CN115561736B - Laser radar maintenance-free shield and radar - Google Patents
Laser radar maintenance-free shield and radar Download PDFInfo
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- CN115561736B CN115561736B CN202211309961.1A CN202211309961A CN115561736B CN 115561736 B CN115561736 B CN 115561736B CN 202211309961 A CN202211309961 A CN 202211309961A CN 115561736 B CN115561736 B CN 115561736B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application belongs to the technical field of laser radars, and in particular relates to a maintenance-free laser radar shield and a laser radar with the same, wherein the shield comprises a shield body and a light-transmitting surface, the shield body is connected with a main body module of the radar and is sealed by a sealing strip, the shield body seals the main body module and a rotating module of the radar, and a storage module of the radar is positioned outside the shield body; the light-transmitting surface is positioned in front of the range finding direction of the laser radar and comprises a detection window and a light-transmitting coating; the detection window is made of transparent materials, the light-transmitting coating films are organic films with high light transmittance, and the light-transmitting coating films are attached to the surface of the detection window through thermal processing. After the film is stained, the radar can be continuously used only by being torn off, so that the long-time and long-life use of the laser radar is ensured, the structure is simple, the processing is convenient, and the production cost is reduced.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a maintenance-free shield of a laser radar and the laser radar.
Background
The lidar LiDAR (Light Laser Detection and Ranging) is a radar using a laser as a radiation source. The method comprises the steps of detecting the characteristic quantities of the position, the speed and the like of a target by emitting laser beams, emitting the laser beams to the target by a transmitter, comparing the received signals reflected from the target with the emitted signals, and obtaining the information of the distance, the azimuth, the height, the speed, the gesture, the even the shape and the like of the target after processing, so as to detect, track and identify the target.
Current laser radar shields have the disadvantage of being prone to dust contamination and scratches. When the protective cover is dirty, the traditional solution is to replace the protective cover, the cost of the method is high, and the ranging effect and the sealing grade of the laser radar are affected after the protective cover is replaced. Or a system employing water jet cleaning. The contamination degree of the protective cover is sensed through the sensor, and the protective cover is scraped clean through the windshield wiper in time. As disclosed in CN110208772a, the protective cover for laser radar includes a brushing part, a driving device and a protective cover body for covering the laser radar, wherein the driving device can control the brushing part and the protective cover body to move relatively, so that the brushing part can brush at least the outer side wall of the protective cover body. By additionally arranging the laser radar protective cover outside the laser radar, the damage of the optical protective surface of the laser radar due to the collision of foreign objects is prevented, and meanwhile, the waterproof performance of the laser radar is improved to a certain extent. This method requires additional components, is relatively complex in structure and operation, is costly, and is subject to failure. Therefore, a device which has a simple structure and low cost, can effectively prolong the service life of the radar protection cover and improve the service performance is urgently needed.
Disclosure of Invention
Aiming at the defects of the prior technical scheme, the application aims to provide a maintenance-free shield of a laser radar and the radar.
In order to achieve the above object, one or more embodiments of the present application provide the following technical solutions:
in a first aspect, the application discloses a maintenance-free shield for a laser radar, which comprises a shield body and a light-transmitting surface, wherein the shield body is connected with a laser transmitting and receiving unit of the radar and is sealed through a sealing strip, the shield body seals the laser transmitting and receiving unit and a rotating unit of the radar, and a storage unit of the radar is positioned outside the shield body.
As a further technical scheme, the light-transmitting surface is positioned in front of the range finding direction of the laser radar and comprises a detection window and a light-transmitting coating.
As a further technical scheme, the detection window is made of transparent material.
As a further technical scheme, the light-transmitting coating is an organic film with high light transmittance.
As a further technical scheme, the transparent coating films are stuck to the surface of the detection window through thermal processing.
As a further technical scheme, the application also provides the laser radar with the maintenance-free shield.
The detection window of the maintenance-free shield adopts the multi-layer high-transmittance film to protect the detection window 2, the multi-layer light-transmittance film is compositely attached to the surface of the shield through thermal processing, and when the first layer of film is stained, the first layer of film is only required to be torn off, so that the long-time and long-life use of the laser radar is ensured. Adopt the guard shield body to seal the protection with the laser emission receiving element and the rotary unit of radar, the storage unit of radar is located the guard shield body outside, and storage unit is easy removable structure, need not to change whole laser radar when breaking down, has reduced the cost and has made things convenient for data storage.
Drawings
The application will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a maintenance-free shield structure for a lidar of the present application;
FIG. 2 is a schematic diagram of a unitized lidar laser transmit receive unit and a memory unit that is compatible with a maintenance-free shield;
FIG. 3 is a schematic diagram of a unitized lidar rotating unit adapted to a maintenance-free shield;
fig. 4 is a schematic diagram of a rotational unit positioning recognition system.
