CN211554302U - Cleaning device and laser radar system - Google Patents
Cleaning device and laser radar system Download PDFInfo
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- CN211554302U CN211554302U CN201922034579.4U CN201922034579U CN211554302U CN 211554302 U CN211554302 U CN 211554302U CN 201922034579 U CN201922034579 U CN 201922034579U CN 211554302 U CN211554302 U CN 211554302U
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Abstract
The utility model discloses a belt cleaning device and laser radar system wash optical sensor, include: the device comprises a liquid storage module, a gas-liquid mixing module, a spray head and a control module; the control module is respectively connected with the control end of the liquid storage module and the control end of the gas storage module; the output end of the liquid storage module and the output end of the gas storage module are respectively connected with the input end of the gas-liquid mixing module; the output end of the gas-liquid mixing module is connected with the spray head; the pressure gas impacts the cleaning liquid in the gas-liquid mixing module to form a gas-liquid mixture, and the gas-liquid mixture is sprayed to the surface to be cleaned of the optical sensor through the spray head; the central axis of the spray head is arranged obliquely relative to the surface to be cleaned. The embodiment of the utility model provides a belt cleaning device simple structure, convenient operation, practicality are strong, can improve the automation of cleaning efficiency, cleaning quality and equipment.
Description
Technical Field
The embodiment of the utility model provides a relate to laser radar technical field, especially relate to a belt cleaning device and laser radar system.
Background
Lidar is increasingly used as a light detection and ranging device. During application, the lidar is usually exposed to the environment. Objects such as dust in the environment can adhere to the surface of the filter cover of the laser radar. The surface of the filter cover of the laser radar is polluted by substances such as dust in the environment, so that stains on the surface can be detected as objects in the detection process, distance data are output, great interference can be generated, and the laser radar can even work normally in severe cases.
At present, most of laser radars adopt cleaning solution to spray and dry water on the surface of the filter cover. This scrubbing is inefficient and is not easily wiped clean.
SUMMERY OF THE UTILITY MODEL
The utility model provides a belt cleaning device and laser radar system, simple structure, convenient operation, practicality are strong, can improve the automation of cleaning efficiency, cleaning quality and equipment.
In a first aspect, an embodiment of the present invention provides a cleaning device for cleaning an optical sensor, the cleaning device includes: the device comprises a liquid storage module, a gas-liquid mixing module, a spray head and a control module;
the control module is respectively connected with the control end of the liquid storage module and the control end of the gas storage module, and the output end of the liquid storage module and the output end of the gas storage module are respectively connected with the input end of the gas-liquid mixing module;
the control module is used for sending a first control signal to the liquid storage module so that the liquid storage module outputs cleaning liquid to the gas-liquid mixing module, and simultaneously sending a second control signal to the gas storage module so that the gas storage module outputs pressure gas to the gas-liquid mixing module;
the output end of the gas-liquid mixing module is connected with the spray head;
the pressure gas impacts the cleaning liquid in the gas-liquid mixing module to form a gas-liquid mixture, and the gas-liquid mixture is sprayed to the surface to be cleaned of the optical sensor through the spray head; the central axis of the spray head is obliquely arranged relative to the surface to be cleaned.
Further, the gas storage module is reused as an air drying module; the control module is further used for sending a third control signal to the gas storage module so that the gas storage module outputs pressure gas to the gas-liquid mixing module, and simultaneously sends a fourth control signal to the liquid storage module so that the liquid storage module stops outputting cleaning liquid to the gas-liquid mixing module.
Further, the gas-liquid mixing module comprises a gas receiving runner, a gas sub-runner, a liquid receiving runner and a liquid sub-runner;
the input end of the gas receiving flow passage is connected with the output end of the gas storage module, the output end of the gas receiving flow passage is connected with the input end of the gas sub-flow passage, the output end of the gas sub-flow passage is connected with the first input end of the liquid receiving flow passage, the second input end of the liquid receiving flow passage is connected with the output end of the liquid storage module, the output end of the liquid receiving flow passage is connected with the input end of the liquid sub-flow passage, and the output end of the liquid sub-flow passage is connected with the spray head;
the gas receiving flow passage is used for receiving the pressure gas; the liquid receiving flow channel is used for receiving the cleaning liquid;
the pressure gas received by the gas receiving flow passage impacts the cleaning liquid received by the liquid receiving flow passage through the gas sub-flow passage to form a gas-liquid mixture, and the gas-liquid mixture passes through the liquid sub-flow passage and is sprayed onto the surface to be cleaned of the optical sensor through the spray head.
