CN113909167A - Vehicle-mounted laser radar cleaning device and vehicle-mounted laser radar cleaning method - Google Patents
Vehicle-mounted laser radar cleaning device and vehicle-mounted laser radar cleaning method Download PDFInfo
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- CN113909167A CN113909167A CN202111182170.2A CN202111182170A CN113909167A CN 113909167 A CN113909167 A CN 113909167A CN 202111182170 A CN202111182170 A CN 202111182170A CN 113909167 A CN113909167 A CN 113909167A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 189
- 238000000034 method Methods 0.000 title claims abstract description 30
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- 238000005507 spraying Methods 0.000 claims abstract description 34
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- 230000008569 process Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
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- 238000004891 communication Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
- B60S1/566—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens including wiping devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
- B60S1/48—Liquid supply therefor
- B60S1/481—Liquid supply therefor the operation of at least part of the liquid supply being controlled by electric means
- B60S1/485—Liquid supply therefor the operation of at least part of the liquid supply being controlled by electric means including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/16—Means for transmitting drive
- B60S1/18—Means for transmitting drive mechanically
- B60S1/26—Means for transmitting drive mechanically by toothed gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/46—Cleaning windscreens, windows or optical devices using liquid; Windscreen washers
- B60S1/48—Liquid supply therefor
- B60S1/52—Arrangement of nozzles; Liquid spreading means
- B60S1/522—Arrangement of nozzles; Liquid spreading means moving liquid spreading means, e.g. arranged in wiper arms
- B60S1/528—Arrangement of nozzles; Liquid spreading means moving liquid spreading means, e.g. arranged in wiper arms the spreading means being moved between a rest position and a working position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/32—Wipers or the like, e.g. scrapers characterised by constructional features of wiper blade arms or blades
- B60S1/38—Wiper blades
- B60S2001/3827—Wiper blades characterised by the squeegee or blade rubber or wiping element
- B60S2001/3829—Wiper blades characterised by the squeegee or blade rubber or wiping element characterised by the material of the squeegee or coating thereof
- B60S2001/3834—Wiper blades characterised by the squeegee or blade rubber or wiping element characterised by the material of the squeegee or coating thereof equipped with brush-like elements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Water Supply & Treatment (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a vehicle-mounted laser radar cleaning device and a vehicle-mounted laser radar cleaning method, wherein the vehicle-mounted laser radar cleaning device comprises: the base is provided with a through hole, and the through hole is used for placing the vehicle-mounted laser radar; the cleaning assembly is arranged above the base, can move along the height direction of the vehicle-mounted laser radar relative to the base, and has a movement range at least ranging from the top end to the bottom end of the top main body of the vehicle-mounted laser radar; the cleaning assembly comprises an annular sweeper and a water spray hole arranged above the sweeper and used for spraying water to the outer surface of the vehicle-mounted laser radar, and the sweeper cleans the outer surface of the vehicle-mounted laser radar in the process that the cleaning assembly moves relative to the base.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a vehicle-mounted laser radar cleaning device and a vehicle-mounted laser radar cleaning method.
Background
With the rapid development and the gradual maturity of the intelligent driving technology, the vehicle-mounted laser radar is widely concerned and researched. The vehicle-mounted radar technology has the advantages that conventional operation means do not have, vehicle-mounted laser radar equipment is mounted on the top of a vehicle, and is matched with various sensors such as a global satellite navigation system and a laser scanner, massive three-dimensional laser point cloud and digital image data can be rapidly acquired by the vehicle in the driving process.
However, the current vehicle-mounted laser radar is difficult to adapt to various severe environments and cannot keep stable work under various weather conditions, if floating dust, condensed water, mud points and the like are attached to the surface of the vehicle-mounted laser radar, the detection precision of the laser radar is greatly influenced, short-distance noise points or blind areas and laser point clouds are accumulated in the center during detection, so that effective environment information cannot be obtained, and serious potential safety hazards exist. Therefore, in order to ensure the normal operation of the laser radar, the outer surface of the laser radar needs to be cleaned in time.
In the prior art, the cleaning work for the laser radar is mostly manually cleaned through some independent cleaning devices when a vehicle is static, and the laser radar cannot be cleaned on line in real time, so that the use of the laser radar is influenced.
Disclosure of Invention
The invention aims to provide a vehicle-mounted laser radar cleaning device and a vehicle-mounted laser radar cleaning method, which can conveniently and reliably clean a vehicle-mounted laser radar and avoid influencing the use of the vehicle-mounted laser radar. Specifically, the surface of the polluted vehicle-mounted laser radar can be cleaned in time, stains are prevented from adhering, the situation that laser point clouds obtained by scanning of the vehicle-mounted laser radar are accumulated in a short distance and lose recognition of the azimuth road information is avoided, errors of the collected road information and actual road information are avoided as much as possible, and therefore the safety accident rate is reduced.
