CN217830877U - Cleaning device for laser radar - Google Patents
Cleaning device for laser radar Download PDFInfo
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- CN217830877U CN217830877U CN202221468867.6U CN202221468867U CN217830877U CN 217830877 U CN217830877 U CN 217830877U CN 202221468867 U CN202221468867 U CN 202221468867U CN 217830877 U CN217830877 U CN 217830877U
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Abstract
The utility model discloses a laser radar's cleaning device, include: the device comprises a first cleaning component, a second cleaning component, a gas-liquid transmission component and a control unit, wherein the first cleaning component is arranged at the top of the laser radar, is connected with the gas-liquid transmission component and is used for cleaning the outer side wall of the laser radar in a mode from top to bottom through gas and liquid provided by the gas-liquid transmission component; the second cleaning component is arranged at the bottom of the laser radar, connected with the gas-liquid transmission component and used for cleaning the outer side wall of the laser radar in a mode of circular motion around the outer side wall of the laser radar through gas liquid provided by the gas-liquid transmission component; the control unit is respectively connected with the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly and is used for controlling the start and the close of the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly. The utility model discloses can realize under extreme environment having improved laser radar's clean effect to laser radar's comprehensive cleanness, avoid a large amount of dusts to pile up and influence of extreme environment such as sleet to laser radar normal work.
Description
Technical Field
The utility model relates to a laser radar technical field, in particular to laser radar's cleaning device.
Background
The laser radar is more and more widely applied to the automatic driving technology, is an important sensing module of the automatic driving vehicle, and can help the automatic driving vehicle to know the surrounding traffic situation in time and make a corresponding driving decision through point cloud data acquired by the laser radar.
However, when the autonomous vehicle travels in an open air environment, especially in a special or extreme environment, the lidar on the autonomous vehicle may not provide accurate data because of being shielded, and the like, thereby reducing the sensing capability of the lidar, affecting the travel decision of the vehicle, and possibly threatening the safety of the vehicle and the human body in case of serious conditions. Based on this, need in time clean laser radar, guarantee that laser opens the radar and be in clean state as far as possible to improve laser radar's work efficiency.
A cleaning device for laser radar who provides among the prior art accomplishes effects such as dust removal, rain-proof to laser radar through increasing shielding plate, air guide component, heater strip to the laser radar top. Although the problem of slight sleet and dust superficial can be solved to a certain extent to this kind of mode, when laser mine department faces extremely abominable environment, for example laser radar is in the open-air operation in the very big environment of mining area dust superficial, a large amount of dusts will be piled up in the short time on the laser radar surface, if meet sleet weather again, can produce the pile up of a large amount of dirt, rainwater, snow, and sleet mixes and to float the dirt and will lead to more serious that laser radar's photosensitive element shelters from, and the normal operating requirement of laser radar under these scenes can't be satisfied to the clean dynamics of current device, the concrete performance is:
1) The shielding plate at the top of the existing laser radar is too small in area, and when a vehicle runs, the effect of removing natural wind can generate wind in the direction opposite to the running direction of the vehicle and make dust, rain and snow fall on a photosensitive element of the laser radar, so that the blocking effect cannot be effectively achieved;
2) The existing air guide assembly blows air upwards from the bottom of the laser radar, which violates Newton's first law, so that the cleaning of dust, rain, snow and the like cannot be effectively finished.
3) The existing cleaning device is additionally provided with the heating wire, so that electric energy is wasted, and the laser radar is threatened, for example, a wire and the like are easily melted, and thus, safety risk is caused.
SUMMERY OF THE UTILITY MODEL
In view of the problem that a cleaning device for lidar among the prior art can't satisfy lidar to the requirement of clean degree under extreme environment, proposed the utility model discloses a lidar's cleaning device to overcome at least above-mentioned a problem of mentioning.