Further, the reservoir module includes: the cleaning solution tank comprises a cleaning solution tank body, a cleaning solution, a hydraulic pump, a liquid flow control valve and a cleaning solution flow passage;
the cleaning solution is arranged in the cleaning solution box body;
the input end of the hydraulic pump is connected with the cleaning liquid box body or placed in the cleaning liquid box body, the output end of the hydraulic pump is connected with the input end of the cleaning liquid flow passage, and the output end of the cleaning liquid flow passage is connected with the gas-liquid mixing module; the control end of the hydraulic pump is connected with the control module;
the liquid flow control valve is arranged in the cleaning liquid flow passage and is connected with the control module;
the hydraulic pump is used for providing power to drive the cleaning liquid to be transmitted to the gas-liquid mixing module.
Further, the gas storage module includes: the device comprises a gas source, a gas flow control valve and an air channel; the gas source is used for providing pressure gas;
the input end of the air channel is connected with the air source, and the output end of the air channel is connected with the air-liquid mixing module;
the gas flow control valve is arranged in the air channel and is connected with the control module.
Further, the cleaning device further comprises:
a temperature sensor; and
the heating module comprises at least one of a cleaning liquid heating submodule and a gas heating submodule;
the temperature sensor, the cleaning liquid heating submodule and the gas heating submodule are respectively connected with the control module;
the cleaning liquid heating submodule is used for heating the cleaning liquid, and the gas heating submodule is used for heating the pressure gas.
Further, in the direction perpendicular to the surface to be cleaned, the spray head comprises a tapered and divergent spray head, and the length of the divergent section of the spray head is greater than that of the convergent section; the side wall of the cavity of the spray head is a streamline side wall or a linear side wall;
the area of the mixing channel of the gas-liquid mixing module is larger than the area of the inlet of the spray head.
Further, a baffle plate is arranged at an outlet of the spray head; a plurality of small holes are uniformly formed in the baffle.
Further, the cleaning device also comprises a rotating module, and the rotating module is positioned between the gas-liquid mixing module and the spray head; the rotating module is used for adjusting the inclination angle of the spray head relative to the surface to be cleaned of the optical sensor.
In a second aspect, an embodiment of the present invention further provides a laser radar system, which includes the cleaning device of the first aspect and an optical sensor;
the cleaning device and the optical sensor are relatively fixed in position.
The utility model discloses a pressure gas of gas storage module output strikes the washing liquid of stock solution module output in the gas-liquid mixing module to carry out the gas-liquid mixture that the gas-liquid mixture formed in the gas-liquid mixing module with higher energy injection to optical sensor's the face of waiting to wash, reach the high-efficient and high-quality washing of optical sensor; further, the central shaft of the spray head is obliquely arranged relative to the surface to be cleaned, so that the coverage area of the gas-liquid mixture on the surface to be cleaned is increased.
Drawings
Fig. 1 is a schematic structural diagram of a cleaning device according to an embodiment of the present invention;
fig. 2 is a front view of a cleaning device according to an embodiment of the present invention;
fig. 3 is a side view of a cleaning device according to an embodiment of the present invention;
fig. 4 is a top view of a cleaning device according to an embodiment of the present invention;
fig. 5 is a top view of another cleaning device provided in an embodiment of the present invention;
fig. 6 is a schematic cross-sectional view of a showerhead according to an embodiment of the present invention;
fig. 7 is a schematic cross-sectional view of another spray head provided by an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present invention, fig. 2 is a front view of a cleaning device provided by an embodiment of the present invention, fig. 3 is a side view of a cleaning device provided by an embodiment of the present invention, and fig. 4 is a top view of a cleaning device provided by an embodiment of the present invention. The embodiment of the utility model provides an in belt cleaning device be used for wasing optical sensor's the face of wasing of treating. The optical sensor may be a sensor for ranging, obstacle detection by emitting light and receiving light, such as a laser radar. In the present application, the optical sensor is described by taking a laser radar as an example, but the present embodiment is not limited thereto. Laser radar usually includes upper and lower casing and is located the printing opacity casing of middle zone, and the printing opacity casing is the filter mantle usually, can filter the interference light in certain extent when the printing opacity. The light-transmissive envelope is typically a planar or cylindrical structure.