In the figure: the device comprises a 1-body, a 2-detection window, a 3-light-transmitting coating, a 4-sealing strip, a 5-laser transmitting and receiving unit, a 6-storage unit, a 7-rotating unit, an 8-mounting hole, a 9-screw, a 10-storage cavity, an 11-mounting column, a 12-deflection mirror, a 13-light-emitting tube, a 14-rotating unit bracket, a 15-rotating unit mounting plate, a 16-stepping motor, a 17-motor shaft, a 18-positioning groove, a 19-first positioning column, a 20-second positioning column, a 21-third positioning column, a 22-positioning probe, a 23-spring and a 24-pressure sensor.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other. However, the application may be practiced otherwise than as specifically described and the scope of the application is therefore not limited by the specific embodiments disclosed below.
The application discloses a maintenance-free shield of a laser radar, which comprises a shield body 1 and a light-transmitting surface, wherein the shield body is connected with a laser transmitting and receiving unit of the radar and is sealed through a sealing strip 4, the shield body seals the laser transmitting and receiving unit and a rotating unit of the radar for protection, and a storage unit of the radar is positioned outside the shield body.
The light-transmitting surface is positioned in front of the range finding direction of the laser radar and comprises a detection window 2 and a light-transmitting coating film 3, wherein the detection window 2 is made of transparent materials such as quartz glass, the light-transmitting coating film 3 can adopt a commercially available high-light-transmittance organic film such as a polyester film to protect the detection window 2, the light-transmitting coating film 3 is provided with a plurality of layers, the layers of light-transmitting coating films are adhered to the surface of the protective cover through thermal processing in a compounding way, after a first layer of film is stained, only the first layer of film needs to be torn off, and the like, so that long-time and long-life use of the laser radar is ensured.
The application also discloses a laser radar device with a unitized structure, which is used in combination with the maintenance-free shield, and the current rotary mirror type laser radar mainly comprises a main body part, a rotating part and a storage part, but the structure is designed into an integral structure, and when a part is damaged, the whole laser radar needs to be replaced, so that the production and use cost is increased. To solve the above problems, the lidar of the present application adopts a unitized design, as shown in fig. 2 to 3, including a laser transmitting and receiving unit 5, a storage unit 6, and a rotating unit 7.
The rotary unit is located above the laser transmitting and receiving unit, the storage unit is located below the laser transmitting and receiving unit, the storage unit is provided with a mounting hole and forms a detachable connection structure with the laser transmitting and receiving unit, one side of the storage unit is provided with a storage cavity 10, and a storage circuit board can be placed.
A mounting post 11 corresponding to the mounting hole is arranged below the laser transmitting and receiving unit. Meanwhile, a laser transmitting and receiving assembly such as a laser transmitter, a laser collimator, a laser receiver, a receiving lens, a shielding device and the like is arranged in the laser transmitting and receiving unit. The lower part of the laser transmitting and receiving unit is connected with the shield, and the connecting surface is provided with a sealing strip, so that the laser transmitting and receiving unit and the rotating unit above the laser transmitting and receiving unit can work under the sealing condition.
The rotary unit is provided with a deflection mirror 12 corresponding to the position of the laser transmitter, a light outlet pipe 13 is arranged in front of the deflection mirror, one side of the rotary unit is provided with a rotary unit support bracket 14, a mounting block 15 connected with the laser transmitting and receiving unit is arranged below the support bracket, the rotary unit can be connected or detached through screws, a stepping motor 16 is arranged on the support bracket at the same time, and a motor shaft 17 of the stepping motor is connected with the deflection mirror and drives the deflection mirror and the light outlet pipe to rotate.
The laser radar device with the unitized structure is divided into the laser transmitting and receiving unit, the storage unit and the rotating unit by unitizing the whole radar, detachable replacement can be realized between the units through simple screws, the use and maintenance of users are easy, the storage unit is independently designed, data configuration is not needed to be carried out again when the radar is replaced, and the use cost is reduced.