In order to realize the purpose, the utility model adopts the following technical scheme:
according to an aspect of the present invention, there is provided a laser radar cleaning apparatus, wherein the apparatus includes: a first cleaning component, a second cleaning component, a gas-liquid transmission component and a control unit,
the first cleaning assembly is arranged at the top of the laser radar, is connected with the gas-liquid transmission assembly and is used for cleaning the outer side wall of the laser radar in a mode of from top to bottom through gas and liquid provided by the gas-liquid transmission assembly;
the second cleaning assembly is arranged at the bottom of the laser radar and connected with the gas-liquid transmission assembly and is used for cleaning the outer side wall of the laser radar in a mode of circular motion around the outer side wall of the laser radar through gas liquid provided by the gas-liquid transmission assembly;
the control unit is respectively connected with the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly and is used for controlling the starting and the closing of the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly.
Optionally, the gas-liquid transmission assembly comprises a high-pressure gas compression unit, a gas-liquid conduit, a cleaning liquid storage unit and a valve, wherein the high-pressure gas compression unit is communicated with the cleaning liquid storage unit through the gas-liquid conduit and is used for compressing ambient cold air to generate high-pressure gas and transmitting the high-pressure gas through the gas-liquid conduit and/or transmitting the cleaning liquid stored in the cleaning liquid storage unit through the pushing of the high-pressure gas;
the valve is arranged on the cleaning liquid storage unit and used for controlling the transmission of the cleaning liquid in the cleaning liquid storage unit.
Optionally, the gas-liquid conduit comprises a first gas-liquid conduit and a second gas-liquid conduit, the valve comprises a first valve and a second valve,
the high-pressure gas compression unit transmits the high-pressure gas generated by the high-pressure gas compression unit and/or the cleaning solution stored in the cleaning solution storage unit to the first cleaning assembly through the first gas-liquid conduit;
the high-pressure gas compression unit transmits the high-pressure gas generated by the high-pressure gas compression unit and/or the cleaning solution stored in the cleaning solution storage unit to the second cleaning assembly through the second gas-liquid guide pipe;
the first valve and the second valve are arranged on the cleaning liquid storage unit, the first valve is used for controlling the cleaning liquid in the cleaning liquid storage unit to be transmitted to the first cleaning assembly, and the second valve is used for controlling the cleaning liquid in the cleaning liquid storage unit to be transmitted to the second cleaning assembly.
Optionally, the first cleaning assembly comprises a gas-liquid dispersion unit, and the gas-liquid transmission assembly inputs gas and liquid into the gas-liquid dispersion unit so as to disperse and spray the gas and liquid to the outer side wall of the laser radar through the gas-liquid dispersion unit.
Optionally, the gas-liquid dispersion unit includes a plurality of first gas-liquid holes, and the plurality of first gas-liquid holes are uniformly arranged around the top of the laser radar;
and the spraying angles of the plurality of first gas-liquid holes are set to be deflection angles pointing to the outer side wall of the laser radar.
Optionally, the second cleaning assembly includes a brush unit and a rotating unit, the brush unit is connected with the rotating unit, the rotating unit includes a first rotating mechanism and a second rotating mechanism,
the first rotating mechanism is used for controlling the brush-sweeping unit to rotate from a position perpendicular to the outer side wall of the laser radar to a position parallel to the outer side wall of the laser radar when the brush-sweeping unit enters an operating state, and is used for controlling the brush-sweeping unit to rotate from a position parallel to the outer side wall of the laser radar to a position perpendicular to the outer side wall of the laser radar when the brush-sweeping unit enters a retracted state;
and the second rotating mechanism is used for controlling the brushing unit to be attached to the outer side wall of the laser radar to perform circular motion when the brushing unit enters a working state.
Optionally, the brushing unit is provided with a brush head at an end close to the outer side wall of the lidar, the brush head being used for cleaning the outer side wall of the lidar.