As shown in fig. 1, 2, 3 and 4, the cleaning apparatus includes: the device comprises a liquid storage module 10, a gas storage module 20, a gas-liquid mixing module 30, a spray head 40 and a control module 50; the control module 50 is respectively connected with the control end of the liquid storage module 10 and the control end of the gas storage module 20, and the output end of the liquid storage module 10 and the output end of the gas storage module 20 are respectively connected with the input end of the gas-liquid mixing module 30; the control module 50 is configured to send a first control signal to the liquid storage module 10, so that the liquid storage module 10 outputs the cleaning liquid to the gas-liquid mixing module 30, and send a second control signal to the gas storage module 20, so that the gas storage module 20 outputs the pressure gas to the gas-liquid mixing module 30; the output end of the gas-liquid mixing module 30 is connected with the spray head 40; the pressure gas impacts the cleaning liquid in the gas-liquid mixing module 30, and the gas-liquid mixture is formed in the gas-liquid mixing module 30 through gas-liquid mixing, and then is sprayed onto the surface 61 to be cleaned of the optical sensor 60 through the spray head 40 with high energy; the central axis 41 of the spray head 40 is arranged obliquely with respect to the surface 61 to be cleaned.
The liquid storage module 10 stores a cleaning liquid capable of cleaning the optical sensor 60, and the cleaning liquid may include, for example, water and other cleaning agents that do not damage the light-transmitting housing (i.e., the filter cover), but the embodiment is not limited thereto, and can be selected according to actual situations as long as the optical sensor 60 can be cleaned. The gas in the gas storage module 20 may comprise air, for example, at low cost and without creating other safety issues. The gas storage module 20 can output the pressure gas having a certain pressure to the gas-liquid mixing module 30. The gas-liquid mixing module 30 is respectively connected with the liquid storage module 10 and the gas storage module 20. The gas-liquid mixing module 30 is provided with a plurality of shower heads 40. The nozzle 40, the liquid storage module 10 and the gas storage module 20 may be fixed on the gas-liquid mixing module 30 by stamping, welding or screwing, for example.
Specifically, when the surface 61 to be cleaned needs to be cleaned, the control module 50 sends a first control signal to the liquid storage module 10, and the liquid storage module 10 outputs a cleaning liquid to the gas-liquid mixing module 30 according to the first control signal; meanwhile, the control module 50 sends a second control signal to the gas storage module 20, so that the gas storage module 20 outputs the pressure gas to the gas-liquid mixing module 30, the pressure gas impacts the cleaning liquid in the gas-liquid mixing module 30 to generate a gas-liquid mixture, and then the gas-liquid mixture is sprayed onto the surface 61 to be cleaned through the spray head 40, and the gas-liquid mixture with pressure can efficiently decontaminate the surface 61 to be cleaned.
Further, the central axes 41 of the plurality of nozzles 40 arranged on the gas-liquid mixing module 30 are arranged obliquely relative to the surface 61 to be cleaned, that is, the included angle between the central axes 41 of the nozzles 40 and the plane of the surface 61 to be cleaned has a preset installation angle, so that the sprayed gas-liquid mixture can be ensured to cover the corresponding area of the surface 61 to be cleaned, and the purpose of cleaning the surface 61 to be cleaned is achieved.
It is understood that when the central axis 41 of the nozzle 40 is disposed obliquely relative to the surface 61 to be cleaned of the optical sensor 60, the included angle between the central axis 41 of the nozzle 40 and the plane of the surface 61 to be cleaned of the optical sensor 60 can be adjusted according to the actual situation, as long as the gas-liquid mixture sprayed by the nozzle 40 can cover the corresponding area of the surface 61 to be cleaned.
It is also understood that the specific pressure of the pressurized gas output from the gas storage module 20 can be adjusted according to actual conditions. For example, when the dirt on the surface 61 to be cleaned is difficult to clean, a higher pressure can be output, the cleaning liquid is impacted by the higher pressure, and the high-pressure mist can effectively remove the dirt on the surface 61 to be cleaned.
