CN208559286U - The cleaning systems and vehicle of laser radar - Google Patents
The cleaning systems and vehicle of laser radar Download PDFInfo
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- CN208559286U CN208559286U CN201820751849.6U CN201820751849U CN208559286U CN 208559286 U CN208559286 U CN 208559286U CN 201820751849 U CN201820751849 U CN 201820751849U CN 208559286 U CN208559286 U CN 208559286U
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- laser radar
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Abstract
This disclosure relates to the cleaning systems and vehicle of a kind of laser radar, the cleaning systems include: laser radar, the controller connecting with the laser radar, the cleaner for being controlled by the controller；The laser radar, for detecting the spot on the laser radar surface；The controller generates control electric current according to the spot of laser radar detection, and the control electric current is for triggering the cleaner starting；The cleaner, for after actuation, cleaning the spot on the laser radar surface.
Description
Technical field
This disclosure relates to the ancillary equipment field of laser radar, and in particular, to a kind of cleaning systems of laser radar and
Vehicle.
Background technique
With the development of science and technology, laser radar while having because having high-precision, high-resolution advantage and establishing periphery 3D
The prospect of model and be widely used, for example, in pilotless automobile field, laser radar using advanced computer vision and
Radar sensor technology is surveyed by emitting laser beam to target object and receiving the reflected laser beam from target object
The characteristic quantities such as position, speed of target are calculated, to perceive vehicle-periphery, and form the 3D environment that precision is up to Centimeter Level
Figure, therefore, it is that automatic driving vehicle manipulates the decision-making foundation established that laser radar, which works normally,.
But if automatic driving vehicle traveling after upper sludge is splashed on laser radar surface, can make laser in muddy road conditions
Radar emission laser beam is affected, and laser radar is caused to fail, to influence the manipulation to vehicle, in the prior art, laser
Radar can judge whether laser radar surface has spot according to Echo width, then send corresponding spot report by Ethernet
Text is warned, and related personnel is when perceiving the warning, by manually cleaning to spot, still, in the process of warning
In, due to the failure that laser radar surface blot still has, and causes laser radar of short duration, it is easy to happen traffic accident.
Utility model content
Purpose of this disclosure is to provide a kind of cleaning systems of laser radar and vehicle, which can solve laser
Radar surface is unable to automated cleaning when being covered by spot, before artificial remove, leads to laser radar since spot always exists
The technical issues of short duration failure.
To achieve the goals above, the disclosure provides a kind of cleaning systems of laser radar, the system comprises: laser thunder
The controller that reach, is connect with the laser radar, the cleaner for being controlled by the controller；The laser radar, for detecting
The spot on the laser radar surface；The controller generates control electric current according to the spot of laser radar detection, described
Control electric current is for triggering the cleaner starting；The cleaner, for after actuation, cleaning the laser radar surface
Spot.
Optionally, the controller includes detection circuit and the control circuit that connect with the detection circuit；The detection
Circuit, for detecting the detection electric signal of the laser radar triggering；The control circuit, for according to the detection electric signal
Generate the control electric current.
Optionally, the detection circuit is connect by control area net(CAN) network CAN bus with the control circuit.
Optionally, the cleaner includes spray head and cleaning brush；The spray head, for on laser radar surface
Spray cleaning solution in spot position；The cleaning brush, for where spot of the spray head on laser radar surface
After cleaning solution is sprayed in position, the spot position on laser radar surface is cleaned.
Optionally, the cleaner is set to the side of the laser radar.
Optionally, the cleaner further includes sliding rail, and the cleaner passes through the sliding rail in the week of the laser radar
Side is mobile；The controller, it is mobile for the cleaner according to the control current control, so that the cleaner is to institute
Spot position is stated to be cleaned.
Optionally, the system also includes driving devices, connect respectively with the controller and the cleaner, are used for root
The cleaner is driven to clean the spot on the laser radar surface according to the control circuit.
The disclosure also provides a kind of vehicle, the cleaning systems including above-described laser radar.