Optionally, the brushing unit is provided with a plurality of second gas-liquid holes at one end close to the outer side wall of the laser radar, and the second gas-liquid holes are used for spraying the gas-liquid provided by the gas-liquid transmission assembly to the outer side wall of the laser radar.
Optionally, the laser radar is of a hollow structure, the gas-liquid conduit is arranged inside the hollow structure of the laser radar and used for heating high-pressure gas transmitted by the gas-liquid conduit through heat energy generated during the operation of the laser radar and drying the outer side wall of the laser radar through the heated high-pressure gas.
Optionally, the brushing unit is an electric heating brushing unit, and the electric heating brushing unit is used for drying the outer side wall of the laser radar in a heating state.
To sum up, the beneficial effects of the utility model are that: the utility model discloses a laser radar's cleaning device includes: the laser radar cleaning device comprises a first cleaning assembly, a second cleaning assembly, a gas-liquid transmission assembly and a control unit, wherein the first cleaning assembly is arranged at the top of the laser radar and is connected with the gas-liquid transmission assembly and used for cleaning the outer side wall of the laser radar in a mode from top to bottom through gas liquid provided by the gas-liquid transmission assembly; the second cleaning assembly is arranged at the bottom of the laser radar and connected with the gas-liquid transmission assembly and used for cleaning the outer side wall of the laser radar in a mode of circular motion around the outer side wall of the laser radar through gas and liquid provided by the gas-liquid transmission assembly; the control unit is respectively connected with the first cleaning assembly and the second cleaning assembly and is used for controlling the starting and the closing of the first cleaning assembly and the second cleaning assembly. The utility model discloses a laser radar's cleaning device can realize the comprehensive cleanness to laser radar under extreme environment through mutually supporting of the clean subassembly of first clean subassembly and second, has improved laser radar's clean effect, has avoided a large amount of dusts to pile up and the influence of extreme environment such as sleet to laser radar normal work, has reduced the potential safety hazard.
Drawings
Fig. 1 shows a schematic structural diagram of a laser radar cleaning device according to the present invention;
fig. 2 shows a schematic structural view of another lidar cleaning apparatus of the present invention;
in the figure: 110. a first cleaning assembly; 1310. a high pressure gas compression unit; 1320. a gas-liquid conduit; 1330. A cleaning liquid storage unit; 1210. a brushing unit; 1220. a rotating unit.
Detailed Description
To make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 shows the utility model discloses a cleaning device of laser radar's structure schematic diagram, the utility model discloses a cleaning device of laser radar includes: the device comprises a first cleaning component 110, a second cleaning component, a gas-liquid transmission component and a control unit, wherein the first cleaning component 110 is arranged at the top of the laser radar, and the first cleaning component 110 is connected with the gas-liquid transmission component and used for cleaning the outer side wall of the laser radar in a top-to-bottom mode through gas and liquid provided by the gas-liquid transmission component; the second cleaning assembly is arranged at the bottom of the laser radar and connected with the gas-liquid transmission assembly and is used for cleaning the outer side wall of the laser radar in a mode of circular motion around the outer side wall of the laser radar through gas liquid provided by the gas-liquid transmission assembly; the control unit is respectively connected with the first cleaning assembly 110, the second cleaning assembly and the gas-liquid transmission assembly, and is used for controlling the start and the stop of the first cleaning assembly 110, the second cleaning assembly and the gas-liquid transmission assembly.
The utility model discloses a laser radar's cleaning device mainly includes four bibliographic categories and divides the structure: first clean subassembly 110, the clean subassembly of second, gas-liquid transmission subassembly and the control unit, first clean subassembly 110 sets up the top at laser radar, the clean subassembly setting of second is in laser radar's bottom, the two all is connected with gas-liquid transmission subassembly, gas-liquid transmission subassembly's primary function is used for being used for to two clean subassembly transmissions to be used for clear gas and liquid, wherein first clean subassembly 110 can be with the gas-liquid from last to spouting laser radar's lateral wall down, the clean subassembly of second then can be on spouting laser radar's lateral wall with the gas-liquid when doing circular motion round laser radar's lateral wall.