It should be noted that the above example only exemplarily shows that the surface 61 to be cleaned of the optical sensor 60 is cleaned when the surface 61 to be cleaned is a plane, in other exemplary schemes, if the surface 61 to be cleaned is annular, the gas-liquid mixing module 30 only needs to be arranged in an annular shape, and the plurality of spray heads 40 are uniformly arranged on the annular gas-liquid mixing module 30. Specifically, fig. 5 is a top view of another cleaning device provided by the embodiment of the present invention, the surface 61 to be cleaned is annular, and the nozzle 40 in the annular gas-liquid mixing module 30 sprays the surface 61 to be cleaned, so that the gas-liquid mixture with pressure can perform efficient decontamination on the surface 61 to be cleaned.
To sum up, the utility model discloses a pressure gas of gas storage module output strikes the washing liquid of stock solution module output in the gas-liquid mixing module to the gas-liquid mixture that will carry out the gas-liquid mixture formation in the gas-liquid mixing module sprays to optical sensor's the surface of waiting to wash with higher energy, reaches to optical sensor high efficiency and high-quality washing; further, since the central axis of the nozzle is arranged obliquely with respect to the surface to be cleaned, the coverage area of the gas-liquid mixture on the optical sensor is increased.
On the basis of the above scheme, optionally, with reference to fig. 2, the gas storage module 20 is reused as an air drying module; the control module 50 is further configured to send a third control signal to the gas storage module 20, so that the gas storage module 20 outputs the pressure gas to the gas-liquid mixing module 30, and send a fourth control signal to the liquid storage module 10, so that the liquid storage module 10 stops outputting the cleaning liquid to the gas-liquid mixing module 30.
The pressure gas provided by the gas storage module 20 can also dry the surface 61 to be cleaned of the optical sensor 60, that is, the optical sensor 60 is air-dried by the gas storage module 20.
When the cleaning is finished, only the output of the liquid storage module 10 to the cleaning liquid is stopped, the gas output from the gas storage module 20 is kept for a period of time, and the gas output from the gas storage module 20 dries the gas-liquid mixture on the surface 61 to be cleaned. Namely, the gas storage module 20 can not only provide pressure gas to impact the cleaning liquid to form a gas-liquid mixture, but also spray the gas-liquid mixture to the surface 61 to be cleaned through the spray head 40 to clean the surface 61 to be cleaned; the surface 61 to be cleaned may be air-dried by the gas output therefrom. The air drying module is not required to be independently arranged, so that the device is simplified, and the cost is saved.
On the basis of the above scheme, optionally, with continued reference to fig. 3, the gas-liquid mixing module 30 includes a gas receiving flow passage 31, a gas branch flow passage 32, a liquid receiving flow passage 33, and a liquid branch flow passage 34; the input end of the gas receiving flow channel 31 is connected with the output end of the gas storage module 20, the output end of the gas receiving flow channel 31 is connected with the input end of the gas branch flow channel 32, the output end of the gas branch flow channel 32 is connected with the first input end of the liquid receiving flow channel 33, the second input end of the liquid receiving flow channel 33 is connected with the output end of the liquid storage module 10, the output end of the liquid receiving flow channel 33 is connected with the input end of the liquid branch flow channel 34, and the output end of the liquid branch flow channel 34 is connected with the spray head 40; the gas receiving flow channel 31 is used for receiving pressure gas; the liquid receiving flow passage 33 is for receiving a cleaning liquid; the pressure gas received by the gas receiving flow passage 31 impacts the cleaning liquid received by the liquid receiving flow passage 33 through the gas branch flow passage 32, and forms a gas-liquid mixture which passes through the liquid branch flow passage 34 and is then sprayed onto the surface to be cleaned 61 of the optical sensor 60 through the spray head 40.
The number of the gas sub-channels 32, the number of the liquid sub-channels 34, and the number of the spray heads 40 are the same, and the number of the gas sub-channels 32, the number of the liquid sub-channels 34, and the number of the spray heads 40 may be adjusted according to actual conditions, which is not specifically limited in this embodiment, and fig. 3 only illustrates the number of the gas sub-channels 32, the number of the liquid sub-channels 34, and the number of the spray heads 40 as 5.