In order to achieve the above object, the present invention provides a vehicle-mounted laser radar cleaning apparatus, including:
the base is provided with a through hole, and the through hole is used for placing the vehicle-mounted laser radar;
the cleaning assembly is arranged above the base, can move along the height direction of the vehicle-mounted laser radar relative to the base, and has a movement range at least ranging from the top end to the bottom end of the top main body of the vehicle-mounted laser radar; the cleaning assembly comprises an annular sweeper and a water spray hole arranged above the sweeper and used for spraying water to the outer surface of the vehicle-mounted laser radar, and the sweeper cleans the outer surface of the vehicle-mounted laser radar in the process that the cleaning assembly moves relative to the base.
Compared with the prior art, the vehicle-mounted laser radar cleaning device provided by the invention has the advantages that when the surface of a vehicle-mounted laser radar needs to be cleaned, water is sprayed to the outer surface of the vehicle-mounted laser radar through the water spraying holes, the cleaning assembly moves in the vertical direction relative to the base, so that the outer surface of the vehicle-mounted laser radar can be cleaned through the sweeper, the cleaning process is convenient and reliable, namely, stains on the outer surface of the vehicle-mounted laser radar can be effectively washed and cleaned through the matching of the water spraying holes and the sweeper, compared with a common cleaning device, the problem that the stains are not washed and cleaned is solved, the surface of the laser radar can be cleaned more efficiently, the water pressure is moderate, and the damage to the surface of the laser radar can be effectively avoided. Meanwhile, after the clearance, the clearance subassembly can move to the bottom of on-vehicle laser radar's top main part, and the clearance subassembly can not hinder on-vehicle laser radar's normal operating promptly, can not cause the scanning of on-vehicle laser radar to shelter from, influences its discernment ability, simultaneously, when on-vehicle laser radar operates, also can clear up to the clearance all need not artifical installation each time, saves time, possesses the commonality.
Optionally, a telescopic assembly is arranged between the base and the cleaning assembly, and the telescopic assembly is arranged at the outer side edge of the cleaning assembly.
Optionally, the telescoping assembly comprises: the cleaning assembly comprises an internal thread pipe sleeve and a stud which are vertically arranged, the top end of the stud is connected with the cleaning assembly, the bottom end of the stud is in threaded fit with the internal thread pipe sleeve, and the stud drives the cleaning assembly to move in the vertical direction through rotation of the internal thread pipe sleeve.
Optionally, the telescoping assembly further comprises: the motor, the first gear and the second gear, the internal thread pipe sleeve comprises a pipe sleeve gear and an internal thread pipe, the output end of the motor is connected with the first gear, the second gear and the pipe sleeve gear are sequentially meshed, the pipe sleeve gear is fixedly connected to the bottom end of the internal thread pipe, and the top end of the internal thread pipe is in threaded fit with the stud.
Optionally, the cleaning assembly comprises a housing, the housing is provided with a via hole, the inner wall of the via hole is provided with a storage groove and a water spray hole, the wiper is fixed in the storage groove, the outer surface of the housing is provided with a connecting piece extending outwards, and the connecting piece is provided with a screw hole matched with the top end of the stud.
Optionally, the telescopic assembly further comprises an outer box, the bottom end of the motor, the first gear, the second gear and the internal thread pipe sleeve is located in the outer box, the base is provided with a containing box extending along the inner side, the outer box is fixed in the containing box, the base is provided with a power transmission hole communicated with the containing box, a circuit of the motor is placed in the power transmission hole, and a drain hole is further formed in the bottom of the base.
Optionally, the water spraying device further comprises a water spraying assembly, the water spraying assembly comprises a guide pipe, a valve, a water supply pipe and a spray head which are sequentially communicated, the spray head and the water spraying hole are correspondingly arranged, and the guide pipe is communicated with the water tank.
Optionally, the method further comprises: a central processing unit and a controller which are connected with each other,
the central processing unit is used for connecting the vehicle-mounted laser radar, judging whether the vehicle-mounted laser radar needs to be cleaned or not by identifying short-distance noise points or blind areas, and sending a reminding instruction to the vehicle machine by the central processing unit when the vehicle-mounted laser radar needs to be cleaned so as to prompt a driver to take over the vehicle;
the controller is connected with the telescopic assembly and the water spraying assembly, and after the controller receives a cleaning instruction sent by the central processing unit, the controller controls the telescopic assembly to stretch and control the water spraying assembly to spray water.