The control unit is connected to the first cleaning assembly 110, the second cleaning assembly and the gas-liquid transmission assembly respectively to control the start and stop of the assemblies, and is connected to a vehicle-mounted system of the automatic driving vehicle to receive a control command from the vehicle. In addition, the control unit can automatically select a proper working mode according to an actual scene and the pollution degree grade of the laser radar, for example, when the pollution degree is low, the first cleaning assembly 110 can be controlled to start working, when the pollution degree is high, the second cleaning assembly can be controlled to start working, and when the pollution degree is higher, the first cleaning assembly 110 and the second cleaning assembly can be controlled to start working simultaneously, so that the maximum cleaning effect is obtained by using the minimum energy consumption.
The utility model discloses a laser radar's cleaning device can realize the comprehensive cleanness to laser radar under extreme environment through mutually supporting of the clean subassembly of first clean subassembly and second, has improved laser radar's clean effect, has avoided a large amount of dusts to pile up and the influence of extreme environment such as sleet to laser radar normal work, has reduced the potential safety hazard.
In one embodiment, the gas-liquid transferring assembly comprises a high pressure gas compressing unit 1310, a gas-liquid conduit 1320, a cleaning solution storing unit 1330 and a valve, wherein the high pressure gas compressing unit 1310 is communicated with the cleaning solution storing unit 1330 through the gas-liquid conduit 1320, and is used for compressing ambient cold air to generate high pressure gas and transferring the high pressure gas through the gas-liquid conduit 1320, and/or transferring the cleaning solution stored in the cleaning solution storing unit 1330 through the pushing of the high pressure gas; the valve is disposed on the cleaning solution storage unit 1330, and is used to control the transportation of the cleaning solution in the cleaning solution storage unit 1330.
The utility model discloses a gas-liquid transmission subassembly specifically includes that high-pressure gas compression unit, gas-liquid pipe, washing liquid store unit and valve four bibliographic categories divide the structure, and high-pressure gas compression unit mainly used compression cold air forms high-pressure gas around, can adopt high-pressure fan to realize. The cleaning liquid storage unit is used for storing cleaning liquid and can be realized by adopting any liquid storage structure. Can communicate through the gas-liquid pipe between high-pressure gas compression unit and the washing liquid storage unit, on the one hand, can transmit the high-pressure gas that high-pressure gas compression unit produced through the gas-liquid pipe to it is clean to jet-propelled mode is realized, and on the other hand, can also transmit the washing liquid along the gas-liquid pipe for two clean subassemblies with the help of high-pressure gas's promotion, realizes cleanly with the hydrojet mode.
Because two clean subassemblies all possess the clean ability of gas and liquid, consequently the utility model discloses a reduce the energy consumption when guaranteeing clean effect, the valve has further been set up on washing liquid storage unit, this valve can be used for controlling the transport of washing liquid, for example, when laser radar's surface has only slight dust, can control the valve and close, only adopt jet-propelled mode to blow off the dust through high-pressure gas this moment can, and when laser radar's surface has a large amount of dust or dirt of piling up, can open the valve, and then can carry out the degree of depth cleanness through high-pressure gas and washing liquid jointly to laser radar's surface.
In one embodiment, the gas-liquid conduit 1320 comprises a first gas-liquid conduit and a second gas-liquid conduit, the valve comprises a first valve and a second valve, and the high pressure gas compression unit 1310 transmits the high pressure gas generated by the high pressure gas compression unit 1310 and/or the cleaning solution stored in the cleaning solution storage unit to the first cleaning assembly 110 through the first gas-liquid conduit; the high-pressure gas compression unit 1310 transmits the high-pressure gas generated by the high-pressure gas compression unit 1310 and/or the cleaning solution stored in the cleaning solution storage unit to the second cleaning assembly through the second gas-liquid conduit; the first valve and the second valve are disposed on the cleaning solution storage unit, the first valve is used for controlling the cleaning solution in the cleaning solution storage unit to be transmitted to the first cleaning assembly 110, and the second valve is used for controlling the cleaning solution in the cleaning solution storage unit to be transmitted to the second cleaning assembly.