In addition, the unitized laser radar device is of a detachable connection structure, and the rotation of the deflection mirror is realized through the motor according to a preset mode, so that the laser radar can work normally, the rotation can be continuous, and the pulse type angle setting rotation can be performed by adopting the stepping motor, but in the actual process, the rotation speed or the stepping angle of the motor can change to a certain extent after long-time work, so that a certain deviation occurs between the actual position of the deflection mirror and the preset position, the laser radar can work to generate errors and even accidents, and even if a plurality of positioning mechanisms are adopted, the stepping angle is unclear for the stepping motor due to the fact that the plurality of positioning mechanisms lack identification marks. The inventor has therefore chosen to provide a positioning device on the motor in order to be able to find problems early, and to find and replace the faulty rotating unit immediately, as shown in fig. 4, the positioning structure comprises a positioning slot 18 provided on the motor, in which three positioning posts are provided, in the positioning slot, axially symmetrically along the motor shaft, and for simplicity, each positioning post is provided with an inclined plane, the angles of the inclined planes and the horizontal direction are different, and the lowest point of the 3 inclined planes is located on the same horizontal plane, and specifically comprises a first positioning post 19, the inclined plane of which has an angle of 11 ° with the horizontal direction, a second positioning post 20, the inclined plane of which has an angle of 24 ° with the horizontal direction, and a third positioning post 21, the inclined plane of which has an angle of 37 ° with the horizontal direction. The positioning probe 22 with the spring 23 is arranged above the positioning groove, the pressure sensor 24 is connected above the spring and is connected to the positioning recognition circuit, the positioning probe with the spring is driven by the motor to rotate and is synchronous with the rotation of the motor shaft, the lowest point of the probe tip and the inclined plane is on a horizontal plane, the probe is suspended in the air during normal rotation, the circuit is disconnected, when the probe contacts with the positions of 3 positioning columns, the circuit is connected, as the angles of the inclined planes of the three positioning columns are different from the horizontal direction and the compression degree of the spring of the probe is different, different pressures are generated on the pressure sensor, so that different electric signals are sent to the positioning recognition circuit, the current position of the probe can be rapidly judged, compared with preset settings, if the situation is different from the preset situation, the positioning recognition circuit can send a red light warning, a user is reminded to replace the rotating unit in real time, and at the moment, the user can unscrew the screw on the mounting plate of the rotating unit to replace the rotating unit. The positioning device is simple in structure, a plurality of positioning columns are easy to process in batches, and the positioning device has a very good recognition effect on continuous rotation or stepping rotation.
The above-described preferred embodiments according to the present application are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present application. The technical scope of the present application is not limited to the description, but must be determined according to the scope of claims.
Claims (3)
1. A lidar with a maintenance-free shield, comprising: the maintenance-free shield comprises a shield body and a light-transmitting surface, wherein the shield body is connected with the main body part of the radar and is sealed through a sealing strip, the shield body seals the main body part of the radar and the rotating module, and the storage module of the radar is positioned outside the shield body;
the light-transmitting surface is positioned in front of the range finding direction of the laser radar and comprises a detection window and a light-transmitting coating; the transparent coating is provided with a plurality of layers, and the layers of transparent coating are adhered to the surface of the protective cover through thermal processing in a compounding way;
the laser radar comprises a laser transmitting and receiving unit, a storage unit and a rotating unit; the rotating unit is positioned above the laser transmitting and receiving unit, and the storage unit is positioned below the laser transmitting and receiving unit;
the rotary module is provided with a positioning structure, the positioning structure comprises a positioning groove arranged on the motor, three positioning columns are arranged in the positioning groove and are axisymmetrically arranged along the motor shaft in the positioning groove, each positioning column is an inclined plane, the lowest point of the inclined planes is positioned on the same horizontal plane, and the rotary module specifically comprises a first positioning column, wherein the angle between the inclined planes and the horizontal direction of the first positioning column is 11 degrees; the angle between the inclined plane of the second positioning column and the horizontal direction is 24 degrees; the angle between the inclined plane of the third positioning column and the horizontal direction is 37 degrees; a positioning probe with a spring is arranged above the positioning groove, a pressure sensor is connected above the probe and is connected to a positioning identification circuit, the probe is driven by a motor to rotate and is synchronous with the rotation of a motor shaft, and the tip of the probe and the lowest point of an inclined plane are on the same horizontal plane;
the probe is suspended during normal rotation, the circuit is disconnected, when the probe contacts 3 positioning column positions, the circuit is connected, when the highest point of the inclined plane is reached, the compression degree of the spring on the probe is different, different pressures are generated on the pressure sensor, and accordingly different electric signals are sent to the positioning identification circuit to judge the current position of the probe, and the current position is compared with preset settings.
2. A lidar with maintenance-free shield as defined in claim 1, wherein: the detection window is made of transparent materials.
3. A lidar with maintenance-free shield as defined in claim 1, wherein: the light-transmitting coating is an organic film with high light transmittance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211309961.1A CN115561736B (en) | 2022-10-25 | 2022-10-25 | Laser radar maintenance-free shield and radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211309961.1A CN115561736B (en) | 2022-10-25 | 2022-10-25 | Laser radar maintenance-free shield and radar |
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| Publication Number | Publication Date |
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| CN115561736A CN115561736A (en) | 2023-01-03 |
| CN115561736B true CN115561736B (en) | 2023-10-13 |
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