CN211718521U - Cleaning mechanism and laser radar device - Google Patents
Cleaning mechanism and laser radar device Download PDFInfo
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- CN211718521U CN211718521U CN201922400380.9U CN201922400380U CN211718521U CN 211718521 U CN211718521 U CN 211718521U CN 201922400380 U CN201922400380 U CN 201922400380U CN 211718521 U CN211718521 U CN 211718521U
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Abstract
The utility model discloses a cleaning mechanism and a laser radar device, which belong to the technical field of laser radar, wherein the cleaning mechanism is used for cleaning a protective cover of the laser radar and comprises a supporting structure; the laser module is movably arranged on the supporting structure and is configured to emit laser to clean the protective cover; a gas delivery structure configured to be capable of spraying a flow of purge gas toward the shield; and the control device is respectively connected with the laser module and the gas transmission structure. Through setting up bearing structure, laser module, gas transmission structure and controlling means, the laser module is movably set up on bearing structure, and the laser module can launch laser and wash the pollutant on the protection casing to spray the washing air current through gas transmission structure, both mutually support and realize the washing to the protection casing, thereby avoid the pollutant on the protection casing to the laser emission of laser radar device, receive the light path and produce the influence, guarantee laser radar device normal use.
Description
Technical Field
The utility model relates to a laser radar technical field especially relates to a wiper mechanism and laser radar device.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters.
At present, set up the protection casing on laser radar's the shell usually and keep apart laser radar inner space and external environment, but laser radar is in the course of the work, and the protection casing may be stained with pollutants such as organic matter, insect corpse, and these pollutants can exert an influence to laser emission, receiving light path etc. of laser radar device, influence laser radar's normal use.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a wiper mechanism and laser radar device to solve the pollutant of adhesion on the protective housing that exists among the prior art and can influence laser radar's transmission, receiving light path etc. and influence laser radar's normal use's technical problem.
As the conception, the utility model adopts the technical proposal that:
a cleaning mechanism for cleaning a protective cover of a lidar, comprising:
a support structure;
the laser module is movably arranged on the supporting structure and is configured to emit laser to clean the protective cover;
a gas delivery structure configurable to inject a flow of purge gas toward the shield; and
and the control device is respectively connected with the laser module and the gas transmission structure.
Further, the support structure comprises a moving guide; the moving guide rail is parallel to the protective cover; the laser module is movably arranged on the movable guide rail;
the cleaning mechanism further comprises a first driving assembly; the first driving assembly is connected with the laser module and used for driving the laser module to move along the moving guide rail.
Furthermore, two moving guide rails are arranged; the two moving guide rails are parallel to each other and are arranged at intervals;
the support structure further comprises a support; two ends of the supporting piece are respectively movably arranged on the two moving guide rails; the laser module is arranged on the support.
Furthermore, the laser module is movably arranged on the support; the first driving assembly can drive the laser module to move along the support.
Further, the cleaning mechanism also comprises a protective cover pollution degree detection device; protection casing pollution degree detection device connect in controlling means, protection casing pollution degree detection device is used for right the pollution degree of protection casing detects.
Further, the gas transmission structure includes the air cock, the air cock set up in outside laser radar's the scanning field of view, just the injection direction of air cock is relative the protection casing slope sets up.
Furthermore, a plurality of air nozzles are arranged; the cleaning mechanism further comprises a fixing structure; the fixing structure is used for distributing the air nozzles at equal intervals along the periphery of the laser radar.
Further, the cleaning mechanism also comprises a gas distribution pipeline; the input end of the gas distribution pipeline is connected with a gas source; the plurality of air nozzles are arranged at intervals along the extending direction of the gas distribution pipeline; the gas distribution pipeline is arranged in parallel with the movable guide rail; or
Each air nozzle is respectively connected with an air source through a corresponding air conveying pipeline.
Further, the cleaning mechanism further comprises a second driving assembly; the second driving assembly is fixedly connected with the supporting structure; the second driving assembly is used for driving the supporting structure to be far away from or close to the laser radar.
In order to achieve the above object, the utility model also provides a laser radar device, including laser radar and above-mentioned arbitrary item wiper mechanism, wiper mechanism the bearing structure set up in the outside of laser radar device.
The utility model has the advantages that:
the utility model provides a wiper mechanism, through setting up bearing structure, laser module, gas transmission structure and controlling means, the laser module is movably to be set up on bearing structure, and the laser module can launch laser and wash the pollutant on the protection casing to spray through gas transmission structure and wash the air current, both mutually support and realize the washing to the protection casing, thereby avoid the pollutant on the protection casing to laser emission, the receiving light path of laser radar device to produce the influence, guarantee laser radar device normal use.