The utility model discloses two transmission path have been set up respectively to above-mentioned two clean subassemblies, therefore above-mentioned gas-liquid pipe specifically can include first gas-liquid pipe and second gas-liquid pipe, and the valve specifically can include first valve and second valve. The first gas-liquid guide pipe and the first valve correspond to the first transmission channel and are used for transmitting gas and liquid to the first cleaning assembly, and the second gas-liquid guide pipe and the second valve correspond to the second transmission channel and are used for transmitting gas and liquid to the second cleaning assembly.
In one embodiment, the first cleaning assembly 110 includes a gas-liquid dispersion unit, and the gas-liquid transmission assembly inputs gas and liquid into the gas-liquid dispersion unit to dispersedly spray the gas and liquid to the outer sidewall of the lidar through the gas-liquid dispersion unit.
The utility model discloses a first clean subassembly specifically can include gas-liquid dispersion unit, and this gas-liquid dispersion unit has the dispersion of gas and liquid and sprays the function, can spray laser radar's lateral wall with gas and the liquid dispersion that the gas-liquid transmission assembly transmission was come, realizes even, comprehensive clean effect.
In one embodiment, the gas-liquid dispersion unit comprises a plurality of first gas-liquid holes which are uniformly arranged around the top of the laser radar; and the spraying angles of the plurality of first gas-liquid holes are set to be deflection angles pointing to the outer side wall of the laser radar.
The utility model discloses a gas-liquid dispersion unit specifically can comprise the first gas-liquid hole of a plurality of, and a plurality of gas-liquid hole evenly, dispersedly sets up at laser radar's top, and these first gas-liquid holes have certain injection angle, for example can set up to the deflection angle of directional laser radar's lateral wall, and the injection angle in the first gas-liquid hole of a plurality of can cover whole laser radar's lateral wall to realize comprehensive cleanness. The number of the first gas-liquid holes can be flexibly set according to actual cleaning requirements, and is not particularly limited herein.
In one embodiment, the second cleaning assembly comprises a brush unit 1210 and a rotating unit 1220, the brush unit 1210 is connected to the rotating unit 1220, the rotating unit 1220 comprises a first rotating mechanism and a second rotating mechanism, the first rotating mechanism is used for controlling the brush unit 1210 to rotate from a position perpendicular to an outer sidewall of the lidar to a position parallel to the outer sidewall of the lidar when the brush unit 1210 enters an operating state, and is used for controlling the brush unit 1210 to rotate from a position parallel to the outer sidewall of the lidar to a position perpendicular to the outer sidewall of the lidar when the brush unit 1210 enters a stowed state; the second rotating mechanism is used for controlling the brushing unit 1210 to cling to the outer side wall of the laser radar to perform circular motion when the brushing unit 1210 enters a working state.
The utility model discloses a clean subassembly of second mainly includes brush unit and the rotation unit two part structure of sweeping, and the rotation unit further can include first slewing mechanism and second slewing mechanism again. When the unit is in the unoperated state at the brush, the brush is swept the unit and is located laser radar's bottom and with laser radar's outside lateral wall vertical position, when the clean subassembly of the control unit start-up second carries out cleaning work, the brush is swept the unit and is got into operating condition, first slewing mechanism can control the brush and sweep the unit from the position rotation of the lateral wall of perpendicular to laser radar to the position that is on a parallel with laser radar's lateral wall this moment to paste in laser radar's lateral wall. And then the second rotating mechanism can control the brushing unit to do circular motion along the outer side wall of the laser radar in a frequency-adjustable mode, so that the cleaning of the whole outer side wall of the laser radar is realized.