The invention also provides a vehicle-mounted laser radar cleaning method, which is applied to the vehicle-mounted laser radar cleaning device and comprises the following steps:
receiving information of the vehicle-mounted laser radar;
judging whether the vehicle-mounted laser radar needs to be cleaned or not according to the information, and if so, executing the next step;
controlling the cleaning assembly to move relative to the base, and controlling the water spraying hole to spray water to the outer surface of the vehicle-mounted laser radar so as to clean the outer surface of the vehicle-mounted laser radar to complete one cleaning work;
after each cleaning, repeatedly executing the steps of receiving the information of the vehicle-mounted laser radar and judging whether the vehicle-mounted laser radar needs to be cleaned according to the information; after cleaning at least once, when judging that the vehicle-mounted laser radar does not need cleaning, sending an instruction to the vehicle machine to prompt a driver that the vehicle-mounted laser radar can be used; and when the cleaning times exceed the preset times, stopping cleaning the vehicle-mounted laser radar and sending radar fault prompt to the vehicle machine.
Optionally, the cleaning once comprises:
controlling the cleaning assembly to move to the top end of the top main body of the vehicle-mounted laser radar;
controlling the water spraying holes to spray water and controlling the cleaning assembly to move downwards;
when the cleaning assembly moves downwards to the bottom end of the top main body of the vehicle-mounted laser radar, the water spraying holes are controlled to stop spraying water, and the cleaning assembly is controlled to stop moving so as to finish one cleaning work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a front view of a vehicle-mounted laser radar cleaning device according to an embodiment of the present invention;
FIG. 2 is an isometric view of a vehicle lidar cleaning device provided by an embodiment of the invention;
FIG. 3 is an exploded view of a vehicle-mounted lidar cleaning apparatus provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a base of the vehicle-mounted lidar cleaning device provided by the embodiment of the invention;
FIG. 5 is an exploded view of a cleaning assembly of the vehicle-mounted lidar cleaning apparatus provided by an embodiment of the present invention;
FIG. 6 is a schematic view showing the engagement of the receiving groove and the wiper of FIG. 5;
FIG. 7 is a schematic diagram of a telescopic assembly of the vehicle-mounted lidar cleaning apparatus provided by an embodiment of the invention;
FIG. 8 is a cross-sectional view of a telescoping assembly of a vehicle lidar cleaning apparatus provided by an embodiment of the invention;
FIG. 9 is a top view of a telescoping assembly of the vehicle lidar cleaning device provided by an embodiment of the present invention;
FIG. 10 is a schematic view of a stud of a telescoping assembly of the vehicle lidar cleaning device provided by an embodiment of the invention;
FIG. 11 is a schematic view of an internally threaded pipe sleeve of a telescopic assembly of the vehicle-mounted laser radar cleaning device according to the embodiment of the invention;
fig. 12 is a schematic diagram illustrating the matching among the internal thread pipe sleeve, the stud and the connecting member of the vehicle-mounted laser radar cleaning device according to the embodiment of the present invention;
FIG. 13 is an enlarged view of a portion of FIG. 12;
fig. 14 is a schematic diagram of an outer box and an accommodating box of the vehicle-mounted laser radar cleaning device according to the embodiment of the invention;
FIG. 15 is a schematic diagram of a water spray assembly of the vehicle-mounted lidar cleaning apparatus provided by an embodiment of the invention;
FIG. 16 is a schematic view of the water supply lines, valves and conduits of FIG. 15;
fig. 17 is a block diagram of a system structure of the vehicle-mounted laser radar cleaning apparatus according to the embodiment of the present invention;
FIG. 18 is a flowchart of a method for cleaning a vehicle-mounted lidar according to an embodiment of the invention;
fig. 19 is a schematic diagram of a position change of the vehicle-mounted laser radar cleaning device in each cleaning process according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The vehicle-mounted laser radar cleaning device provided by the embodiment of the application is shown in the attached drawings 1 to 19 with reference to the description, and comprises: base 1 and clearance subassembly 2, base 1 and on-vehicle laser radar all install at the top of vehicle, and base 1 can be regarded as on-vehicle laser radar cleaning device's basis.
The central authorities of base 1 are equipped with the through-hole that the diameter is greater than on-vehicle lidar, refer to specification attached drawing 1, and on-vehicle lidar can be including the support 01 that is located the below and the top main part 02 that is located the top, and top main part 02 mainly is used for the transmitted laser beam, and support 01 and top main part 02 link to each other, and on-vehicle lidar is vertical setting.
As known, a vehicle-mounted laser radar is a radar system installed on a vehicle roof and used for emitting a laser beam to detect a target position, reflection intensity and other characteristic quantities, and when the radar system works, the radar system emits a detection signal to the target, and then compares the received signal reflected from the target with the emission signal, and obtains information about the target after appropriate processing.
The cleaning assembly 2 comprises a sweeper brush 21 and a water spraying hole 222, wherein the sweeper brush 21 is annular, and the water spraying hole 222 is arranged above the sweeper brush 21; vehicle-mounted laser radar is located the inboard of brush 21, and base 1's top is located to clearance subassembly 2 clearance subassembly to clearance subassembly 2 can be for base 1 along vehicle-mounted laser radar's direction of height motion, and base 1 and clearance subassembly 2 both covers are in vehicle-mounted laser radar's the outside promptly, and clearance subassembly 2 can move to vehicle-mounted laser radar's top main part's bottom.
