CN110841996A - Laser radar cleaning device, method, equipment and storage medium - Google Patents
Laser radar cleaning device, method, equipment and storage medium Download PDFInfo
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- CN110841996A CN110841996A CN201911297755.1A CN201911297755A CN110841996A CN 110841996 A CN110841996 A CN 110841996A CN 201911297755 A CN201911297755 A CN 201911297755A CN 110841996 A CN110841996 A CN 110841996A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 124
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 238000010438 heat treatment Methods 0.000 claims abstract description 82
- 239000002904 solvent Substances 0.000 claims description 81
- 239000007921 spray Substances 0.000 claims description 33
- 238000005507 spraying Methods 0.000 claims description 12
- 238000001035 drying Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 7
- 238000003466 welding Methods 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 239000000243 solution Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000007639 printing Methods 0.000 description 5
- 239000000356 contaminant Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
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- 239000000428 dust Substances 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000002834 transmittance Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
Abstract
The embodiment of the application provides a cleaning device, a method and equipment for a laser radar and a storage medium. Wherein, this cleaning device includes: the cleaning system is arranged at a position close to a light-transmitting part of the laser radar and used for cleaning the light-transmitting part according to a cleaning instruction sent by the laser radar when the laser radar detects that the object to be cleaned exists on the light-transmitting part; the heating unit is arranged on the light-transmitting component or at a position close to the light-transmitting component and used for heating the light-transmitting component to melt the frozen object in the object to be cleaned before the cleaning system cleans the light-transmitting component.
Description
Technical Field
The embodiment of the application relates to the technical field of laser detection, in particular to a cleaning device, a cleaning method, cleaning equipment and a storage medium for a laser radar.
Background
Lidar is increasingly used in various fields as a sensing sensor. However, due to the performance of the laser radar, the laser radar is generally applied outdoors, so that the light-transmitting sheet (light-emitting window sheet) of the laser radar is easily polluted by dust, silt, ice, snow and other pollutants, and the detection performance of the laser radar is affected.
Disclosure of Invention
The embodiment of the application provides a cleaning device, a cleaning method, a cleaning device and a storage medium for a laser radar, so that a light transmission part of the laser radar can be cleaned more thoroughly.
In a first aspect, an embodiment of the present application provides a cleaning device for a laser radar, including: the cleaning system is arranged at a position close to a light-transmitting part of the laser radar and used for cleaning the light-transmitting part according to a cleaning instruction sent by the laser radar when the laser radar detects that the object to be cleaned exists on the light-transmitting part; the heating unit is arranged on the light-transmitting component or at a position close to the light-transmitting component and used for heating the light-transmitting component to melt the frozen object in the object to be cleaned before the cleaning system cleans the light-transmitting component.
Optionally, when the heating unit is disposed on the light-transmitting member, the heating unit is connected to the light-transmitting member by bonding, welding or integral molding.
Optionally, the apparatus further comprises: the first temperature acquisition unit is used for acquiring the ambient temperature; and the first control unit is connected with the heating unit and used for determining whether to control the heating unit to heat the light-transmitting part or not based on the ambient temperature.
Optionally, the heating unit is connected to the second control unit, and configured to heat the light-transmitting member based on a heating instruction sent by the second control unit before the cleaning system cleans the light-transmitting member; the heating instruction is generated by the second control unit based on the condition that the ambient temperature acquired by the second temperature acquisition unit is lower than the preset temperature; the second temperature acquisition unit and the second control unit are the control unit and the temperature acquisition unit of the laser radar.
Optionally, the first control unit is further connected to the laser radar, and is configured to receive a solvent control instruction sent by the laser radar when the light-transmitting component detects that the object to be cleaned exists on the light-transmitting component; the solvent conveying assembly is connected with the first control unit and used for conveying the solvent based on the solvent control instruction; and the cleaning spray head is arranged at a position close to the light-transmitting part, is connected with the solvent conveying assembly, and is used for spraying the solvent conveyed by the solvent conveying assembly to the surface of the light-transmitting part.
Optionally, the cleaning system comprises: a solvent delivery assembly and a cleaning spray head; the solvent conveying assembly is connected with the second control unit and used for receiving a solvent control instruction sent by the second control unit when the second control unit detects that the object to be cleaned exists on the light-transmitting part and conveying a solvent based on the solvent control instruction; the cleaning spray head is arranged at a position close to the light-transmitting component, is connected with the solvent conveying assembly, and is used for spraying the solvent conveyed by the solvent conveying assembly to the surface of the light-transmitting component.
