembly  101  ( FIG. 5B ), including, but not limited to, shield  19  ( FIG. 5A ) and lid  17  ( FIG. 5A ), joins with rotation support assembly  103  ( FIG. 5B ), including, but not limited to, clamp  31  ( FIG. 5A ) and output flange  43  ( FIG. 5A ), to rotate dome assembly  101  ( FIG. 5B ) and protect sensors  107  ( FIG. 5B ). While dome assembly  101  ( FIG. 5B ) is rotating, wiper configuration  105  ( FIG. 5B ), including, but not limited to, wiper blade  15  ( FIG. 5A ), is held in contact with dome assembly  101  ( FIG. 5B ) by wiper blade holder  23  ( FIG. 5B ), and remains stationary while dome assembly  101  ( FIG. 5B ) rotates. In some configurations, rotation support assembly  103  ( FIG. 5B ) can include ring gear  39  ( FIG. 5D ), output flange  43  ( FIG. 5D ), o-ring  45  ( FIG. 6 ), interface flange  25  ( FIG. 6 ), and clamp  31  ( FIG. 6 ). Dome assembly  101  ( FIG. 5C ) can be bonded to interface flange  25  ( FIG. 6 ), which is operably coupled with output flange  43  ( FIG. 6 ), also referred to as rotating base ring  43 . In some configurations, clamp  31  ( FIG. 6 ) secures the coupling between interface flange  25  ( FIG. 6 ) and output flange  43  ( FIG. 6 ), and o-ring  45  ( FIG. 6 ) weather-seals the coupling. Other environmental sealing configurations are possible. The secure coupling enables rotatable assembly  109  ( FIG. 6 ) to rotate dome assembly  101  ( FIG. 5C ) around sensor assembly  107  ( FIG. 5C ). In some configurations, the system of the present teachings can include a device that can move fluid from a reservoir, through hoses, into nozzles, and to the outer surface of shield  19 . The fluid can moisturize shield  19  so that wiper blade  15  can more easily remove the debris on shield  19 . In some configurations, shield  19  can move a pre-selected distance and remain stationary for a pre-selected amount of time. In some configurations, shield  19  can oscillate back and forth without making a complete traversal along an entire possible pathway. In some configurations, shield  19  can oscillate in front of a sensor&#39;s field of view. In some configurations, for example in configurations where sensor  27  can alert a controller that a visual obstruction has been detected on shield  19 , shield  19  can be fixedly or temporarily situated beyond the obstruction, providing a clear view for sensor  27 . Repositioning shield  19  can occur continually if necessary. The obstruction can be removed manually if necessary, while sensor  27  retains a clear field of view. 
     Referring now to  FIGS. 7A-7D and 8A-8K , shield  19  can be constructed of any durable material that meets the desired sensor viewing requirements. For example, shield  19  ( FIG. 5B ) can include transparent glass, or polarized or otherwise treated material. Lid  17  ( FIG. 5B ) can be constructed of any material that meets weather and other sensor-related hazard protection requirements. For example, lid  17  ( FIG. 5B ) could include plexiglass or an opaque, to frequencies to which the sensors are not sensitive, material. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , clamp  31  secures the parts together that provide the interface between dome assembly  103  ( FIG. 5C ) and ring gear  39  ( FIG. 6 ), thus enabling rotation of dome assembly  101  ( FIG. 5B ) based on the force provided by motor  22  ( FIG. 5D ) through gear  21  ( FIG. 5D ). Clamp  31  can include connection bands  63  ( FIG. 8C ), split v-band  31 B ( FIG. 8C ), and fastener cavities  61  ( FIG. 8C ). Clamp  31  can include multiple sections that can be drawn to each other by fasteners inserted into fastener cavities  61  ( FIG. 8C ). Split v-band  31 B ( FIG. 8C ) is sized to operably join the weather-sealable components of rotatable assembly  109  ( FIG. 5C ). Other geometries of band clamps are possible. Exemplary clamps can be found at https://www.aceraceparts.com/collections/v-bands?gclid=CjwKCAiArIH_BRB2EiwALfbH1FfSm434Efl6JhX0zhY0FgqXXbL3uEb93Cy0R g3hOqmHG-Lgn66YpBoCM_kQAvD_BwE. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , interface flange  25  provides the connection between dome assembly  101  ( FIG. 5B ) and operational assembly  105  ( FIG. 5B ). Interface flange  25  includes dome interface  25 A ( FIG. 8D ) to which dome assembly  101  ( FIG. 5B ) is secured. Interface flange  25  includes clamp platform  25 B ( FIG. 8D ) which rests flush against output flange  43  within split v-band  31 B ( FIG. 8C ). 