The movement range of the cleaning assembly 2 at least comprises the range from the top end to the bottom end of the top main body 02 of the vehicle-mounted laser radar; referring to the attached drawing 1 of the specification, the upper end surface of the top main body 02 is the top end of the top main body 02, the lower end surface of the top main body 02 is the bottom end of the top main body 02, and the cleaning assembly 2 can move from the upper end surface of the top main body 02 to the lower end surface of the top main body 02 along the height direction of the vehicle-mounted laser radar, so that the cleaning assembly 2 can thoroughly clean the outer surface of the top main body 02.
Of course, the movement range of the cleaning assembly 2 is not limited to the range from the top end to the bottom end of the top main body 02 of the vehicle-mounted laser radar, and taking the attached drawing 1 as an example, the cleaning assembly 2 has moved to the bottom end of the top main body 02, that is, the cleaning assembly 2 is located below the lower end surface of the top main body 02, so that the movement range of the cleaning assembly 2 can still cover the range from the upper end surface to the lower end surface of the top main body 02, and the outer surface of the top main body 02 can be cleaned. In the process of cleaning the vehicle-mounted laser radar, the cleaning assembly 2 moves in the vertical direction relative to the base 1, and water is sprayed to the outer surface of the vehicle-mounted laser radar through the water spraying holes 222, so that the outer surface of the vehicle-mounted laser radar can be cleaned through the cleaning assembly 2, and the cleaning process is convenient and reliable; meanwhile, after the clearance, clearance subassembly 2 can move to the bottom of on-vehicle laser radar's top main part, clearance subassembly 2 can not hinder on-vehicle laser radar's normal operating promptly, can not cause the scanning of on-vehicle laser radar to shelter from, influences its discernment ability, simultaneously, when on-vehicle laser radar functions, also can clear up to the clearance all need not artifical the installation every time, saves time, possesses the commonality.
In order to realize the movement of the cleaning assembly 2 relative to the base 1, a telescopic assembly 3 can be arranged between the base 1 and the cleaning assembly 2, and the telescopic assembly 3 is arranged at the outer side edge of the cleaning assembly 2. The telescopic assembly 3 may be determined according to actual needs, and may be embodied as a piston rod, for example.
A specific arrangement of the telescopic assembly 3 is further provided, and the telescopic assembly 3 comprises: the bolt is vertically provided with an internal thread pipe sleeve 34 and a stud 35, and the bottom end of the stud 35 is in threaded fit with the internal thread pipe sleeve 34; the stud 35 has spiral teeth and can be meshed with the internal thread sleeve 34, and the internal thread sleeve 34 and the stud 35 form a cylindrical part of the staggered shaft gear pair. The top end of the stud 35 is connected with the cleaning assembly 2, and the stud 35 drives the cleaning assembly 2 to move along the vertical direction through the rotation of the internal thread pipe sleeve 34.
Here, in order to realize the rotation of the female screw socket 34, the first gear 32, the second gear 33 and the socket gear 341 may be sequentially driven by an output shaft of the motor 31, a rotation shaft of the motor 31 is connected to the first gear 32, the first gear 32 is engaged with the second gear 33, and the second gear 33 is simultaneously engaged with the socket gear 341 fixedly connected to a lower side of the female screw pipe 342. That is, the internally threaded socket 34 includes a socket gear 341 and an internally threaded socket 342, the socket gear 341 is fixedly coupled to a bottom end of the internally threaded socket 342, and the internally threaded socket 34 may be regarded as a device in which a bottom of the internally threaded socket is sealed and is engaged with an external gear in a gear shape.
The rotation of the output shaft of the motor 31 further drives the first gear 32, the second gear 33 and the sleeve gear 341 to sequentially mesh and rotate, and the top end of the internal threaded pipe 342 is in threaded fit with the stud 35. It can be seen that the motor 31 is used to generate a drive torque to raise and lower the studs 35 of the telescopic assembly 3 through a plurality of gear drives.
The motor 31 is fixed in the outer box 36, the first gear 32 is fixedly connected with an output shaft of the motor 31, when the output shaft of the motor 31 rotates, power is transmitted to the first gear 32 to rotate, so that the second gear 33 is driven to rotate, the pipe sleeve gear 341 and the internal threaded pipe 342 are driven to rotate, the stud 35 fixed with the connecting piece 223 is controlled to move through force generated by rotation of the internal threaded pipe 342, and the cleaning assembly 2 is driven to move up and down.
As mentioned above, the female screw socket 34 includes the female screw tube 342 and the socket gear 341 at the bottom thereof, and the female screw tube 342 is fixedly coupled to the socket gear 341 to be rotated together therewith. The upper part of the stud 35 is matched with a connecting piece 223 around the cleaning assembly 2, so that the stud 35 is fixed, namely the outer surface of the shell 22 is provided with the connecting piece 223 extending outwards; the lower part of the stud 35 is matched with the internal thread pipe sleeve 34, so that the effect of driving the stud 35 to ascend through the rotation of the internal thread pipe sleeve 34 is achieved. Wherein, the connecting member 223 may be a limiting cavity, and a screw hole matched with the top end of the stud 35 is arranged inside the limiting cavity.