Optionally, the cleaning system further comprises: a gas delivery assembly; the first control unit is also used for receiving a gas control instruction sent by the laser radar when the object to be cleaned is detected to exist on the light-transmitting part; the gas conveying assembly is connected with the first control unit and used for conveying high-pressure gas based on the gas control command; the cleaning spray head is connected with the gas conveying assembly and is also used for spraying the high-pressure gas conveyed by the gas conveying assembly to the surface of the light-transmitting component.
Optionally, the cleaning system further comprises: a gas delivery assembly; the gas conveying assembly is connected with the second control unit and used for receiving a gas control command generated by the second control unit when the second control unit detects that the object to be cleaned exists on the light-transmitting part and conveying high-pressure gas based on the gas control command; the cleaning spray head is connected with the gas conveying assembly and is also used for spraying the high-pressure gas conveyed by the gas conveying assembly to the surface of the light-transmitting component.
In a second aspect, an embodiment of the present application provides a method for cleaning a laser radar, where the cleaning device according to the first aspect is used to clean the laser radar, and the method includes: detecting whether an object to be cleaned exists in the light-transmitting part; detecting an ambient temperature in the presence of the cleaning object in the translucent member; under the condition that the ambient temperature is lower than a preset temperature, controlling a heating unit to heat the light-transmitting part so as to melt frozen objects in the objects to be cleaned; cleaning and drying the light-transmitting component; detecting whether the cleaned and dried light-transmitting part has an object to be cleaned; and under the condition that the cleaned and dried transparent part has the object to be cleaned, continuously cleaning and drying the transparent part until the transparent part does not have the object to be cleaned.
Optionally, the detecting whether the object to be cleaned exists in the light-transmitting part includes: acquiring a voltage value of an echo signal reflected by the light-transmitting component; comparing the voltage value of the echo signal with a preset voltage value, and determining that the light-transmitting part has an object to be cleaned if the voltage value of the echo signal is greater than or equal to the preset voltage value; and if the voltage value of the echo signal is smaller than a preset voltage value, determining that the transparent part does not have the object to be cleaned.
Optionally, the cleaning the light-transmitting member includes: controlling a solvent conveying assembly to convey a solvent to a cleaning spray head so as to spray the solvent to the surface of the light-transmitting component and clean the light-transmitting component; and controlling the gas conveying assembly to convey gas to the cleaning spray head so as to spray gas to the surface of the light-transmitting component, and drying the cleaned light-transmitting component.
In a third aspect, an embodiment of the present application provides a cleaning apparatus for a laser radar, including: one or more processors; a memory for storing one or more programs; the temperature sensor is used for acquiring the ambient temperature; when executed by the one or more processors, cause the one or more processors to implement a method as described in the second aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
The embodiment of the application provides a laser radar's cleaning device, method, equipment and storage medium, through setting up heating unit and clean system, can clean the system right before the printing opacity part cleans, it is right to heat printing opacity part, in order to melt wait the thing that freezes in the cleaning thing, then clean printing opacity part through clean system to wash printing opacity part more thoroughly, avoid the pollutant to the influence of laser radar detection performance.
Drawings
Fig. 1 is a schematic connection diagram of a cleaning device of a laser radar and a light-transmitting component according to an embodiment of the present disclosure;
fig. 2A is a schematic connection diagram of a heating unit and a light-transmitting member according to an embodiment of the present disclosure;
fig. 2B is a schematic view illustrating a connection between a heating unit and a light-transmitting member according to another embodiment of the present disclosure;
fig. 2C is a schematic view illustrating a connection between a heating unit and a light-transmitting member according to another embodiment of the present application;
FIG. 3 is a schematic structural diagram of a cleaning system provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a cleaning system connected to a lidar according to an embodiment of the present disclosure;
fig. 5 is a flowchart of a cleaning method for a laser radar according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a cleaning apparatus for a lidar according to an embodiment of the present application.