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , output flange  43  provides the interface between interface flange  25  and operational parts of rotatable assembly  109  ( FIG. 6 ). Output flange  43  includes clamp platform  43 C ( FIG. 8E ) which rests flush against interface flange  25 , and is drawn to seal with interface flange  25  by clamp  31 . Output flange  43  includes o-ring cavity  46  that accommodates weather-sealing o-ring  45  ( FIG. 6 ). O-ring  45  ( FIG. 6 ) enables sealing against environmental contamination between output flange  43  and interface flange  25 . In some configurations, o-ring  45  ( FIG. 6 ) includes, but is not limited to including, a nitrile rubber o-ring, for example, a McMaster-Carr 9452K324 o-ring. Output flange  43  includes ring gear fastener cavities  43 A ( FIG. 8E ). When aligned with ring gear  39  ( FIG. 6 ), ring gear fastener cavities  43 A ( FIG. 8E ) provide locations for fasteners to bond together ring gear  39  ( FIG. 6 ), environmental seal  35  ( FIG. 6 ), and thin section bearing  37  ( FIG. 6 ), essentially the mechanism to seal the rotatable parts with the stationary parts. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , ring gear  39  enables movement of dome assembly  101  ( FIG. 5C ) through transmission of mechanical energy from motor gear  21  to ring gear  39 . Ring gear  39  can include fastener cavities  39 A ( FIG. 8G ) that enable fastening ring gear  39  to output flange  43 , thus coupling movement-enabling ring gear  39  with dome assembly  101  ( FIG. 5C ). Ring gear  39  includes ring gear teeth  39 B ( FIG. 8G ) having the same mesh as motor gear  21 . Motor gear  21  is positioned to form a gear train with ring gear  39 . Other mechanisms to enable rotation of rotatable assembly  109  ( FIG. 6 ) are contemplated by the present teachings. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , in some configurations, stationary assembly  111  ( FIG. 6 ) can include, but is not limited to including, environmental barrier assembly  104  ( FIG. 5B ), wiper assembly  105  ( FIG. 5B ), a means to move wiper assembly  105  ( FIG. 5B ), and sensors that are protected by rotating assembly  109  ( FIG. 6 ). Stationary components include motor  22  ( FIG. 7A ), motor gear  21  ( FIG. 7A ), environmental shaft seal  35 , thin section bearing  37 , housing  72 , sensor platform  71 , and mounting platform  69 . The combination of environmental shaft seal  35 , thin section bearing  37 , and housing  72  enable smooth rotational movement of rotating assembly  109  ( FIG. 6 ). 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , cross sections of exemplary system  300  can illustrate how an exemplary dome assembly might be configured to protect sensors and enable accurate and obstruction-free sensor data gathering. In the configuration shown, sensors  27  are part of a stationary sensor assembly that includes sensor shelf  57  ( FIG. 7D ) whose feet  67  ( FIG. 7D ) can be coupled with sensor platform  71  ( FIG. 7D ) at sensor mounting points  71 E ( FIG. 8H ). Sensors  27  can include any type of sensor, for example, but not limited to, cameras. In some configurations, lighting can be included to illuminate an area observed by the sensors. In these configurations, the lights can be placed behind a shield that can be cleaned as described herein. In some configurations, the sensors and lights can be positioned behind the same shield. In some configurations, separate shields can be provided for the lights and the sensors. Sensors  27  can be positioned in any way that is suitable for the application. For autonomous driving, for example, a 360° view could necessitate multiple sensors positioned at various orientations. Exemplary system  300  can be sized—height, width, depth—to accommodate sensors  27 , sensor shelf  57 , and mounting wall  58 . In some configurations, sensors  27  can detect obstructions and can automatically initiate the rotation of dome assembly  101  ( FIG. 5C ). 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , sensor platform  71  includes cavity  71 D ( FIG. 8H ) that is shaped to accept and guide motor gear  21  so that it is positioned to form a gear train with ring gear  39 . Sensor platform  71  includes fastening features  71 E ( FIG. 8H ) that align with the feet of sensor assembly  107  ( FIG. 5C ). The alignment enables fastening of sensor assembly  107  ( FIG. 5C ) to sensor platform  71 . Cavity  71 C ( FIG. 8H ) enables threading of data and power wiring to sensors  27 . Sensor platform  71  includes cutout  71 A ( FIG. 8H ) to give clearance for wiper blade holder  23 . In some configurations, sensor shelf  57  is spaced from mounting platform  71  ( FIG. 7D ) to provide space for environmental barrier assembly  104  ( FIG. 5B ), for example. Mounting wall  58  ( FIG. 7D ) provides such spacing by connecting sensor feet  67  ( FIG. 7D ) with sensor shelf  57  ( FIG. 7D ). In some configurations, mounting wall  58  (FIG.  7 D) may not be necessary. Sensor shelf  57  ( FIG. 7D ) could be connected directly with mounting platform  71  ( FIG. 7D ), or could be absent altogether. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , motor  22  ( FIG. 8J ) provides mechanical energy to gear  21  ( FIG. 8K ), and that energy is thus transferred to pinion ring gear  39  ( FIG. 8G ) through gear teeth  21 A ( FIG. 8K ), and ultimately rotates dome assembly  101  ( FIG. 5C ). Motor  22  ( FIG. 8J ) includes stem  22 A ( FIG. 8J ) that accepts motor gear  21  ( FIG. 8K ). Motor  22  ( FIG. 8J ) is be powered by any available source, including, but not limited to, direct current sources such as batteries or solar panels, or alternating current sources such as the power grid. In some configurations, motor  22  ( FIG. 8J ) includes an encoder to provide positional feedback, thus enabling partial rotation of shield  19 . 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , wiper cartridge holder  83  ( FIG. 7D ), wiper blade hinge(s)  29  ( FIG. 7C ) and wiper blade  15  ( FIG. 7D ) enable clearing of the rotating shield protecting the sensors. Wiper blade  15  ( FIG. 7D ) can take the form of replaceable cartridge that can fit into cartridge holder  83  ( FIG. 7D ). In some configurations, wiper cartridge holder  83  includes spring-like features  84  ( FIG. 8B ) that maintain positional restoration of wiper blade  15  while allowing flexibility. In some configurations, a separate spring is mounted between wiper blade holder  23  and wiper blade  15  to provide the compliance necessary to clean shield  19  of debris with substance. Wiper blade  15  can take any shape that conforms to the shape of shield  19  so that the wiping surface of wiper blade  15  can connect with the desired amount of the surface of shield  19 . Some or all of the surface of shield  19  can be wiped by wiper blade  15 . Wiper blade holder  23  includes cartridge cavity  85  ( FIG. 8B ), upper retainer cap fastener cavities  89  ( FIG. 8B ), and mounting cavity  87  ( FIG. 8B ). Wiper blade cavity  85  ( FIG. 8B ) can be sized to incorporate wiper cartridge holder  83 . Wiper blade  15  and cartridge holder  83  ( FIG. 8D ) can be formed as a single unit or can be separate units. Further, wiper blade  15  and wiper blade holder  23  can be formed as a single unit, or can be separate units. Upper retainer cap  65  is mounted to wiper blade holder  23  such that it spans wiper cartridge holder  83  and positionally maintains wiper cartridge holder  83  while allowing access to wiper blade  15  to remove and replace it as necessary. Upper retainer cap  65  includes at least one upper retainer cap pin (not shown) that couples wiper blade holder  23  to upper retainer cap  65 . 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , wiper blade holder  23  includes cutout  91  ( FIG. 8A ) that provides the space required for clamp  31 . Other geometries for wiper blade holder  23  are possible. For example, wiper blade holder  23  can be set far enough away from shield  19  to clear or partially clear clamp  31 . In such configurations, cutout  91  ( FIG. 8A ) may not be needed or can take on the size necessary to accommodate clamp  31 . Cartridge cavity  85  ( FIG. 8B ) holds wiper blade cartridge holder  83  ( FIG. 8B ), which is sized to, for example, slidably accept wiper blade  15  ( FIG. 7B ). In some configurations, wiper blade  15  ( FIG. 7B ) can be easily removed and replaced, and cartridge holder  83  ( FIG. 7B ) can vary in size to accept varying sizes of wiper blades  15  ( FIG. 7B ). Cartridge cavity  85  ( FIG. 7B ) can be sized to allow varying sizes of cartridge holders  83  ( FIG. 7B ). In some configurations, wiper blade  15  ( FIG. 7B ) and wiper blade cartridge  83  ( FIG. 7B ) can be formed into a single component, making the entire component removable and replaceable. Such a single unit cartridge/blade includes springs to maintain its positional placement against the rotating shield, or springs can be separately mounted. The cartridge and/or the entire wiper blade holder includes swing mechanism(s) to displace either or both of them when parts of the rotating assembly such as, for example, but not limited to, shield  19  and clamp  31  must be removed, replaced, and/or cleaned. Wiper blade  15  ( FIG. 7B ) can be constructed of any durable material that can be formed into a non-abrasive, compliant blade shape. 
