Sensor lens cleaning system

A method of cleaning an entrance surface through which electromagnetic radiation is received by a sensing element of a sensor of a vehicle from an environment, the method comprising, by a control system of a cleaning system:

• dispensing a fluid on the entrance surface via at least two washing elements and along at least two different directions;
• moving a first wiping element over the entrance surface from a first position along a first wiping path;
• and
• moving a second wiping element over the entrance surface from a second position along a second wiping path, wherein the first wiping path is different from the second wiping path, and
• moving the first wiping element and the second wiping element toward each other until reaching a closed state in which the first wiping element and the second wiping element are in contact with each other and cover the entrance surface to block the entrance surface from environmental contamination.