Reference numerals:
10: a light-transmitting member; 11: cleaning the system; 12: a heating unit;
110: a first temperature acquisition unit; 111: a first control unit; 112: a solvent delivery assembly;
113: cleaning the spray head; 114: a second control unit; 115: a second temperature acquisition unit;
1121: a solvent tank; 1122: a solvent pump; 1123: a solvent tube;
114: a gas delivery assembly; 1141: an air pump.
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so that the targets such as airplanes, missiles and the like are detected, tracked and identified.
The laser radar has the advantages of high resolution, good concealment, strong active interference resistance, small volume, light weight and the like, and is widely applied to various fields. For example, on vehicles, lidar is commonly deployed that includes a light transmissive component that is the exit window of the lidar. The vehicle may be an unmanned vehicle, or a vehicle equipped with an Advanced Driver Assistance Systems (ADAS) system. Taking the case that the laser radar is deployed on the unmanned vehicle as an example, the laser radar detects objects around the vehicle in real time in the driving process of the unmanned vehicle. When a laser beam emitted by the laser radar irradiates the surface of an object, the surface of the object reflects the laser beam, and the laser radar can determine the information such as the direction and the distance of the object relative to the laser radar according to the laser beam reflected by the surface of the object. In the process, the laser beam of the laser radar is transmitted and received through the light-transmitting component, and the laser radar is usually exposed in the air, so that if the light-emitting window of the laser radar is covered by dirt such as dust, silt and ice and snow, the reception of the target echo is influenced, the detection performance of the laser radar is further influenced, and the driving safety is influenced.
Of course, the cleaning device for the laser radar provided by the present application is not limited to the laser radar used on vehicles, and may also be the laser radar installed on the telegraph pole, the lamp post or the portal frame of the road. The cleaning device provided by the embodiment of the application can be used for cleaning laser radars exposed outdoors.
This application is through providing a laser radar's cleaning device, thoroughly cleans laser radar's printing opacity part. For details, reference is made to the following description of the embodiments:
fig. 1 is a schematic connection diagram of a laser radar cleaning device and a light-transmitting component according to an embodiment of the present disclosure.
Fig. 2A, 2B and 2C are schematic diagrams illustrating connection between a heating unit and a light-transmitting member according to an embodiment of the present application.
As shown in fig. 1, 2A, 2B, and 2C, the laser radar cleaning apparatus includes: a cleaning system 11 and a heating unit 12 (not shown in fig. 1, please refer to fig. 2A to 2C); the cleaning system 11 is arranged at a position close to the light-transmitting component 10 and used for cleaning the light-transmitting component according to a cleaning instruction sent by a laser radar when detecting that an object to be cleaned exists on the light-transmitting component 10; and a heating unit 12 disposed on the light-transmitting member 10 or at a position close to the light-transmitting member 10, for heating the light-transmitting member 10 to melt the frozen object in the object to be cleaned before the cleaning system 11 cleans the light-transmitting member 10. The transparent member in this embodiment is a light exit window of the laser radar.
The laser radar of the embodiment of the application has the function of detecting whether the object to be cleaned exists on the light-transmitting part besides the basic performance, such as detection performance, of the laser radar. Optionally, the laser radar detects whether the cleaning object exists on the light-transmitting part by the following method: acquiring a voltage value of an echo signal reflected by the light-transmitting component; and determining whether the object to be cleaned exists in the light-transmitting part based on the comparison result of the voltage value of the echo signal and the preset voltage value. Wherein, based on the comparison result of the voltage value of the echo signal and the preset voltage value, determining whether the light-transmitting part has the object to be cleaned, comprises: comparing the voltage value of the echo signal with a preset voltage value; if the voltage value of the echo signal is larger than or equal to the preset voltage value, determining that the transparent part has an object to be cleaned; and if the voltage value of the echo signal is smaller than the preset voltage value, determining that the transparent part does not have the object to be cleaned. For example, the preset voltage value is 0.4V, if there is no contaminant on the light-transmitting component, the voltage value of the echo signal should be less than 0.4V, and if the voltage value of the echo signal is greater than or equal to 0.4V, it indicates that there is a contaminant on the light-transmitting component and it needs to be cleaned.
The connection mode of the heating unit and the light-transmitting component can be as follows:
in an alternative embodiment, when the heating unit 12 is disposed on the light-transmitting member 10, the heating unit and the light-transmitting member are connected by bonding.