It can be seen that the use of the internal motor 31 of the telescopic assembly 3 as a drive, and the integration of power, transmission and braking means into the telescopic assembly 3, provides the telescopic assembly 3 of the present invention with the characteristic of independent drive.
The cleaning assembly 2 includes a housing 22, the housing 22 is annular, the housing 22 has a through hole, and the inner wall of the through hole is provided with a receiving groove 221 and a water spraying hole 222, the sweeper 21 is fixed to the receiving groove 221, that is, the sweeper 21 can be embedded into the receiving groove 221 on the housing 22, so that the sweeper 21 is fixed, that is, a plurality of layers of the sweeper 21 are embedded into the receiving groove 221 in the middle of the inner surface of the housing 22.
The sweeper brush 21 is used as a part of the cleaning component 2 and can be made of materials with strong water absorption and dust absorption types, and the sweeper brushes 21 of a plurality of layers are embedded in the accommodating groove 221 of the cleaning component 2 in a layering mode and move up and down along with the cleaning component 2 so as to clean the surface of the laser radar.
As mentioned above, the telescopic assembly 3 further comprises an outer case 36, and the bottom ends of the motor 31, the first gear 32, the second gear 33 and the internally threaded sleeve 34 are located in the outer case 36, so as to prevent the transmission part from being interfered by external components and failing. The base 1 is provided with the containing box 11 extending along the inner side, and the outer box 36 is fixed in the containing box 11, so that the reliable connection between the bottom end of the telescopic component 3 and the base 1 is ensured, and the containing box 11 is placed into the outer box 36 of the telescopic component 3 to be fixed, so that the containing box can be used as the basis of the vehicle-mounted laser radar cleaning device. Thus, the base 1 is a housing matched with the roof part, the containing box 11 on the upper surface of the base 1 is matched with the telescopic assembly 3, and the lower surface of the base 1 is fixedly connected to the upper surface of the vehicle so as to ensure the stability of the base 1 relative to the vehicle body.
The base 1 is further provided with a power transmission hole 12 communicated with the storage box 11, a circuit of the motor 31 is placed in the power transmission hole 12, and the bottom of the base 1 is further provided with a water drainage hole 13. That is, the power transmission hole 12 for connecting the motor 31 to the line is provided on the rear side of the storage box 11. The bottom of the base 1 is connected with the roof, and the bottom of the base 1 is provided with a plurality of drain holes 13 for discharging liquid flowing down after cleaning, so that the liquid is prevented from being accumulated, and the drain holes 13 can be specifically arranged into a semicircular shape.
The application discloses on-vehicle laser radar cleaning device still includes water spray component 4, water spray component 4 is including pipe 41, valve 42, delivery pipe 43 and the shower nozzle 44 that communicate in proper order, and shower nozzle 44 and hole for water spraying 222 correspond the setting, pipe 41 and water tank intercommunication. The upper and lower ends of the valve 42 may be respectively provided with internal threads to be respectively matched with the external threads of the guide pipe 41 and the water supply pipe 43, thereby achieving the fixing and connecting effects.
The water supply pipe 43 can be arranged inside the cleaning assembly 2, the plurality of spray heads 44 are connected with the water supply pipe 43 and are uniformly distributed inside the cleaning assembly 2 through the water spraying holes 222 on the shell 22, and the cleaning assembly 2 moves up and down along with the top of the stud 35 due to the matching of the connecting piece 223 and the stud 35 so as to achieve the cleaning effect. Because the water supply pipe 43 and the spray head 44 are arranged inside the shell 22 of the cleaning assembly 2, the pollution to the cleaning assembly by the external environment is avoided, and the long service life of the cleaning assembly is ensured.
The water tank can be arranged in the vehicle body, water in the water tank is pressurized by a water pump and is conveyed to the spray head 44 to be sprayed out through the guide pipe 41, the valve 42 and the water supply pipe 43 in sequence, the effects of washing stains and enabling the stains to fall off are achieved, and then the cleaning of the surface of the laser radar is completed by matching with the sweeper 21. Wherein the water pump is a mechanism for delivering or pressurizing liquid, which can transfer the mechanical energy of the prime mover or other external energy to the liquid, so that the energy of the liquid is increased, and the water is delivered to the cleaning assembly 2.
The utility model provides a vehicle-mounted laser radar cleaning device can adopt from bottom to top the mounting means that cooperates in proper order, and the assembling process is convenient, and stable in structure can not influence vehicle-mounted laser radar's normal work. In addition, the vehicle-mounted laser radar cleaning device of this application still can realize individualized customization, can be according to different users 'demand, in the allowed range, changes shell 22's shape or size to and the effective flexible length of flexible subassembly 3, has more accurate assurance to the demand of consumption end, and then the realization is upgraded the research and development of this product and has more accurate control.