On the basis of the above scheme, optionally, with continuing reference to fig. 2, the liquid storage module 10 includes: a cleaning liquid tank 11, a cleaning liquid 12, a hydraulic pump 13, a cleaning liquid flow passage 14 and a liquid flow control valve 15; the cleaning liquid 12 is arranged in the cleaning liquid box body 11; the input end of the hydraulic pump 13 is connected with the cleaning liquid tank 11 or is arranged in the cleaning liquid tank 11, the output end of the hydraulic pump 13 is connected with the input end of the cleaning liquid flow passage 14, and the output end of the cleaning liquid flow passage 14 is connected with the gas-liquid mixing module 30; the control end of the hydraulic pump 13 is connected with the control module 50; the liquid flow control valve 15 is arranged in the cleaning liquid flow passage 14 and is connected with the control module 50; the hydraulic pump 13 is used to provide power to drive the cleaning solution 12 to be delivered to the gas-liquid mixing module 30.
Specifically, the cleaning liquid tank 11 is used for placing the cleaning liquid 12, and an input end of the hydraulic pump 13 is connected to the cleaning liquid tank 11 or the cleaning liquid 12 in the cleaning liquid tank 11 is provided with power by the hydraulic pump 13 and transmitted to the gas-liquid mixing module 30 through the cleaning liquid flow passage 14. The pressure gas output by the gas storage module 20 impacts the cleaning liquid in the gas-liquid mixing module 30 to generate a gas-liquid mixing effect, and is sprayed to the surface to be cleaned 61 through the spray head 40 after forming mist, and the pressure mist can efficiently decontaminate the surface to be cleaned 61. The liquid flow control valve 15 may be controlled by the control module 50, or the liquid flow control valve 15 may be manually controlled, so as to control the dosage of the cleaning liquid 12 reaching the gas-liquid mixing module 30 through the cleaning liquid flow passage 14.
For example, when the dirt on the optical sensor 60 is difficult to clean, the liquid flow control valve 15 can be controlled to ensure that a larger amount of the cleaning liquid 12 reaches the gas-liquid mixing module 30, so that the dirt is removed by the larger amount of the cleaning liquid 12, and the cleaning quality is improved. When the stains on the optical sensor 60 are cleaned well, the stains can be removed by controlling the liquid flow control valve 15, that is, after the cleaning liquid 12 with a small dosage reaches the gas-liquid mixing module 30, so that the waste of the cleaning liquid 12 is avoided.
On the basis of the above scheme, optionally, with reference to fig. 2, the gas storage module 20 includes: a gas source 21, a gas flow control valve 22 and an air passage 24; the gas source 21 is used for providing pressure gas; the input end of the air channel 24 is connected with the air source 21, and the output end of the air channel 24 is connected with the gas-liquid mixing module 30; the gas flow control valve 22 is disposed in the air passage 24 and is connected to the control module 50.
The gas source 21 can output gas with a certain pressure, and the gas with a certain pressure is transmitted to the gas-liquid mixing module 30 through the air passage 24.
Specifically, the gas source 21 is used to store gas with a certain pressure, and the gas may be air, but the embodiment is not limited thereto. The gas source 21 delivers gas under pressure to the gas-liquid mixing module 30 through the air passage 24. The pressure gas impacts the cleaning liquid in the gas-liquid mixing module 30 to generate a gas-liquid mixing effect, mist is formed and then is sprayed to the surface 61 to be cleaned through the spray head 40, and the pressure mist can efficiently decontaminate the surface 61 to be cleaned.
The gas flow control valve 22 may be controlled by the control module 50, or the gas flow control valve 22 may be manually controlled, so that the gas flow control valve 22 controls the gas flow to form a predetermined ratio with the cleaning solution to mix with the gas-liquid mixing module 30.
Specifically, the pressure gas flow rate forming a preset proportion with the dosage of the cleaning liquid can be output through the dosage of the cleaning liquid so as to be matched with the dosage of the cleaning liquid. Illustratively, when a large amount of cleaning liquid 12 reaches the gas-liquid mixing module 30, a large amount of pressurized gas is required to impact the large amount of cleaning liquid, so that the cleaning liquid is sprayed onto the optical sensor 60 through the spray head 40, thereby improving the cleaning quality.