In another alternative embodiment, when the heating unit 12 is disposed on the light-transmitting member 10, the heating unit is connected to the light-transmitting member 10 by welding.
In yet another alternative embodiment, when the heating unit 12 is provided on the light-transmitting member 10, the heating unit is integrally molded with the light-transmitting member 10.
The heating unit can be a heating wire or a heating resistor. When the heating unit is a heating wire, in an alternative embodiment, as shown in fig. 2A, the heating unit starts from a point on the light-transmitting member, such as O' (as indicated by an arrow in fig. 2A), extends along a first direction L1 (as indicated by an arrow at L1 in fig. 2A) of the light-transmitting member for a first predetermined length, then extends along a second direction L2 (as indicated by an arrow at L2 in fig. 2A) of the light-transmitting member for a second predetermined length, then extends along a direction opposite to the first direction for a third predetermined length, and extends along the second direction for a fourth predetermined length, and then periodically repeats the above process to provide the heating wire. The first preset length and the third preset length may be equal or unequal, the second preset length and the fourth preset length may be equal or unequal, and the first direction is perpendicular to the second direction. In another alternative embodiment, as shown in fig. 2B, the heating unit may also be formed in a plurality of triangular shapes periodically distributed. In yet another alternative embodiment, as shown in fig. 2C, the heating unit may also be provided in a sine wave shape. In the above embodiments, the heating wires are arranged in regular shapes, and of course, the heating unit may also be arranged in other irregular shapes. Therefore, the heating area of the heating unit and the light-transmitting part can be increased, and all frozen objects on the light window piece can be melted more thoroughly.
It should be understood that the connection manner of the heating unit and the transparent member in the embodiment of the present application is not limited to the above, the heating unit may not be connected to or in contact with the transparent member, the heating unit is disposed around the transparent member, and a position capable of heating the transparent member is also within the scope of the present application.
Optionally, whether the heating unit heats the light-transmitting component is controlled by the control unit according to the ambient temperature collected by the temperature collection unit, and the implementation modes of the temperature collection unit and the control unit may include the following implementation modes:
in a first implementation, as shown in fig. 3, the cleaning device further comprises: a first temperature collection unit 110 and a first control unit 111 connected to each other; the first temperature acquisition unit 110 is configured to acquire an ambient temperature; the first control unit 111 is configured to determine whether to control the heating unit to heat the light-transmitting member based on the ambient temperature collected by the first temperature collection unit 110. Alternatively, the first temperature collection unit 110 may be a temperature sensor. The first temperature acquisition unit and the first control unit in this embodiment are components independent of the laser radar, and for example, a temperature sensor and a control unit are additionally disposed outside the laser radar to respectively perform the steps of acquiring the ambient temperature and controlling whether the heating unit heats the light-transmitting component according to a control instruction formed by a detection result of the laser radar. Specifically, the first control unit is connected with a control unit inside the laser radar and used for receiving a cleaning instruction sent by the control unit inside the laser radar when detecting that an object to be cleaned exists on the light-transmitting part. If the ambient temperature is lower than the preset temperature, the first control unit controls the heating unit to heat the light-transmitting component firstly and then clean the light-transmitting component, and if the ambient temperature is higher than or equal to the preset temperature, the first control unit controls the cleaning system to directly clean the light-transmitting component.
In a second implementation manner, as shown in fig. 4, the heating unit is connected to the second control unit 114, and is configured to heat the transparent component based on a heating instruction sent by the second control unit 114 before the cleaning system cleans the transparent component; the heating instruction is generated by the second control unit 114 when the ambient temperature acquired by the second temperature acquisition unit 115 is lower than a preset temperature; the second temperature acquisition unit 115 and the second control unit 114 are a control unit and a temperature acquisition unit of the laser radar. The temperature sensor and the control unit in this embodiment are a temperature sensor and a main control unit that are provided inside the laser radar. The temperature sensor in the laser radar is used for monitoring the equipment temperature of the laser radar, and the main control unit is used for controlling laser light emission, laser emission, calculation of receiving time and the like. In this embodiment, the temperature collected by the temperature sensor inside the laser radar can be directly adopted as the ambient temperature, and whether the heating unit heats the light-transmitting part is controlled by the main control unit inside the laser radar. Of course, when the ambient temperature is greater than or equal to the preset temperature, the second control unit directly sends a cleaning command to the cleaning system.