The application discloses on-vehicle laser radar cleaning device still includes: the vehicle-mounted laser radar system comprises a central processing unit and a controller which are connected with each other, wherein the central processing unit is used for being connected with the vehicle-mounted laser radar and judging whether the vehicle-mounted laser radar needs to be cleaned or not by identifying short-distance noise points or blind areas; the controller is connected flexible subassembly 3 and water spray subassembly 4, and after the controller received the clearance instruction that central processing unit sent, the controller controlled flexible subassembly 3 is flexible to control water spray subassembly 4 water spray.
The vehicle-mounted laser radar inputs information into a central processing unit through a CAN line or a network cable, the central processing unit identifies whether short-distance noise points or blind areas occur or not and laser point clouds are accumulated at the central part through processing the information, judges whether stains exist on the surface of the laser radar to influence normal work of the laser radar, and sends a reminding instruction to a vehicle machine if the stains exist, and sends a reminding sound to remind a driver of taking over the vehicle.
The laser point cloud mentioned above means that when a laser beam irradiates the surface of an object, the reflected laser beam carries information such as direction and distance. When a laser beam is scanned along a certain track, information of a reflected laser spot is recorded while scanning. The scanning process is extremely fine and a large number of laser spots are obtained, the combination of which is called a laser point cloud. The car machine is a vehicle-mounted information entertainment product installed in an automobile, and can realize information communication between people and the automobile and between the automobile and the outside in terms of functions.
After a driver takes over the vehicle, the central processing unit sends a cleaning instruction to the controller through the CAN line or the network cable, the controller then sends a motor control instruction through the PWM, the motor 31 drives the gear transmission to enable the stud 35 of the telescopic component 3 to drive the cleaning component 2 to ascend, and the RS232 feeds back the rotating speed of the motor 31 to the controller in real time. The stroke of the cleaning assembly 2 is judged through motor speed integral, when the stroke reaches the top height of the vehicle-mounted laser radar, the rotating speed of the motor 31 is zero, the controller sends a water supply control instruction to the water pump and the valve 42 through a PWM (pulse-width modulation) or CAN (controller area network) line, and water in the water tank is pressurized through the water pump and is conveyed to the spray head 44 through the guide pipe 41, the valve 42 and the water supply pipe 43 in sequence to be sprayed out; meanwhile, a motor control command is sent out to enable the motor 31 to rotate reversely, so that the cleaning assembly 2 descends slowly, and the sweeper 21 matched with the shell 22 is driven to brush off water and stains on the surface of the laser radar. When the descending height of the cleaning assembly 2 is lower than the height of the top main body of the vehicle-mounted laser radar, the controller sends a water supply stopping instruction to close the water pump and the valve 42; when the cleaning component 2 descends to the lowest point, the central processing unit sends a stop instruction to the controller to complete one cleaning work.
And the central processing unit continuously judges whether the stains exist, if so, the steps are repeated, and if not, the vehicle-mounted laser radar available prompt is sent to the vehicle machine to prompt a driver that the vehicle-mounted laser radar can normally work, and the cleaning work is finished. If the cleaning work is repeatedly finished for a preset number of times (specifically six times) and stains still exist, the central processing unit sends a stop instruction to the controller, and finally the controller sends a radar fault prompt to the vehicle machine to prompt a driver that the stains cannot be cleaned by the laser radar and the driver asks the maintenance station to process the stains.
The RS232 mentioned above refers to a device capable of converting the rotational speed data into a serial port and outputting the serial port to the controller, according to the technical standard of the serial binary data exchange interface between the data terminal device and the data communication device. PWM is an effective technique for controlling an analog circuit using digital output of a microprocessor, by which the forward and reverse rotation of a motor can be controlled. CAN refers to a serial communication protocol bus for real-time applications that may use twisted pair wires to transmit signals.
Therefore, the vehicle-mounted laser radar cleaning device can send prompt tones to drivers after the central processing unit identifies that short-distance noise points or blind areas occur and the interference influence of accumulation of laser point clouds on the central part, and the central processing unit sends instructions to the controller and automatically finishes all cleaning works, so that full-automatic cleaning is realized.