     Continuing to refer to  FIGS. 7A-7D and 8A-8K , in some configurations, environmental barrier assembly  104  ( FIG. 5B ) retains rotation support assembly  103  ( FIG. 5B ) to mounting platform  71  ( FIG. 5D ), while allowing it to rotate. Environmental barrier assembly  104  ( FIG. 5B ) can, among other things, provide a bearing surface to guide the rotation of rotating assembly  109  ( FIG. 6 ), provide a reaction force to the pinon gear (ring gear  39  ( FIG. 5D )), and provide a barrier against environmental contaminants. In some configurations, environmental barrier assembly  104  ( FIG. 5B ) can include, but is not limited to including, thin section bearing  37  ( FIG. 7B ) that can be chosen, in some configurations, to minimize its footprint within the assembly, and includes ball bearings to minimize friction, and thus reduce power requirements and extend the range of the assembly, if battery operated, for example. Thin section bearing  37  ( FIG. 7B ) can include, but is not limited to including, a Kaydon JA050XP0 ball bearing having sealed single-row construction. Other types of bearings can be used that include characteristics such as having small ball bearings to minimize friction and required motor power, and thus extend power range. In some configurations, environmental barrier assembly  104  ( FIG. 5B ) can include, but is not limited to including, environmental shaft seal  35  ( FIG. 7C ) that retains the bearing lubricant for thin section bearing  37  ( FIG. 7B ) to avoid leakage that may cause environmental issues, and to minimize unwanted substance ingress. Environmental shaft seal  35  ( FIG. 7C ) provides sealing between output flange  43  ( FIG. 7B ) and thin section bearing  37  ( FIG. 7B ). In some configurations, seal  35  ( FIG. 7C ) can include a Motion Industries CR 52330 seal made of nitrile rubber. Other types of seals are possible that are designed for a rotating shaft, are compliant, include a lip seal design that can accommodate eccentricities and changes in surface structure, and are less stiff than an o-ring. Housing  72  ( FIG. 8F ) couples environmental barrier assembly  104  ( FIG. 5B ) with rotational assembly  109  ( FIG. 6 ) to enable secure environmental sealing between rotational and stationary parts of the system, as well as fluid movement of rotational assembly  109  ( FIG. 6 ). Housing  72  ( FIG. 8F ) is coupled with platform  71  ( FIG. 7D ), the combination of which is assembled around thin section bearing  37  ( FIG. 7B ) that is clamped into place by the combination of housing  72  ( FIG. 8F ) and platform  71  ( FIG. 7D ). In some configurations, stationary platform  69  ( FIG. 7D ) can provide a surface for mounting spacers  55  ( FIG. 7D ) and wiper blade holder  23  ( FIG. 7A ). In some configurations, spacers  55  ( FIG. 7D ) might be necessary between mounting platform  71  ( FIG. 7D ) and base platform  69  ( FIG. 7D ). Stationary platform  69  includes wiper blade holder fastener cavity  69 D ( FIG. 8I ) that accommodate attaching wiper blade holder  23  to a non-rotating surface. Stationary platform  69  ( FIG. 7D ) includes fastening cavities  69 E ( FIG. 8I ) and geometric features  69 A ( FIG. 8I ) to accommodate mounting other non-rotating components. Stationary platform  69  ( FIG. 7D ) includes cutout  69 B ( FIG. 8I ) that accommodates wiring, sensor structure, and motor  22  ( FIG. 7A )/motor gear  21  ( FIG. 7A ) on its way to cavity  71 D ( FIG. 8H ). 
     Referring now to  FIGS. 9A-9B, and 10-12 , another configuration of the present teachings includes at least one sensor vision clearing device. The device includes a rotating shield, stationary parts, including the sensors and a motor, and an interface between the rotating and stationery parts. The rotating parts include sensor shield  31057  that rotates past a wiper blade (described elsewhere herein). In some configurations, flange  31398  and cap  31399  are operably coupled to sensor shield  31057 . Cap  31399  presses against flexible seal  31473  that will provide an interface between rotating and stationery parts. An o-ring between flange  31398  and flexible seal  31473  prevents environmental contaminants such as fluid from entering the sealed area where the sensors are located. Together, sensor shield  31057  ( FIG. 12 ), cap  31399  ( FIG. 12 ), flange  31398  ( FIG. 12 ), flexible seal  31473  ( FIG. 12 ), ring gear  213 /bearing  215  ( FIG. 10 ), and the o-ring rotate as the wiper blade clears sensor shield  31057 . Motor  208  ( FIG. 12 ), driven by motor assembly  205  ( FIG. 12 ), both of which are stationary, rotate pinion gear  231  ( FIG. 12 ), which rotates about the axis of motor  208  ( FIG. 12 ). Pinion gear  231  ( FIG. 12 ), which engages with ring gear  213  ( FIG. 12 ), causes the rotation of the rotatable elements. 