Drawings
Fig. 1 is a schematic view of a cleaning mechanism according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a laser radar apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view of a cleaning mechanism provided in the second embodiment of the present invention;
fig. 4 is a schematic diagram of a laser radar apparatus according to an embodiment of the present invention.
In the figure:
1. a support structure; 11. a moving guide rail; 12. a support member; 2. a laser module; 3. an air tap;
10. a housing; 20. a shield.
Detailed Description
In order to make the technical problem solved by the present invention, the technical solution adopted by the present invention and the technical effect achieved by the present invention clearer, the technical solution of the present invention will be further explained by combining the drawings and by means of the specific implementation manner. 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 but not all of the elements related to the present invention are shown in the drawings.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example one
As shown in fig. 1 and 2, the present embodiment provides a cleaning mechanism for cleaning a protective cover 20 of a laser radar. Specifically, the cleaning mechanism comprises a supporting structure 1, a laser module 2, a gas transmission structure and a control device. Wherein, the mobilizable setting in bearing structure 1 of laser module 2, laser module 2 can send laser and wash protection casing 20. The air delivery structure is capable of spraying a flow of cleaning air against the hood 20. A control device (not shown) is connected to the laser module 2 and the gas delivery structure, respectively. It can be understood that, laser irradiation that laser module 2 launches is on the pollutant of protection casing 20, can heat the ignition or impact into the piece with the pollutant to the pollutant, sprays the foreign matter that the cleaning air current produced the laser ignition, the vapour or piece, bits etc. and blows away to protection casing 20 through gas transmission structure afterwards, finally realizes the washing to protection casing 20.
The supporting structure 1 includes a moving guide 11, the moving guide 11 is parallel to the protection cover 20, and the laser module 2 is movably disposed on the moving guide 11. In addition, the cleaning mechanism further comprises a first driving assembly, wherein the first driving assembly is connected with the laser module 2 and used for driving the laser module 2 to move along the moving guide rail 11.
Further, in the present embodiment, two moving guide rails 11 are provided, and the two moving guide rails 11 are parallel to each other and spaced apart from each other. The supporting structure 1 further comprises a supporting member 12, two ends of the supporting member 12 are movably disposed on the two moving guide rails 11, respectively, and the laser module 2 is disposed on the supporting member 12. It is understood that the first driving assembly can drive the support member 12 to move along the two moving rails 11, so as to drive the laser module 2 to move.
In addition, the laser module 2 is movably disposed on the support 12, and the first driving assembly can drive the laser module 2 to move along the support 12. It can be understood that the first driving assembly can drive the support 12 to move along the two moving rails 11, and can also drive the laser module 2 to move along the support 12. Therefore, the device can be moved to a target area to scan as required, cauterize objects in the target area and clean the area. The structure of the first driving assembly is not particularly limited in this embodiment, as long as the supporting member 12 can be driven to move along the two moving rails 11, and the laser module 2 can also be driven to move along the supporting member 12.
The connection mode of the laser module 2 and the support 12 and the connection mode of the support 12 and the moving guide 11 can adopt common sliding connection, rolling connection, magnetic suspension connection and the like. Taking the connection mode of the laser module 2 and the support member 12 as an example, the support member 12 may be a cylindrical guide rail, and the moving end of the laser module 2 is sleeved on the periphery of the support member 12, so as to move along the extending direction of the support member 12; or a sliding groove is arranged on the support 12, and the moving end of the laser module 2 is embedded into the sliding groove and can move in the sliding groove. The present embodiment is not particularly limited.
Further, in this embodiment, the moving guide rail 11 is an annular guide rail, and it can be understood that the moving guide rail 11 is an annular guide rail, the protection cover 20 of the laser radar is also an annular structure, and the laser module 2 can rotate along the annular guide rail, so as to clean the protection cover 20.
Further, in this embodiment, the laser emitted from the laser module 2 irradiates the protection cover 20 in a linear shape, so that when the laser module 2 slides along the ring-shaped guide rail, the protection cover 20 can be cleaned completely. The length of the linear laser emitted by the laser module 2 in the vertical direction, that is, the angle of the vertical field of view thereof, can be adjusted as required, so that it can cover the width of the whole protective cover 20 or cover a partial area of the protective cover 20 as required. Specifically, the vertical field range of the laser beam emitted by the laser module 2 can be adjusted by controlling the working laser, or the size and angle of the emitted light spot can be adjusted.