Optionally, the determining, by the first control unit 111, whether the heating unit needs to be controlled to heat the light-transmitting member based on the detected ambient temperature includes: comparing the ambient temperature detected by the temperature sensor with a preset ambient temperature, and if the ambient temperature detected by the temperature sensor is greater than the preset ambient temperature, determining that the heating unit does not need to be controlled to heat the light-transmitting part by the first control unit; if the ambient temperature detected by the temperature sensor is less than or equal to the preset ambient temperature, the first control unit determines that the heating unit needs to be controlled to heat the light-transmitting component. Illustratively, if the preset ambient temperature is an icing temperature, for example, 0 degrees, and the currently detected ambient temperature is-5 degrees, the first control unit determines that the heating unit needs to be controlled to heat the light-transmitting component, and controls the heating unit to start to heat the light-transmitting component so as to melt frozen objects on the light-transmitting component, until the laser radar detects that no object to be cleaned exists on the light-transmitting component, or the light transmittance of the light-transmitting component reaches a preset value, the heating unit is controlled to stop heating the light-transmitting component. Optionally, in this embodiment, a predetermined heating time may also be set, and each time the heating reaches the predetermined heating time, the heating unit is controlled to stop heating the transparent component.
The second control unit 114 determines whether to heat the heating unit based on the ambient temperature collected by the second temperature collection unit 115, which is similar to the first control unit 111 determining whether to heat the heating unit based on the ambient temperature collected by the first temperature collection unit 110, and specifically, reference may be made to a heating instruction determined by the first control unit based on the ambient temperature collected by the first temperature collection unit, which is not described herein again.
On the basis of the first implementation, as shown in fig. 3, the cleaning system 11 includes: a solvent delivery assembly 112 and a cleaning spray head 113; the first control unit 111 is further connected to the laser radar, and is configured to receive a solvent control instruction sent by the laser radar when detecting that the object to be cleaned exists on the light-transmitting component; a solvent delivery assembly 112 connected to the first control unit 111 for delivering the solvent based on the solvent control instruction; and a cleaning spray head 113 disposed at a position close to the transparent member, connected to the solvent delivery assembly 112, and used for spraying the solvent delivered by the solvent delivery assembly 112 onto the surface of the transparent member.
In this embodiment, the solvent delivery assembly 112 includes a solvent tank 1121 and a solvent pump 1122, the solvent pump 1122 is connected to the solvent tank 1121 through a solvent pipe 1123, and the solvent pump 1122 is connected to the cleaning nozzle through a first connection pipe. The solvent pump 1122 is connected to the first control unit 111 to control the solvent pump 1122 to be turned on or off by the first control unit 111.
On the basis of the second implementation manner, as shown in fig. 4, the apparatus further includes: a solvent delivery assembly 112 and a cleaning spray head 113; the solvent conveying assembly 112 is connected with the second control unit 114 and is used for receiving a solvent control instruction sent by the second control unit 114 when the second control unit 114 detects that the object to be cleaned exists on the light-transmitting part and conveying the solvent based on the solvent control instruction; and a cleaning spray head 113 which is arranged at a position close to the light-transmitting component, is connected with the solvent conveying component and is used for spraying the solvent conveyed by the solvent conveying component to the surface of the light-transmitting component. In this embodiment, the solvent delivery assembly 112 includes a solvent tank 1121 and a solvent pump 1122, the solvent pump 1122 is connected to the solvent tank 1121 through a solvent pipe 1123, and the solvent pump 1122 is connected to the cleaning nozzle through a first connection pipe. The solvent pump 1122 is connected to the second control unit 114 to control the solvent pump 1122 to be turned on or off by the second control unit.
With continuing reference to fig. 3 based on the first implementation, the cleaning system 11 further includes: a gas delivery assembly 114; the first control unit 111 is also used for receiving a gas control command sent by the laser radar when the existence of the object to be cleaned on the light-transmitting part is detected; a gas delivery assembly 114 connected to the first control unit 111 for delivering high-pressure gas based on a gas control command; and a cleaning shower head 113 connected to the gas delivery assembly 114 and used for spraying the high-pressure gas delivered by the gas delivery assembly to the surface of the transparent component.