On the basis of the above solution, optionally, with continuing reference to fig. 2, the cleaning apparatus further includes: a temperature sensor 70 and a heating module; the heating module comprises at least one of a cleaning liquid heating submodule 16 and a gas heating submodule 23; the temperature sensor 70, the cleaning liquid heating submodule 16 and the gas heating submodule 23 are respectively connected with the control module 50; the cleaning liquid heating submodule 16 is used for heating the cleaning liquid 12; the gas heating submodule 23 is used for heating the pressure gas.
It is considered that when the environment in which the optical sensor 60 is located is too low, the gas-liquid mixture ejected from the gas-liquid mixing module 30 may be solidified, which affects the cleaning quality. In the embodiment, the cleaning liquid 12 is heated by the cleaning liquid heating submodule 16, and the pressure gas is heated by the gas heating submodule 23, so that the condition that the cleaning quality is influenced by solidification of gas and cleaning liquid due to low temperature is avoided.
The cleaning liquid heating submodule 16 and the gas heating submodule 23 may include an electric heater or an electric heating plate, for example. It is understood that the specific structure of the electric heater or the electric heating plate can be selected according to the structure of the cleaning device, and the embodiment is not particularly limited as long as the cleaning liquid 12 and the pressure gas can be heated. The cleaning liquid heating submodule 16 may be disposed at the bottom of the cleaning liquid tank 11 or inside the cleaning liquid tank 11, and may also be disposed around the cleaning liquid flow channel 14, and the gas heating submodule 23 may be disposed around the gas source or inside the gas source, and may also be disposed around the air channel 24.
Illustratively, the temperature sensor 70 is configured to detect a temperature of an environment where the optical sensor 60 is currently located, and send the temperature to the control module 50, and the control module 50 adjusts the cleaning liquid heating temperature submodule 16 and the gas heating submodule 23 according to the current temperature to heat the gas and the cleaning liquid, where the heated cleaning liquid has a certain temperature and can achieve a defogging effect after being sprayed onto a filter cover of the laser radar.
It should be noted that the cleaning liquid heating submodule 16 and the gas heating submodule 23 can also be adjusted manually.
It should be noted that only one cleaning liquid heating submodule 16 may be provided, or only one gas heating submodule 23 may be provided, or both the cleaning liquid heating submodule 16 and the gas heating submodule 23 may be provided, which is not specifically limited in this embodiment and may be selected according to actual situations, and fig. 2 is only exemplarily illustrated by including both the cleaning liquid heating submodule 16 and the gas heating submodule 23.
Fig. 6 is a schematic cross-sectional view of a showerhead according to an embodiment of the present invention. On the basis of the above scheme, optionally, referring to fig. 2 and 6, the spray head 40 comprises a tapered and divergent spray head, and the length of the divergent section of the spray head 40 is greater than that of the convergent section; the side wall of the chamber of the nozzle 40 is a streamlined side wall or a linear side wall.
Wherein the spray head may be provided with a tapered and diverging structure, for example, in a direction perpendicular to the surface to be cleaned, the cross section of the spray head 40 has a shape including a gourd shape (fig. 6) or an hourglass shape (fig. 7), the length of the diverging section of the spray head 40 is greater than that of the converging section, and the sidewall of the cavity of the spray head 40 is a streamlined sidewall or a linear sidewall so as to generate a relatively large spray area.
On the basis of the above scheme, optionally, the outlet of the spray head 40 is provided with a baffle; the baffle is uniformly provided with a plurality of small holes (not shown in the figure).
Wherein, the area of the small hole is fixedly arranged or adjusted according to the actual situation.
The outlet of the spray head 40 may be provided with a honeycomb-like orifice plate so as to uniformly spray mist at various positions. Based on the above scheme, optionally, the mixing passage area of the gas-liquid mixing module 30 is larger than the inlet area of the nozzle 40.
Wherein the mixing passage area of the gas-liquid mixing module 30 is larger than the inlet area of the spray head 40, thereby ensuring that sufficient pressure can be generated for spraying.