Further, in the present embodiment, the gas delivery structure includes a gas nozzle 3. Specifically, the air nozzle 3 may be disposed outside the scanning field of view of the laser radar, and the spraying direction of the air nozzle 3 is disposed obliquely with respect to the protection cover 20. Thereby not influencing the normal work of the laser radar. In other embodiments, the gas nozzle 3 may be disposed in an area where the protective cover 20 of the lidar is located, and it is necessary to remove the gas nozzle from the area after the cleaning is completed, that is, the gas nozzle 3 has different relative positions with respect to the lidar in the cleaning state and the non-cleaning state.
Further, wiper mechanism still includes fixed knot constructs, and fixed knot constructs and is used for distributing a plurality of air cock 3 equidistant along lidar's periphery. It can be understood that fixed knot constructs can set up on laser radar, and air cock 3 fixes on laser radar this moment, and fixed knot constructs also can set up with laser radar components of a whole that can function independently, and air cock 3 also sets up with laser radar components of a whole that can function independently this moment.
As shown in fig. 1, in the present embodiment, the plurality of air nozzles 3 are connected to the air source through independent air pipes, that is, the air source supplies air to each air nozzle 3 separately. Of course, in other embodiments, the gas delivery structure may further include a gas diversion conduit (not shown). The air nozzles 3 are arranged at intervals along the extending direction of the gas distribution pipeline. The gas distribution ducts are arranged parallel to the moving guide 11 in the support structure 1, for example as ring-shaped distribution ducts corresponding to the ring-shaped guide in this embodiment. The gas distributing pipeline is used for receiving gas transmitted by the gas source, distributing the gas and spraying the gas to the surface of the protective cover 20 of the laser radar through each gas nozzle 3. The high-pressure airflow sprayed by the air nozzle 3 can blow away foreign matters, vapors or fragments, scraps and the like generated by laser burning, so that the foreign matters, the vapors or the fragments, the scraps and the like are prevented from being still adhered to the surface of the protective cover 20 after being burned by laser, and the protective cover 20 of the laser radar is cleaned.
When the protection casing 20 needs to be cleaned, the whole protection casing 20 can be cleaned through the laser module 2 and the air nozzle 3, the laser of the laser radar can be cleaned only through the area on the protection casing 20, the area with pollutants on the protection casing 20 can be cleaned only, and the process can be realized by controlling the gas transmission structure, the laser module 2 and the first driving assembly through the control device. The first driving assembly is controlled by the control device to drive the laser module 2 to slide along the moving guide rail 11, so that the protective cover 20 is cleaned, and meanwhile, the air source and the air nozzle 3 are controlled to spray cleaning air flow to the protective cover 20. In this embodiment, the control device may be a centralized or distributed controller, for example, the control device may be a single-chip microcomputer or may be composed of a plurality of distributed single-chip microcomputers, and the single-chip microcomputers may run a control program to control the gas transmission structure, the laser module 2 and the first driving assembly to realize the functions thereof.
To sum up, the wiper mechanism that this embodiment provided, through setting up bearing structure 1, laser module 2, air cock 3 and controlling means, laser module 2 is movably set up on bearing structure 1, laser module 2 can launch laser and wash the pollutant on protection casing 20, and spray the washing air current through air cock 3, both mutually support and realize the washing to protection casing 20, thereby avoid the pollutant on protection casing 20 to the laser emission of laser radar device, receive the light path and produce the influence, guarantee laser radar device normal use.
In addition, the cleaning mechanism provided by the embodiment can clean the protective cover 20 only by adopting electric energy and air, and the air and the electric energy are relatively easily obtained without adding extra cleaning media.
As shown in fig. 2, the present embodiment further provides a lidar device having the above-mentioned cleaning mechanism and a radar, and specifically, in the present embodiment, the support structure 1 of the above-mentioned cleaning mechanism is disposed on the housing 10 of the lidar, and it can be understood that the moving guide 11 is mounted on the housing 10. Of course, in other embodiments, the moving rail 11 may be fixed by a separate fixing device, so that the moving rail 11 is disposed around the housing 10, but is not connected to the housing 10, and the cleaning of the protection cover 20 can be realized. At this time, in the cleaning state, the position of the movable guide rail 11 on the periphery of the laser radar is not strictly limited, and the movable guide rail may be located on the periphery of the housing 10, or on the periphery of the protective cover 20, or on both the upper side and the lower side of the laser radar.