In this embodiment, the gas delivery assembly 114 includes an air pump 1141, and the air pump 1141 is connected to the cleaning nozzle via a second connection pipe. The air pump 1141 is connected to the first control unit 111 to control the air pump 1141 to be turned on and off by the first control unit 111.
On the basis of the second implementation, with continued reference to fig. 4, the cleaning system 11 further includes: a gas delivery assembly 114; a gas delivery assembly 114 connected to the second control unit for receiving a gas control command generated by the second control unit when the second control unit detects that the cleaning object exists on the light-transmitting member, and delivering high-pressure gas based on the gas control command; and a cleaning spray head 113 connected with the gas delivery assembly and used for spraying the high-pressure gas delivered by the gas delivery assembly to the surface of the light-transmitting component. In this embodiment, the gas delivery assembly 114 includes an air pump 1141, and the air pump 1141 is connected to the cleaning nozzle via a second connection pipe. The air pump 1141 is connected to the second control unit to control the air pump 1141 to be turned on and off by the second control unit.
Optionally, the first connecting pipe and the second connecting pipe may converge and then be connected to the cleaning nozzle through a third connecting pipe. The first connecting pipe, the second connecting pipe and the third connecting pipe may be connected by a three-way joint.
Optionally, the cleaning nozzle includes a plurality of injection ports, and the plurality of injection ports may be uniformly arranged in a row or arranged in parallel in multiple rows, which is not specifically limited in this embodiment. The area where the plurality of ejection ports are formed should be set to a size corresponding to the diameter of the light-transmitting member to clean the light-transmitting member in all directions without dead angles.
Fig. 5 is a flowchart of a cleaning method for a laser radar according to an embodiment of the present disclosure. The embodiment of the application provides a cleaning method of a laser radar aiming at the above technical problems in the prior art, and the method comprises the following specific steps:
In this embodiment, the lidar has, in addition to basic performance that the lidar should have, for example, detection performance, a function of being able to detect whether or not an object to be cleaned is present on the light-transmitting member. Optionally, the laser radar detects whether the cleaning object exists on the light-transmitting part by the following method: acquiring a voltage value of an echo signal reflected by the light-transmitting component; and determining whether the object to be cleaned exists in the light-transmitting part based on the comparison result of the voltage value of the echo signal and the preset voltage value. Wherein, based on the comparison result of the voltage value of the echo signal and the preset voltage value, determining whether the light-transmitting part has the object to be cleaned, comprises: comparing the voltage value of the echo signal with a preset voltage value; if the voltage value of the echo signal is larger than or equal to the preset voltage value, determining that the transparent part has an object to be cleaned; and if the voltage value of the echo signal is smaller than the preset voltage value, determining that the transparent part does not have the object to be cleaned. For example, the preset voltage value is 0.4V, if there is no contaminant on the light-transmitting component, the voltage value of the echo signal should be less than 0.4V, and if the voltage value of the echo signal is greater than or equal to 0.4V, it indicates that there is a contaminant on the light-transmitting component and it needs to be cleaned.
Step 502, under the condition that the transparent part has the object to be cleaned, acquiring the detected environmental temperature.
For example, the ambient temperature may be detected by a temperature sensor inside the laser radar, or the ambient temperature may be detected by a temperature sensor additionally disposed outside the laser radar, and the ambient temperature detected by the temperature sensor may be sent to a main control unit inside the laser radar, or may be sent to a first control unit additionally disposed outside the laser radar, so that the main control unit or the first control unit determines whether the heating unit needs to be turned on based on the detected ambient temperature.
And 503, controlling the heating unit to heat the transparent part under the condition that the ambient temperature is lower than the preset temperature so as to melt the frozen object in the object to be cleaned.
Step 504, cleaning and drying the light-transmitting part;
step 505, detecting whether the cleaned and dried light-transmitting part has an object to be cleaned;
step 506, in the case that the cleaned and dried transparent part has the object to be cleaned, continuing to clean and dry the transparent part until the transparent part does not have the object to be cleaned, and ending.
Optionally, the cleaning the light-transmitting member includes: controlling the solvent conveying assembly to convey the solvent to the cleaning spray head so as to spray the solvent to the surface of the light-transmitting component and clean the light-transmitting component; and controlling the gas conveying assembly to convey gas to the cleaning spray head so as to spray the gas to the surface of the light-transmitting component, and drying the cleaned light-transmitting component.