The vehicle-mounted laser radar cleaning method provided by the embodiment of the application is applied to the vehicle-mounted laser radar cleaning device, the vehicle-mounted laser radar cleaning method can specifically refer to the description of the vehicle-mounted laser radar cleaning device, and the vehicle-mounted laser radar cleaning method comprises the following steps:
receiving information of the vehicle-mounted laser radar;
judging whether the vehicle-mounted laser radar needs to be cleaned or not according to the information, and if so, executing the next step;
controlling the cleaning assembly 2 to move relative to the base 1, and controlling the water spraying holes 222 to spray water to the outer surface of the vehicle-mounted laser radar so as to clean the outer surface of the vehicle-mounted laser radar to complete one cleaning work;
after each cleaning, repeatedly executing the steps of receiving the information of the vehicle-mounted laser radar and judging whether the vehicle-mounted laser radar needs to be cleaned according to the information; after cleaning at least once, when judging that the vehicle-mounted laser radar does not need cleaning, sending an instruction to the vehicle machine to prompt a driver that the vehicle-mounted laser radar can be used; and when the cleaning times exceed the preset times, stopping cleaning the vehicle-mounted laser radar and sending radar fault prompt to the vehicle machine.
Wherein, the clearance once includes:
controlling the cleaning assembly 2 to move to the topmost end of the top main body of the vehicle-mounted laser radar;
the water spraying holes 222 are controlled to spray water, and the cleaning assembly 2 is controlled to move downwards;
when the cleaning assembly 2 moves down to the bottom end of the top main body of the vehicle-mounted laser radar, the water spraying holes 222 are controlled to stop spraying water, and the cleaning assembly 2 is controlled to stop moving, so that one cleaning work is completed.
Referring to the attached figure 19 of the specification, the leftmost side is a normal state where the vehicle-mounted laser radar cleaning device is located, after information fed back by the vehicle-mounted laser radar is processed, the central processing unit identifies short-distance noise points or blind areas and laser point clouds accumulated in the central position, and judges whether stains exist on the surface of the vehicle-mounted laser radar to influence normal work of the vehicle-mounted laser radar; in order to ensure the identification accuracy of the vehicle-mounted laser radar and the running safety of the vehicle, after the judgment of the central control system, a prompt tone is sent to a driver, and after the driver takes over the vehicle, a cleaning instruction is executed.
That is, central processing unit is responsible for receiving the information that on-vehicle laser radar feedbacks to send the clearance instruction to the controller, the driver takes over the vehicle after confirming the clearance request of car machine, and afterwards, the controller is responsible for controlling motor and water pump cooperation and accomplishes the clearance work.
As described above, the motor 31 is powered on to rotate to drive the stud 35 to push the cleaning assembly 2 to ascend, the cleaning assembly is lifted to the top, then the cleaning assembly is shown in the middle drawing of the drawing 19 in the specification, water in the water tank is pressurized through the water pump and is conveyed to the spray head 44 through the guide pipe 41, the valve 42 and the water supply pipe 43 in sequence to be sprayed out, meanwhile, the motor 31 rotates reversely to drive the stud 35 to descend, the surface of the vehicle-mounted laser radar is cleaned by matching with the sweeper 21, when the descending height of the cleaning assembly 2 is lower than the height of the top main body of the vehicle-mounted laser radar, the controller sends a water supply stopping instruction to close the water pump and the valve 42, and then sends a motor control instruction to withdraw the cleaning assembly 2 to an initial position, and then the rightmost drawing of the drawing 19 in the specification shows, and one cleaning work is completed. Repeating the process for several times until the central processing unit detects that the stain is removed, executing a cleaning stopping command, reversely rotating the motor 31 until the cleaning assembly 2 descends to the lowest point,
according to the vehicle-mounted laser radar cleaning device and the vehicle-mounted laser radar cleaning method, after the laser radar central processing unit recognizes that short-distance noise points or blind areas occur and laser point clouds are accumulated at the central part, a cleaning instruction is sent to the cleaning device controller, then stains on the laser radar are treated in the process that a driver takes over the vehicle to travel, and after the final cleaning task is finished, the vehicle machine can prompt the driver that the laser radar is cleaned and is in a usable state. The invention not only ensures the normal work of the laser radar, but also avoids the complexity of manual cleaning, and finally achieves the effects of automatic identification, online cleaning, intelligence and high efficiency.
It is noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The vehicle-mounted laser radar cleaning device and the vehicle-mounted laser radar cleaning method provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides an on-vehicle laser radar cleaning device which characterized in that includes:
the vehicle-mounted laser radar detection device comprises a base (1), wherein the base (1) is provided with a through hole, and a vehicle-mounted laser radar is placed in the through hole;
the cleaning assembly (2) is arranged above the base (1), the cleaning assembly (2) can move relative to the base (1) along the height direction of the vehicle-mounted laser radar, and the movement range of the cleaning assembly (2) at least comprises the range from the top end to the bottom end of the top main body of the vehicle-mounted laser radar; the cleaning assembly (2) comprises an annular sweeper (21) and a water spraying hole (222) which is formed above the sweeper (21) and used for spraying water to the outer surface of the vehicle-mounted laser radar, and in the process that the cleaning assembly (2) moves relative to the base (1), the sweeper (21) cleans the outer surface of the vehicle-mounted laser radar.