Example two
As shown in fig. 3, the cleaning mechanism provided in this embodiment is substantially the same as the cleaning mechanism in the first embodiment, except that: the movable guide rail 11 in this embodiment is a linear guide rail, the protection cover 20 of the laser radar to which the movable guide rail is directed is of a rectangular structure, and the laser module 2 moves along the linear guide rail, so that the protection cover 20 is cleaned. Furthermore, in this embodiment, the air nozzle 3 of the air delivery structure may be configured to move with the laser module 2, or be disposed on the housing 10 of the laser radar through a fixing structure, or be disposed outside the laser radar through a fixing structure.
The remaining structure of the cleaning mechanism provided in this embodiment is the same as that of the cleaning mechanism in the first embodiment, and is not described herein again.
As shown in fig. 4, the present embodiment further provides a lidar device having the above-mentioned cleaning mechanism and the lidar, specifically, in the present embodiment, the support structure 1 of the cleaning mechanism is disposed on the housing 10 of the lidar, and it can be understood that the moving guide 11 is mounted on the housing 10. Of course, in other embodiments, the moving rail 11 may be fixed by a separate fixing device, so that the moving rail 11 is disposed around the housing 10, but is not connected to the housing 10, and the cleaning of the protection cover 20 can be realized. At this time, in the cleaning state, the position of the movable guide rail 11 on the periphery of the laser radar is not strictly limited, and the movable guide rail may be located on the periphery of the housing 10, or on the periphery of the protective cover 20, or on both the upper side and the lower side of the laser radar.
EXAMPLE III
The cleaning mechanism provided by the embodiment is basically the same as the cleaning mechanism in the first embodiment, except that: in this embodiment, the cleaning mechanism further comprises a second drive assembly (not shown). The second drive assembly is fixedly connected to the support structure 1, for example, the second drive assembly is connected to the moving rail 11. Second drive assembly can drive supporting structure 1 and the laser module 2 on the supporting structure 1 wholly removes to keep away from laser radar's protection casing 20 region at place, avoid wiper mechanism to produce the influence to laser radar's normal work. For example, the second drive assembly can drive support structure 1 to move up and down in the vertical direction to when needs wash, move support structure 1 and laser module 2 to lidar's shell 10 or the periphery of protection casing 20, when need not wash, then move support structure 1 and laser module 2 to lidar's top or below, thereby can not disturb lidar's normal workplace. Of course, the second driving assembly can drive the supporting structure 1 to move up and down, and also can drive the supporting structure 1 to move left and right, or move towards other directions, and only needs to keep the supporting structure 1 away from the protective cover 20 of the laser radar, and is not in the scanning view field range of the laser radar.
Specifically, the second driving assembly may include a driving motor, a transmission member, and a telescopic member, and the driving motor is connected to the control device. Driving motor passes through the driving medium and is connected with the telescopic link, and bearing structure 1 fixes on the telescopic link, and driving motor carries out concertina movement through drive telescopic link, realizes that bearing structure 1 removes along its direction of motion to keep away from or be close to laser radar. It is understood that the second driving assembly may also adopt other structures known in the art to achieve the same function, and the embodiment is not particularly limited.
The remaining structure of the cleaning mechanism provided in this embodiment is the same as that of the cleaning mechanism in the first embodiment, and is not described herein again.
The embodiment also provides a laser radar device, which is provided with the cleaning mechanism and the radar.
Example four
The cleaning mechanism provided by the embodiment is basically the same as the cleaning mechanism in the first embodiment, except that: in this embodiment, the cleaning mechanism further includes a device (not shown) for detecting contamination degree of the protective cover. Protection casing pollution degree detection device can realize the detection to the degree of pollution and the pollution position of laser radar's protection casing 20 to control laser module 2 and 3 work of air cock before the pollutant can exert an influence to laser radar's work, wash protection casing 20. In the cleaning process of the laser module 2, the cleaning area can be determined according to the pollution area detected by the protective cover pollution degree detection device, so that the cleaning efficiency is improved, and the cleaning cost is saved.