On the basis of the above scheme, optionally, the cleaning device further includes a rotating module (not shown in the figure), and the rotating module is located between the gas-liquid mixing module 30 and the spray head 40; the rotation module is used to adjust the tilt angle of the nozzle 40 relative to the surface 61 to be cleaned of the optical sensor 60.
Wherein, the rotating module can be rotated manually or driven by a motor to rotate. The present embodiment provides a rotation module, and the rotation module adjusts the inclination angle of the spray head 40 relative to the surface to be cleaned 61 of the optical sensor 60, so as to further ensure that the sprayed gas-liquid mixture covers a relatively large area of the surface to be cleaned 61.
Alternatively, the cleaning structure in this case may not have a moving component, that is, each module is fixed relative to the optical sensor 60. It is only required to be fixed well by a fixing structure. In other embodiments, an up-and-down movement assembly (not shown) may also be provided. This enables a height adjustment according to the actual optical sensor 60.
Optionally, the cleaning device further comprises a recovery tank (not shown in the figure).
In order to prevent the cleaning liquid from polluting the environment, a recovery water tank and other structures may be disposed below the optical sensor 60, and the recovery water tank is used for recovering the cleaning liquid after cleaning, so as to protect the environment.
Based on the same inventive concept, the embodiment of the present invention further provides a laser radar system, fig. 8 is a schematic structural diagram of a laser radar system provided by the embodiment of the present invention, as shown in fig. 8, the laser radar system includes the cleaning device 100 and the optical sensor 60 in the above embodiment; the cleaning device 100 is fixed relative to the position of the optical sensor 60.
The utility model discloses a pressure gas of gas storage module output among the belt cleaning device strikes the washing liquid of stock solution module output in the gas-liquid mixing module to the gas-liquid mixture that will carry out the gas-liquid mixture formation in the gas-liquid mixing module sprays to optical sensor's the face of waiting to wash with higher energy, reaches to optical sensor high efficiency and high-quality washing; further, the central shaft of the spray head is obliquely arranged relative to the surface to be cleaned, so that the coverage area of the gas-liquid mixture on the surface to be cleaned is increased.
Optionally, the lidar system further comprises a detection device (not shown in the figure); the detection device is used for detecting that the surface to be cleaned of the optical sensor is cleaned by the cleaning device 100 when the surface to be cleaned of the optical sensor 60 is stained.
The detection device may include, for example, a camera for capturing a picture of the optical sensor, and if there is a stain, the optical sensor is cleaned by the cleaning device 100. See the above examples for a specific cleaning procedure.
The detection device is not limited to the above example, and may be configured to detect stains on the optical sensor 60, for example, by observation with the human eye.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. A cleaning device for cleaning an optical sensor, comprising: the device comprises a liquid storage module, a gas-liquid mixing module, a spray head and a control module;
the control module is respectively connected with the control end of the liquid storage module and the control end of the gas storage module, and the output end of the liquid storage module and the output end of the gas storage module are respectively connected with the input end of the gas-liquid mixing module;
the control module is used for sending a first control signal to the liquid storage module so that the liquid storage module outputs cleaning liquid to the gas-liquid mixing module, and simultaneously sending a second control signal to the gas storage module so that the gas storage module outputs pressure gas to the gas-liquid mixing module;
the output end of the gas-liquid mixing module is connected with the spray head;
the pressure gas impacts the cleaning liquid in the gas-liquid mixing module to form a gas-liquid mixture, and the gas-liquid mixture is sprayed to the surface to be cleaned of the optical sensor through the spray head; the central axis of the spray head is obliquely arranged relative to the surface to be cleaned.
2. The cleaning device of claim 1, wherein the gas storage module is reused as an air drying module; the control module is further used for sending a third control signal to the gas storage module so that the gas storage module outputs pressure gas to the gas-liquid mixing module, and simultaneously sending a fourth control signal to the liquid storage module so that the liquid storage module stops outputting cleaning liquid to the gas-liquid mixing module.