Through the above technical solutions, the disclosure detects that the laser radar surface there are when spot, leads in laser radar
The controller connecting with the laser radar is crossed, control electric current, the cleaning are generated according to the spot of laser radar detection
Device starts under the control current trigger, cleans the spot on the laser radar surface, in this way, the cleaner is described in
The control of controller carries out automated cleaning to the spot on laser radar surface, before avoiding artificial remove, always because of laser radar
The case where short duration failure caused by being covered by spot.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the schematic block diagram of the cleaning systems of the first laser radar；
Fig. 2 is the schematic block diagram of the cleaning systems of second of laser radar；
Fig. 3 is the schematic block diagram of the cleaning systems of the third laser radar；
Fig. 4 is the schematic block diagram of the cleaner spring mechanism shown in the present embodiment；
Fig. 5 is the schematic block diagram of the cleaning systems of the 4th kind of laser radar.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
The disclosure provides the cleaning systems and vehicle of a kind of laser radar, which includes: laser radar, swashs with this
The controller of optical radar connection and the cleaner connecting with the controller, the system are detected by the controller according to laser radar
To surface, there are the signals that spot is sent to generate control electric current, triggering cleaner starting, to realize that cleaner automated cleaning swashs
The spot on optical radar surface, in this way, the cleaning systems can make automatic driving vehicle on laser radar surface there are when spot, nothing
It needs related personnel manually to remove spot, can be cleaned automatically, avoid laser radar during warning, because being covered by spot
Short duration failure caused by covering.
The disclosure is illustrated below with reference to specific embodiment.
Fig. 1 is a kind of schematic block diagram of the cleaning systems of the laser radar illustrated according to one, as shown in Figure 1, should
Cleaning systems include: laser radar 101, the controller 102 connecting with the laser radar 101, and are controlled by the controller 102
Cleaner 103, the laser radar 101, for detecting the spot on 101 surface of laser radar, the controller 102 be used for basis
The spot that the laser radar 101 detects generates control electric current, which is used to trigger the starting of cleaner 103, this is clear
Clean device 103 is for after actuation, cleaning the spot on the laser radar surface.
In this way, the cleaning systems can control cleaner by controller when laser radar surface is covered by spot
The spot on automated cleaning laser radar surface, short duration failure caused by being covered so as to avoid laser radar by spot.
As shown in Fig. 2, above controller 102 may include detection circuit 1021 and the control connecting with detection circuit electricity
Road 1022；The detection circuit 1021, for detecting the detection electric signal of the laser radar 101 triggering, which is used
Electric current is controlled in generating according to the detection electric signal.
Wherein, detection circuit 1021, for passing through CAN (Controller Area Network；Controller LAN
Network) bus connect with the control circuit 1022.
In this way, laser radar detects surface there are spot, issue there are the electric signal of spot information, which examines
The electric signal is measured, CAN (Controller Area Network is passed through；Controller local area network) it is sent to control circuit, it controls
Circuit evolving processed controls electric current, which can control cleaner and start to clean spot.
As shown in figure 3, cleaner 103 includes spray head 1031 and cleaning brush 1032, which is used for laser
Cleaning solution is sprayed in spot position on 101 surface of radar, the cleaning brush 1032, in the spray head 1031 to laser thunder
After spraying cleaning solution up to the spot position on 101 surfaces, the spot position on 101 surface of laser radar is carried out clear
It is clean.
Wherein, which further includes liquid memory, which connect with spray head 1031, for depositing
Store up cleaning solution.
In the present embodiment, which includes pressure apparatus (such as washing pump), is connect with controller, the pressure
Device is used for when being cleaned, and generates pressure, and the cleaning solution in the liquid memory is sprayed by spray head.
In one possible implementation, which can be set (such as boot position) in the car,
And connect by conduit with the spray head, so that the liquid memory will be clear by pressure apparatus when cleaning to spot
Clean liquid is sprayed by conduit from the spray head.
In alternatively possible implementation, which can be set the tail end in spray head, with the spray
Head is integrated, so that the liquid memory is by pressure apparatus by cleaning solution directly from the spray when cleaning to spot
Head sprays.
It should be noted that the cleaner is set to the side of laser radar, and it is lower than laser radar, such as: laser thunder
Up to surface of vehicle junction etc..
Furthermore, it is contemplated that the presence of cleaner can stop laser radar to emit light beam detection ambient enviroment, therefore, in this public affairs
It opens in another embodiment, as shown in figure 4, during idle time, which can be placed in parallel, to avoid laser radar transmitting is stopped
Light beam, correspondingly, the cleaner 103 further include: spring mechanism 105, the controller 102 is after generating control electric current, control
The spring mechanism 105 bounces cleaner 103, to clean to spot.
In view of the position of the spot on laser radar surface is more inclined, and the position of cleaner may be unable to reach the position of spot
It sets, also spot can not just be cleaned, therefore, to solve the above-mentioned problems, in another embodiment of the disclosure, the cleaner
103 further include sliding rail 106, and the cleaner 103 is by sliding rail 106 in the movement of the side of laser radar 101, the controller 102
It is mobile according to the control current control cleaner 103, so that the cleaner 103 cleans spot position.
Illustratively, which may include position signal, which includes that laser radar surface blot is swashing
Location information on optical radar, the control electric current that cleaner is issued according to controller obtain the location information, and by sliding rail into
Row movement, to be cleaned to the spot of the location information corresponding position.