In order to facilitate understanding, as shown in fig. 2, a schematic structural diagram of the cleaning device of the present invention when the brushing unit is in the non-operating state is provided.
It should be noted that the length of the brush-and-sweep assembly should be substantially the same as the longitudinal height of the lidar, so as to ensure that the brush-and-sweep assembly can achieve complete cleaning of the entire outer sidewall after circular motion against the outer sidewall of the lidar.
The purpose that above-mentioned first rotation mechanism set up is for reducing the brush to sweep the influence of unit when unoperated state to laser radar work, because laser radar needs realize 360 degrees all-round scans, if the brush sweep the position that the unit is located the lateral wall looks parallel with laser radar all the time, when laser radar's photosensitive element carries out all-round scanning, the brush sweep the unit and will cause sheltering from laser radar's photosensitive element to laser radar's collection has been influenced. Therefore the utility model discloses a unit is swept to first slewing mechanism control brush is packed up, can avoid the brush to sweep the unit under non-operating condition to the influence of laser radar normal work.
In one embodiment, the brushing unit 1210 is provided with a brush head at an end close to the outer sidewall of the lidar, the brush head being used to clean the outer sidewall of the lidar.
The utility model discloses a unit is swept to brush specifically can be including brushing the head, and this brush head can adopt the rubber head structure on the similar wiper, brushes to lidar's lateral wall through the brush head, can detach a large amount of dusts and sleet etc. and rubber head structure has certain compliance, sweeps the in-process at the brush and can not cause the damage to lidar's lateral wall. Of course, which type of brush head can be adopted, and those skilled in the art can flexibly set the brush head according to actual needs, and the arrangement is not limited in particular.
In one embodiment, the brushing unit 1210 is provided with a plurality of second gas-liquid holes at an end close to the outer sidewall of the lidar, and the second gas-liquid holes are used for spraying the gas-liquid provided by the gas-liquid transmission assembly to the outer sidewall of the lidar.
The utility model discloses a unit is swept to the brush in the one end that is close to laser radar's lateral wall, also the one end of pasting in laser radar's lateral wall when the unit is in operating condition is swept to the brush is provided with a plurality of second gas-liquid hole, these second gas-liquid holes can be swept the brush and evenly in proper order, the dispersed arrangement on the unit, the spray angle in a plurality of second gas-liquid hole equally can set up to the angle of directional lateral wall, can cover whole laser radar's lateral wall to realize cleaning comprehensively. The number of the second gas-liquid holes can also be flexibly set according to actual cleaning requirements, and is not limited specifically here.
In one embodiment, the laser radar is a hollow structure, and the gas-liquid conduit is arranged inside the hollow structure of the laser radar and used for heating high-pressure gas transmitted by the gas-liquid conduit through heat energy generated during the operation of the laser radar and drying the outer side wall of the laser radar through the heated high-pressure gas.
The utility model discloses a lidar of using can be the lidar that has hollow structure, and the gas-liquid pipe can pass the inside intercommunication that realizes first clean subassembly and high-pressure gas compression unit of this hollow structure. Because laser radar can produce heat energy in the during operation, this heat energy effect can make the high-pressure gas of gas-liquid pipe internal transmission heated on the gas-liquid pipe, like this when cleaning the sleet on radar surface, the high-pressure gas after the heating just can accelerate melting, the volatilizing of sleet, makes laser radar surface resume dry state fast. In addition, the cooling inside the laser radar can be realized, so that the work of the laser radar is more efficient.
Of course, it should explain that, do not possess hollow structure's lidar to in the practical application scene, equally can be suitable for the utility model discloses a lidar's cleaning device, the gas-liquid pipe this moment can set up along lidar's lateral wall.
In one embodiment, the brushing unit 1210 is an electric brushing unit 1210, and the electric brushing unit 1210 is used for drying the outer sidewall of the laser radar in a heating state.