2. The vehicle-mounted lidar cleaning device according to claim 1, wherein a telescopic assembly (3) is arranged between the base (1) and the cleaning assembly (2), and the telescopic assembly (3) is arranged at the outer edge of the cleaning assembly (2).
3. Vehicle lidar cleaning device according to claim 2, wherein the telescopic assembly (3) comprises: the cleaning assembly comprises an internal thread pipe sleeve (34) and a stud (35) which are vertically arranged, the top end of the stud (35) is connected with the cleaning assembly (2), the bottom end of the stud (35) is in threaded fit with the internal thread pipe sleeve (34), and the stud (35) drives the cleaning assembly (2) to move along the vertical direction through rotation of the internal thread pipe sleeve (34).
4. Vehicle lidar cleaning device according to claim 3, wherein the telescopic assembly (3) further comprises: the motor (31), the first gear (32) and the second gear (33), the internal thread pipe sleeve (34) comprises a pipe sleeve gear (341) and an internal thread pipe (342), the output end of the motor (31) is connected with the first gear (32), the second gear (33) and the pipe sleeve gear (341) are sequentially meshed, the pipe sleeve gear (341) is fixedly connected to the bottom end of the internal thread pipe (342), and the top end of the internal thread pipe (342) is in threaded fit with the stud (35).
5. The vehicle-mounted lidar cleaning device according to claim 3, wherein the cleaning assembly (2) comprises a housing (22), the housing (22) is provided with a through hole, the inner wall of the through hole is provided with a receiving groove (221) and the water spray hole (222), the wiper (21) is fixed to the receiving groove (221), the outer surface of the housing (22) is provided with a connecting piece (223) extending outwards, and the connecting piece (223) is provided with a screw hole matched with the top end of the stud (35).
6. The vehicle-mounted laser radar cleaning device according to claim 4, wherein the telescopic assembly (3) further comprises an outer box (36), the bottom ends of the motor (31), the first gear (32), the second gear (33) and the internally threaded pipe sleeve (34) are located in the outer box (36), the base (1) is provided with a storage box (11) extending along the inner side, the outer box (36) is fixed in the storage box (11), the base (1) is provided with a power transmission hole (12) communicated with the storage box (11), a circuit of the motor (31) is placed in the power transmission hole (12), and the bottom of the base (1) is further provided with a water drainage hole (13).
7. The vehicle-mounted lidar cleaning device according to claim 6, further comprising a water spraying assembly (4), wherein the water spraying assembly (4) comprises a conduit (41), a valve (42), a water supply pipe (43) and a spray head (44) which are sequentially communicated, the spray head (44) and the water spraying hole (222) are correspondingly arranged, and the conduit (41) is communicated with a water tank.
8. The vehicle-mounted lidar cleaning apparatus of claim 7, further comprising: a central processing unit and a controller which are connected with each other,
the central processing unit is used for connecting the vehicle-mounted laser radar, judging whether the vehicle-mounted laser radar needs to be cleaned or not by identifying short-distance noise points or blind areas, and sending a reminding instruction to the vehicle machine by the central processing unit to prompt a driver to take over a vehicle when the vehicle-mounted laser radar needs to be cleaned;
the controller is connected with the telescopic component (3) and the water spraying component (4), and when the controller receives a cleaning instruction sent by the central processing unit, the controller controls the telescopic component (3) to stretch and control the water spraying component (4) to spray water.
9. A vehicle-mounted laser radar cleaning method applied to the vehicle-mounted laser radar cleaning device according to any one of claims 1 to 8, characterized by comprising:
receiving information of the vehicle-mounted laser radar;
judging whether the vehicle-mounted laser radar needs to be cleaned or not according to the information, and if so, executing the next step;
controlling the cleaning assembly (2) to move relative to the base (1), and controlling the water spraying holes (222) to spray water to the outer surface of the vehicle-mounted laser radar so as to clean the outer surface of the vehicle-mounted laser radar to complete one cleaning work;
after each cleaning, repeatedly executing the steps of receiving the information of the vehicle-mounted laser radar and judging whether the vehicle-mounted laser radar needs to be cleaned according to the information; after cleaning at least once, when judging that the vehicle-mounted laser radar does not need cleaning, sending an instruction to a vehicle machine to prompt a driver that the vehicle-mounted laser radar can be used; and when the cleaning times exceed the preset times, stopping cleaning the vehicle-mounted laser radar and sending radar fault prompt to the vehicle machine.
10. The vehicle-mounted lidar cleaning method of claim 9, wherein the cleaning once comprises:
controlling the cleaning assembly (2) to move to the top end of the top main body of the vehicle-mounted laser radar;
controlling the water spray holes (222) to spray water and controlling the cleaning assembly (2) to move downwards;
and when the cleaning assembly (2) moves downwards to the bottom end of the top main body of the vehicle-mounted laser radar, controlling the water spraying holes (222) to stop spraying water, and controlling the cleaning assembly (2) to stop moving so as to finish one cleaning work.
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