     Continuing to refer to  FIGS. 9A-9B, and 10-12 , the stationary parts include the sensors themselves, the motor, and mounting parts. In some configurations, the sensors (not shown) can include cameras, LIDAR, and other types of sensors in which a clear view is required to collect usable data. In some configurations, a sensor mounting system such as mount  31396  ( FIG. 12 ) can be used to hold the sensors. Sensor mount  31396  ( FIG. 12 ) mounts to, in the exemplary configuration, LIDAR mount  31474  ( FIG. 12 ). Other stationary parts include cap  31475  ( FIG. 12 ), housing  31395  ( FIG. 10 ), LIDAR cover  31400  ( FIG. 10 ), and rod  211 /seal clamp  209  ( FIG. 9B ) that cover LIDAR  201  ( FIG. 9B ) and seal it from environmental contamination, respectively. In the configuration shown, LIDAR  201  is protected from the elements by sensor cap  31475  ( FIG. 12 ) which also includes cord routing area  31475 A ( FIG. 11A ). Other devices can be accommodated, and other geometries to accommodate various sensors are contemplated by the present teachings. Power and/or data wires that provide power to LIDAR  201  and receive data from LIDAR  201  are routed to/from LIDAR  201  through routing area  31475 A. Routing area  31575 A is further protected from the elements by cord cover  235 . Cord cover  235  can be fixedly attached to sensor cap  31475 , or can be rotatably coupled with sensor cap  31475 . When cord cover  235  is rotatably coupled, cord cover  235  can be lifted to expose the routed cables. Otherwise, cord cover  235  can be disengaged from sensor cap  31475  to expose the routed cables. Stationary parts upper motor carrier  31397  and lower motor carrier  207  stabilize motor assembly  205  as motor  208  rotates the sensor shield  31057  and other rotatable components. The geometry of the shown configuration requires spacers  203  ( FIG. 9A ), which can be added or subtracted as necessary. 
     Referring now to  FIG. 13 , a top-down view of the second configuration of the present teachings is shown. Planetary pinion  231  which is driven by motor  208  ( FIG. 12 ) and engages with ring gear  213  ( FIG. 12 ) to rotate sensor shield  31057  ( FIG. 12 ) to clear the path before the sensors mounted by sensor mount  31396 . Shield cap  31399  seals rotating sensor shield  31057  from environmental contaminants that could enter the space between the glass and the sensors, and therefore rotates. Likewise, flexible seal  31473  rotates. 
     Configurations of the present teachings can be directed to computer systems for accomplishing the methods discussed in the description herein, for example to control rotation duration and possibly speed depending upon the presence of debris on shield  19 , and to computer readable media containing programs for accomplishing these methods. The raw data and results can be stored for future retrieval and processing, printed, displayed, transferred to another computer, and/or transferred elsewhere. Communications links, where desired, can be wired or wireless, for example, using cellular communication systems, military communications systems, and satellite communications systems. Parts of the system can operate on a computer having a variable number of CPUs. Other alternative computer platforms can be used. 
     The present configuration can include software for accomplishing the methods discussed herein, and computer readable media storing software for accomplishing these methods. The various modules described herein can be accomplished on the same CPU, or can be accomplished on different computers. In compliance with the statute, the present configuration has been described in language more or less specific as to structural and methodical features. It is to be understood, however, that the present configuration is not limited to the specific features shown and described, since the means herein disclosed comprise preferred forms of putting the present configuration into effect. 
     While the present teachings have been described above in terms of specific configurations, it is to be understood that they are not limited to these disclosed configurations. Many modifications and other configurations will come to mind to those skilled in the art to which this pertains, and which are intended to be and are covered by both this disclosure and the appended claims. It is intended that the scope of the present teachings should be determined by proper interpretation and construction of the appended claims and their legal equivalents, as understood by those of skill in the art relying upon the disclosure in this specification and the attached drawings.