The utility model discloses a unit can also be the unit is swept to the brush that realizes the electrical heating function, like this when the electric brush unit of sweeping carries out circular motion round laser radar's lateral wall, just can sweep the sleet of the lateral wall of laser radar to carry out fast drying of the heat energy that the unit produced through the electric brush.
For the convenience is right the utility model discloses the understanding of each embodiment provides the utility model discloses a cleaning device's of laser radar clean flow, this clean flow can adopt gaseous clean mode. Firstly, the control unit receives a control instruction of a vehicle-mounted system, then controls the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly to start according to the control instruction, a valve on a cleaning liquid storage unit in the air pressure transmission assembly is in a closed state, the high-pressure gas compression unit starts to compress surrounding cold air and generate high-pressure gas, and the high-pressure gas is respectively conveyed to the gas-liquid dispersion unit and the brushing unit through the gas-liquid guide pipe. And finally, high-pressure gas is blown to the outer side wall of the laser radar from top to bottom through the plurality of first gas-liquid holes in the gas-liquid dispersion unit, and the brushing unit sprays the high-pressure gas to the outer side wall of the laser radar from the plurality of second gas-liquid holes under the control of the rotation unit, so that dust, rain, snow and the like on the outer side wall are comprehensively cleaned.
The utility model also provides another kind of laser radar's cleaning device's clean flow, this clean flow can adopt the clean mode of gas-liquid. The working process of the gas-liquid cleaning mode is mainly different from that of the gas cleaning mode in that the valve on the cleaning liquid storage unit is in an open state in the gas-liquid cleaning mode, and certainly, in order to realize the injection of gas liquid and liquid at the same time, only one valve can be opened, namely one transmission channel is used for transmitting liquid, and the other transmission channel is used for transmitting gas. For the liquid transmission channel, the high-pressure gas generated by the high-pressure gas compression unit can push the cleaning liquid to be transmitted to the gas-liquid dispersion unit/brushing unit, and the cleaning liquid is sprayed to the outer side wall of the laser radar through the gas-liquid holes formed in the gas-liquid dispersion unit/brushing unit, so that the dirt on the surface is softened, and the powerful cleaning effect is realized.
Additionally, the utility model discloses a laser radar's cleaning device can also adopt the clean mode of liquid, only realizes laser radar's cleanness through spraying the washing liquid promptly under operating condition, and concrete work flow can refer to the clean mode of gas-liquid of above-mentioned embodiment, no longer gives unnecessary details here.
In view of the above, it is only the specific embodiments of the present invention that other modifications and variations can be made by those skilled in the art based on the above-described embodiments in light of the above teachings. It should be understood by those skilled in the art that the detailed description above is only for the purpose of better explaining the present invention, and the scope of protection of the present invention should be subject to the scope of protection of the claims.
Claims (10)
1. A lidar cleaning apparatus, wherein the apparatus comprises: a first cleaning component, a second cleaning component, a gas-liquid transmission component and a control unit,
the first cleaning assembly is arranged at the top of the laser radar and connected with the gas-liquid transmission assembly and used for cleaning the outer side wall of the laser radar in a mode of from top to bottom through gas and liquid provided by the gas-liquid transmission assembly;
the second cleaning assembly is arranged at the bottom of the laser radar and connected with the gas-liquid transmission assembly and is used for cleaning the outer side wall of the laser radar in a mode of circular motion around the outer side wall of the laser radar through gas liquid provided by the gas-liquid transmission assembly;
the control unit is respectively connected with the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly and is used for controlling the starting and the closing of the first cleaning assembly, the second cleaning assembly and the gas-liquid transmission assembly.
2. The lidar cleaning device according to claim 1, wherein the gas-liquid transfer assembly comprises a high-pressure gas compression unit, a gas-liquid conduit, a cleaning solution storage unit and a valve, wherein the high-pressure gas compression unit is communicated with the cleaning solution storage unit through the gas-liquid conduit, and is used for compressing ambient cold air to generate high-pressure gas and transferring the high-pressure gas through the gas-liquid conduit, and/or transferring the cleaning solution stored in the cleaning solution storage unit through pushing of the high-pressure gas;
the valve is arranged on the cleaning liquid storage unit and used for controlling the transmission of the cleaning liquid in the cleaning liquid storage unit.