The embodiment of the application detects whether the transparent part has the object to be cleaned; acquiring the detected ambient temperature under the condition that the transparent part has an object to be cleaned; under the condition that the ambient temperature is lower than the preset temperature, controlling the heating unit to heat the light-transmitting component so as to melt the frozen object in the object to be cleaned; and cleaning the transparent part. Therefore, before the transparent part is cleaned by the cleaning system, the transparent part is heated to melt frozen objects in the objects to be cleaned, and then the transparent part is cleaned, so that the transparent part can be cleaned more thoroughly.
Fig. 6 is a schematic structural diagram of a cleaning apparatus for a lidar according to an embodiment of the present application. The laser radar cleaning device provided in the embodiment of the present application may perform the processing procedure provided in the embodiment of the laser radar cleaning method, as shown in fig. 6, the laser radar cleaning device 60 includes: memory 61, processor 62, computer programs and temperature sensor 63; wherein the computer program is stored in the memory 61 and is configured to be executed by the processor 62 to: detecting whether an object to be cleaned exists in the light-transmitting part; acquiring the ambient temperature detected by the temperature sensor 63 in the case where the transparent member has an object to be cleaned; under the condition that the ambient temperature is lower than the preset temperature, controlling the heating unit to heat the light-transmitting component so as to melt the frozen object in the object to be cleaned; cleaning and drying the light-transmitting component; detecting whether the cleaned and dried light-transmitting part has an object to be cleaned; and under the condition that the cleaned and dried transparent part has the object to be cleaned, continuously cleaning and drying the transparent part until the transparent part does not have the object to be cleaned. The temperature sensor 63 may be an existing temperature sensor inside the laser radar, or may be a separately deployed temperature sensor, for example, a temperature sensor disposed close to the laser radar, which is not specifically limited in this embodiment. The processor 62 may be a processor inside the laser radar, or may be a processor independent of other terminal devices other than the laser radar. In one scenario, if the lidar is a vehicle-mounted lidar, the processor may also be a control device on the vehicle.
Optionally, the detecting whether the light-transmitting member has the object to be cleaned includes: acquiring a voltage value of an echo signal reflected by the light-transmitting component; comparing the voltage value of the echo signal with a preset voltage value; if the voltage value of the echo signal is larger than or equal to the preset voltage value, determining that the transparent part has an object to be cleaned; and if the voltage value of the echo signal is smaller than the preset voltage value, determining that the transparent part does not have the object to be cleaned.
Optionally, the cleaning the light-transmitting member includes: controlling the solvent conveying assembly to convey the solvent to the cleaning spray head so as to spray the solvent to the surface of the light-transmitting component and clean the light-transmitting component; and controlling the gas conveying assembly to convey gas to the cleaning spray head so as to spray the gas to the surface of the light-transmitting component, and drying the cleaned light-transmitting component.
The laser radar cleaning device of the embodiment shown in fig. 6 can be used for implementing the technical solution of the above method embodiment, and the implementation principle and technical effect are similar, and are not described herein again.
In addition, the present application also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the laser radar cleaning method of the foregoing embodiment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A lidar cleaning device, comprising:
the cleaning system is arranged at a position close to a light-transmitting part of the laser radar and used for cleaning the light-transmitting part by a cleaning instruction sent when the laser radar detects that an object to be cleaned exists on the light-transmitting part;
the heating unit is arranged on the light-transmitting component or at a position close to the light-transmitting component and used for heating the light-transmitting component to melt the frozen object in the object to be cleaned before the cleaning system cleans the light-transmitting component.
2. The device of claim 1, wherein the heating unit is attached to the light-transmitting member by bonding, welding or integral molding.
3. The apparatus of claim 1 or 2, further comprising:
the first temperature acquisition unit is used for acquiring the ambient temperature;
and the first control unit is connected with the heating unit and used for determining whether to control the heating unit to heat the light-transmitting part or not based on the ambient temperature.
4. The device according to claim 1 or 2,
the heating unit is connected to the second control unit and used for heating the light-transmitting component based on a heating instruction sent by the second control unit before the cleaning system cleans the light-transmitting component;
the heating instruction is generated by the second control unit based on the condition that the ambient temperature acquired by the second temperature acquisition unit is lower than the preset temperature;
the second temperature acquisition unit and the second control unit are the control unit and the temperature acquisition unit of the laser radar.