In this way, cleaner can be moved in the case where controlling the function of current by sliding rail when laser radar surface is there are when spot
It is dynamic, spot existing for any position on laser radar surface can be cleaned.
In addition, as shown in figure 5, above-mentioned cleaning systems can also include driving device 104, the driving device 104 respectively with
Controller 102 and cleaner 103 connect, which is used to control the cleaner 103 cleaning laser according to control circuit
The spot on 101 surface of radar.
Illustratively, which can be driving motor, such as stepping motor, DC servo-motor or exchange are watched
Take motor etc..Above example is merely illustrative, and the disclosure is not construed as limiting this.
The disclosure also provides a kind of vehicle, which includes the cleaning systems of above-mentioned laser radar.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (8)
1. a kind of cleaning systems of laser radar characterized by comprising laser radar, the control being connect with the laser radar
Device processed, the cleaner for being controlled by the controller；
The laser radar, for detecting the spot on the laser radar surface；
The controller generates control electric current according to the spot of laser radar detection, and the control electric current is for triggering institute
State cleaner starting；
The cleaner, for after actuation, cleaning the spot on the laser radar surface.
2. cleaning systems according to claim 1, which is characterized in that the controller include detection circuit and with the inspection
The control circuit of slowdown monitoring circuit connection；
The detection circuit, for detecting the detection electric signal of the laser radar triggering；
The control circuit, for generating the control electric current according to the detection electric signal.
3. cleaning systems according to claim 2, which is characterized in that the detection circuit passes through controller local area network
CAN bus is connect with the control circuit.
4. cleaning systems according to claim 1, which is characterized in that the cleaner includes spray head and cleaning brush；
The spray head sprays cleaning solution for the spot position on laser radar surface；
The cleaning brush, for the spray head on laser radar surface spot position sprinkling cleaning solution after, it is right
It is cleaned spot position on laser radar surface.
5. cleaning systems according to claim 1, which is characterized in that the cleaner is set to the week of the laser radar
Side.
6. cleaning systems according to claim 5, which is characterized in that the cleaner further includes sliding rail, the cleaner
It is mobile in the side of the laser radar by the sliding rail；
The controller, it is mobile for the cleaner according to the control current control, so that the cleaner is to described
It is cleaned spot position.
7. cleaning systems according to claim 2, which is characterized in that the system also includes driving devices, respectively with institute
It states controller to connect with the cleaner, for driving the cleaner to clean the laser radar table according to the control circuit
The spot in face.
8. a kind of vehicle, which is characterized in that the cleaning systems including the described in any item laser radars of the above claim 1~7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820751849.6U CN208559286U (en) | 2018-05-18 | 2018-05-18 | The cleaning systems and vehicle of laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820751849.6U CN208559286U (en) | 2018-05-18 | 2018-05-18 | The cleaning systems and vehicle of laser radar |
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| Publication Number | Publication Date |
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| CN208559286U true CN208559286U (en) | 2019-03-01 |
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ID=65482043
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820751849.6U Active CN208559286U (en) | 2018-05-18 | 2018-05-18 | The cleaning systems and vehicle of laser radar |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208772A (en) * | 2019-05-27 | 2019-09-06 | 驭势科技（北京）有限公司 | Laser radar protective cover and laser radar apparatus |
| CN111007494A (en) * | 2019-12-31 | 2020-04-14 | 江苏恒达微波技术开发有限公司 | Be used for on-vehicle multi-angle speed measuring radar |
| CN111516645A (en) * | 2020-04-26 | 2020-08-11 | 杭州宏景智驾科技有限公司 | Automatic driving-based automatic cleaning system and method for sensor |
| CN115780345A (en) * | 2022-09-22 | 2023-03-14 | 保定市天河电子技术有限公司 | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system |
-
2018
- 2018-05-18 CN CN201820751849.6U patent/CN208559286U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110208772A (en) * | 2019-05-27 | 2019-09-06 | 驭势科技（北京）有限公司 | Laser radar protective cover and laser radar apparatus |
| CN111007494A (en) * | 2019-12-31 | 2020-04-14 | 江苏恒达微波技术开发有限公司 | Be used for on-vehicle multi-angle speed measuring radar |
| CN111516645A (en) * | 2020-04-26 | 2020-08-11 | 杭州宏景智驾科技有限公司 | Automatic driving-based automatic cleaning system and method for sensor |
| CN115780345A (en) * | 2022-09-22 | 2023-03-14 | 保定市天河电子技术有限公司 | Distributed laser radar dirty state sensing and comprehensive cleaning implementation method and system |
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