The device for detecting the pollution degree of the protective cover can comprise a laser emission receiving assembly. The laser transmitting and receiving assembly comprises a transmitter and a receiver, the transmitter and the receiver are both located outside the laser radar, the transmitter can transmit laser to the protective cover 20, and the receiver is used for receiving a reflected echo formed by reflecting the laser transmitted by the protective cover 20 to the transmitter, so that the pollution degree of the protective cover 20 is determined according to information such as the signal intensity of the echo. Generally, when the protection cover 20 is not contaminated, the reflectivity is stable, and the reflectivity is changed after the contaminants are attached, so that information such as the echo intensity of the echo laser is changed, and therefore, the contamination degree can be determined according to the change of the reflected echo. It is understood that the device for detecting the degree of contamination of the protection cover can also be implemented by other techniques in the art, such as directly arranging a receiver outside the protection cover 20, and using the transmitter of the laser radar as the transmitter of the device for detecting the degree of contamination of the protection cover, so that the receiver directly receives the information of the transmitted laser after passing through the protection cover 20 to determine the degree of contamination. The embodiment is not particularly limited to the device for detecting the degree of contamination of the protective cover.
The remaining structure of the cleaning mechanism provided in this embodiment is the same as that of the cleaning mechanism in the first embodiment, and is not described herein again.
The embodiment also provides a laser radar device, which is provided with the cleaning mechanism and the radar.
The above embodiments have been described only the basic principles and features of the present invention, and the present invention is not limited by the above embodiments, and is not departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A cleaning mechanism for cleaning a protective cover (20) of a lidar comprising:
a support structure (1);
the laser module (2), the laser module (2) is movably arranged on the supporting structure (1), and the laser module (2) is configured to emit laser to clean the protective cover (20);
a gas delivery structure configured to be able to eject a flow of washing gas towards the protection hood (20); and
and the control device is respectively connected with the laser module (2) and the gas transmission structure.
2. The washing mechanism according to claim 1, characterized in that the support structure (1) comprises a moving guide (11); the moving guide (11) is parallel to the protection shield (20); the laser module (2) is movably arranged on the movable guide rail (11);
the cleaning mechanism further comprises a first driving assembly; the first driving assembly is connected with the laser module (2) and used for driving the laser module (2) to move along the moving guide rail (11).
3. The washing mechanism according to claim 2, characterized in that the moving guide (11) is provided with two; the two moving guide rails (11) are parallel to each other and are arranged at intervals;
the support structure (1) further comprises a support (12); two ends of the supporting piece (12) are respectively movably arranged on the two moving guide rails (11); the laser module (2) is arranged on the support (12).
4. The washing mechanism according to claim 3, characterized in that the laser module (2) is movably arranged on the support (12); the first driving component can drive the laser module (2) to move along the support (12).
5. The cleaning mechanism of claim 2, further comprising a shield contamination level detection device; protection casing pollution degree detection device connect in controlling means, protection casing pollution degree detection device is used for right the pollution degree of protection casing (20) detects.
6. The cleaning mechanism according to claim 2, wherein the air delivery structure comprises an air nozzle (3), the air nozzle (3) is disposed outside the scanning field of the lidar, and the spraying direction of the air nozzle (3) is inclined with respect to the protective cover (20).
7. The washing mechanism according to claim 6, characterized in that the air nozzle (3) is provided in plurality; the cleaning mechanism further comprises a fixing structure; the fixing structure is used for distributing the air nozzles (3) at equal intervals along the periphery of the laser radar.
8. The purge mechanism of claim 7, further comprising a gas bypass conduit; the input end of the gas distribution pipeline is connected with a gas source; the air nozzles (3) are arranged at intervals along the extending direction of the gas distribution pipeline; the gas distribution pipeline is arranged in parallel with the movable guide rail (11); or
Each air nozzle (3) is respectively connected with an air source through a corresponding air conveying pipeline.
9. The cleaning mechanism according to any one of claims 1 to 8, further comprising a second drive assembly; the second driving assembly is fixedly connected with the supporting structure (1); the second drive assembly is used for driving the support structure (1) to move away from or close to the laser radar.
10. Lidar device, characterized in that it comprises a lidar and a washing mechanism according to any of claims 1 to 9, the support structure (1) of which is arranged outside the lidar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922400380.9U CN211718521U (en) | 2019-12-27 | 2019-12-27 | Cleaning mechanism and laser radar device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922400380.9U CN211718521U (en) | 2019-12-27 | 2019-12-27 | Cleaning mechanism and laser radar device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211718521U true CN211718521U (en) | 2020-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922400380.9U Active CN211718521U (en) | 2019-12-27 | 2019-12-27 | Cleaning mechanism and laser radar device |
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| Country | Link |
|---|---|
| CN (1) | CN211718521U (en) |
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2019
- 2019-12-27 CN CN201922400380.9U patent/CN211718521U/en active Active
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