5. The apparatus of claim 3, wherein the cleaning system comprises: a solvent delivery assembly and a cleaning spray head;
the first control unit is also connected to the laser radar and is used for receiving a solvent control instruction sent by the laser radar when the object to be cleaned is detected to exist on the light-transmitting part;
the solvent conveying assembly is connected with the first control unit and used for conveying the solvent based on the solvent control instruction;
the cleaning spray head is arranged at a position close to the light-transmitting component, is connected with the solvent conveying assembly, and is used for spraying the solvent conveyed by the solvent conveying assembly to the surface of the light-transmitting component.
6. The apparatus of claim 4, wherein the cleaning system comprises: a solvent delivery assembly and a cleaning spray head;
the solvent conveying assembly is connected with the second control unit and used for receiving a solvent control instruction sent by the second control unit when the second control unit detects that the object to be cleaned exists on the light-transmitting part and conveying a solvent based on the solvent control instruction;
the cleaning spray head is arranged at a position close to the light-transmitting component, is connected with the solvent conveying assembly, and is used for spraying the solvent conveyed by the solvent conveying assembly to the surface of the light-transmitting component.
7. The device of claim 5, wherein the cleaning system further comprises: a gas delivery assembly;
the first control unit is also used for receiving a gas control instruction sent by the laser radar when the object to be cleaned is detected to exist on the light-transmitting part;
the gas conveying assembly is connected with the first control unit and used for conveying high-pressure gas based on the gas control instruction;
the cleaning spray head is connected with the gas conveying assembly and is also used for spraying the high-pressure gas conveyed by the gas conveying assembly to the surface of the light-transmitting component.
8. The apparatus of claim 6, wherein the cleaning system further comprises: a gas delivery assembly;
the gas conveying assembly is connected with the second control unit and used for receiving a gas control command generated by the second control unit when the second control unit detects that the object to be cleaned exists on the light-transmitting part and conveying high-pressure gas based on the gas control command;
the cleaning spray head is connected with the gas conveying assembly and is also used for spraying the high-pressure gas conveyed by the gas conveying assembly to the surface of the light-transmitting component.
9. A method for cleaning a lidar, wherein a cleaning apparatus according to any one of claims 1 to 8 is used to clean a light-transmitting member of the lidar, and the method comprises:
detecting whether an object to be cleaned exists in the light-transmitting part;
acquiring the detected ambient temperature under the condition that the object to be cleaned exists in the light-transmitting part;
under the condition that the ambient temperature is lower than a preset temperature, controlling a heating unit to heat the light-transmitting part so as to melt frozen objects in the objects to be cleaned;
cleaning and drying the light-transmitting component;
detecting whether the cleaned and dried light-transmitting part has an object to be cleaned;
and under the condition that the cleaned and dried transparent part has the object to be cleaned, continuously cleaning and drying the transparent part until the transparent part does not have the object to be cleaned.
10. The method of claim 9, wherein the detecting whether the light-transmitting member has the object to be cleaned comprises:
acquiring a voltage value of an echo signal reflected by the light-transmitting component;
comparing the voltage value of the echo signal with a preset voltage value;
if the voltage value of the echo signal is larger than or equal to a preset voltage value, determining that the transparent part has an object to be cleaned;
and if the voltage value of the echo signal is smaller than a preset voltage value, determining that the transparent part does not have the object to be cleaned.
11. The method of claim 9 or 10, wherein the cleaning the light transmissive member comprises:
controlling a solvent conveying assembly to convey a solvent to a cleaning spray head so as to spray the solvent to the surface of the light-transmitting component and clean the light-transmitting component;
and controlling the gas conveying assembly to convey gas to the cleaning spray head so as to spray gas to the surface of the light-transmitting component, and drying the cleaned light-transmitting component.
12. A lidar cleaning apparatus comprising:
one or more processors;
a memory for storing one or more programs;
the temperature sensor is used for acquiring the ambient temperature;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 9-11.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 9-11.
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| CN201911297755.1A CN110841996A (en) | 2019-12-17 | 2019-12-17 | Laser radar cleaning device, method, equipment and storage medium |
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