3. The cleaning device of claim 1, wherein the gas-liquid mixing module comprises a gas receiving flow passage, a gas sub-flow passage, a liquid receiving flow passage, and a liquid sub-flow passage;
the input end of the gas receiving flow passage is connected with the output end of the gas storage module, the output end of the gas receiving flow passage is connected with the input end of the gas sub-flow passage, the output end of the gas sub-flow passage is connected with the first input end of the liquid receiving flow passage, the second input end of the liquid receiving flow passage is connected with the output end of the liquid storage module, the output end of the liquid receiving flow passage is connected with the input end of the liquid sub-flow passage, and the output end of the liquid sub-flow passage is connected with the spray head;
the gas receiving flow passage is used for receiving the pressure gas; the liquid receiving flow channel is used for receiving the cleaning liquid;
the pressure gas received by the gas receiving flow passage impacts the cleaning liquid received by the liquid receiving flow passage through the gas sub-flow passage to form a gas-liquid mixture, and the gas-liquid mixture passes through the liquid sub-flow passage and is sprayed onto the surface to be cleaned of the optical sensor through the spray head.
4. The cleaning device of claim 1, wherein the reservoir module comprises: the cleaning solution tank comprises a cleaning solution tank body, a cleaning solution, a hydraulic pump, a liquid flow control valve and a cleaning solution flow passage;
the cleaning solution is arranged in the cleaning solution box body;
the input end of the hydraulic pump is connected with the cleaning liquid box body or is arranged in the cleaning liquid box body, the output end of the hydraulic pump is connected with the input end of the cleaning liquid flow passage, and the output end of the cleaning liquid flow passage is connected with the gas-liquid mixing module; the control end of the hydraulic pump is connected with the control module;
the liquid flow control valve is arranged in the cleaning liquid flow passage and is connected with the control module;
the hydraulic pump is used for providing power to drive the cleaning liquid to be transmitted to the gas-liquid mixing module.
5. The cleaning device of claim 1, wherein the gas storage module comprises: the device comprises a gas source, a gas flow control valve and an air channel; the gas source is used for providing pressure gas;
the input end of the air channel is connected with the air source, and the output end of the air channel is connected with the air-liquid mixing module;
the gas flow control valve is arranged in the air channel and is connected with the control module.
6. The cleaning device of claim 1, further comprising:
a temperature sensor; and
the heating module comprises at least one of a cleaning liquid heating submodule and a gas heating submodule;
the temperature sensor, the cleaning liquid heating submodule and the gas heating submodule are respectively connected with the control module;
the cleaning liquid heating submodule is used for heating the cleaning liquid, and the gas heating submodule is used for heating the pressure gas.
7. The cleaning apparatus defined in claim 1, wherein the spray head comprises a tapered and diverging spray head, and wherein the length of the diverging section of the spray head is greater than the length of the converging section; the side wall of the cavity of the spray head is a streamline side wall or a linear side wall;
the area of the mixing channel of the gas-liquid mixing module is larger than the area of the inlet of the spray head.
8. The cleaning device according to claim 1 or 7, wherein the outlet of the spray head is provided with a baffle; a plurality of small holes are uniformly formed in the baffle.
9. The cleaning device of claim 1, further comprising a rotation module positioned between the gas-liquid mixing module and the showerhead; the rotating module is used for adjusting the inclination angle of the spray head relative to the surface to be cleaned of the optical sensor.
10. A lidar system comprising the cleaning apparatus of any one of claims 1 to 9 and an optical sensor;
the cleaning device and the optical sensor are relatively fixed in position.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922034579.4U CN211554302U (en) | 2019-11-22 | 2019-11-22 | Cleaning device and laser radar system |
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| CN201922034579.4U CN211554302U (en) | 2019-11-22 | 2019-11-22 | Cleaning device and laser radar system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113679303A (en) * | 2021-09-26 | 2021-11-23 | 复旦大学 | Spraying cleaning robot and control method thereof |
| CN113866097A (en) * | 2021-09-09 | 2021-12-31 | 中国科学院大气物理研究所 | Automatic cleaning system for optical instrument mirror surface and using method thereof |
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2019
- 2019-11-22 CN CN201922034579.4U patent/CN211554302U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113866097A (en) * | 2021-09-09 | 2021-12-31 | 中国科学院大气物理研究所 | Automatic cleaning system for optical instrument mirror surface and using method thereof |
| CN113679303A (en) * | 2021-09-26 | 2021-11-23 | 复旦大学 | Spraying cleaning robot and control method thereof |
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