3. The lidar cleaning device of claim 2, wherein the gas-liquid conduit comprises a first gas-liquid conduit and a second gas-liquid conduit, the valve comprises a first valve and a second valve,
the high-pressure gas compression unit transmits the high-pressure gas generated by the high-pressure gas compression unit and/or the cleaning solution stored in the cleaning solution storage unit to the first cleaning assembly through the first gas-liquid conduit;
the high-pressure gas compression unit transmits the high-pressure gas generated by the high-pressure gas compression unit and/or the cleaning solution stored in the cleaning solution storage unit to the second cleaning assembly through the second gas-liquid guide pipe;
the first valve and the second valve are arranged on the cleaning solution storage unit, the first valve is used for controlling the cleaning solution in the cleaning solution storage unit to be transmitted to the first cleaning assembly, and the second valve is used for controlling the cleaning solution in the cleaning solution storage unit to be transmitted to the second cleaning assembly.
4. The lidar cleaning device of claim 1, wherein the first cleaning assembly comprises a gas-liquid dispersion unit, and the gas-liquid transfer assembly supplies gas and liquid into the gas-liquid dispersion unit to dispersedly spray the gas and liquid to the outer sidewall of the lidar through the gas-liquid dispersion unit.
5. The lidar cleaning device of claim 4, wherein the gas-liquid dispersion unit comprises a plurality of first gas-liquid holes uniformly arranged around the top of the lidar;
and the spraying angles of the plurality of first gas-liquid holes are set to be deflection angles pointing to the outer side wall of the laser radar.
6. The lidar cleaning device of claim 1, wherein the second cleaning assembly comprises a brush unit and a rotating unit, the brush unit is connected with the rotating unit, the rotating unit comprises a first rotating mechanism and a second rotating mechanism,
the first rotating mechanism is used for controlling the brush-sweeping unit to rotate from a position perpendicular to the outer side wall of the laser radar to a position parallel to the outer side wall of the laser radar when the brush-sweeping unit enters an operating state, and is used for controlling the brush-sweeping unit to rotate from a position parallel to the outer side wall of the laser radar to a position perpendicular to the outer side wall of the laser radar when the brush-sweeping unit enters a retracted state;
and the second rotating mechanism is used for controlling the brushing and sweeping unit to be attached to the outer side wall of the laser radar to perform circular motion when the brushing and sweeping unit enters a working state.
7. The lidar cleaning device of claim 6, wherein the brush unit is provided with a brush head at an end close to the outer sidewall of the lidar, the brush head being adapted to clean the outer sidewall of the lidar.
8. The lidar cleaning device according to claim 6, wherein the brushing unit is provided with a plurality of second gas-liquid holes at an end close to the outer sidewall of the lidar, and the plurality of second gas-liquid holes are used for spraying the gas-liquid provided by the gas-liquid transmission assembly to the outer sidewall of the lidar.
9. The lidar cleaning device according to claim 2, wherein the lidar is a hollow structure, and the gas-liquid conduit is disposed inside the hollow structure of the lidar and is configured to heat the high-pressure gas transmitted by the gas-liquid conduit by the heat energy generated during the operation of the lidar and dry the outer sidewall of the lidar by the heated high-pressure gas.
10. The lidar cleaning device according to any of claims 6 to 8, wherein the brush unit is an electric brush unit for drying an outer sidewall of the lidar in a heated state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221468867.6U CN217830877U (en) | 2022-06-10 | 2022-06-10 | Cleaning device for laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221468867.6U CN217830877U (en) | 2022-06-10 | 2022-06-10 | Cleaning device for laser radar |
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