WO2023093712A1 - 车用激光雷达支撑装置及车辆 - Google Patents

车用激光雷达支撑装置及车辆 Download PDF

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Publication number
WO2023093712A1
WO2023093712A1 PCT/CN2022/133471 CN2022133471W WO2023093712A1 WO 2023093712 A1 WO2023093712 A1 WO 2023093712A1 CN 2022133471 W CN2022133471 W CN 2022133471W WO 2023093712 A1 WO2023093712 A1 WO 2023093712A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
module
laser radar
vehicle
vehicle laser
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PCT/CN2022/133471
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English (en)
French (fr)
Inventor
刘学才
宋和平
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经纬恒润(天津)研究开发有限公司
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Publication of WO2023093712A1 publication Critical patent/WO2023093712A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the technical field of vehicles, and more specifically, relates to a vehicle lidar support device and a vehicle.
  • lidar is gradually applied in vehicle systems.
  • Lidar itself is an optical component, which requires a high degree of surface cleanliness at the laser emission position.
  • the components used in the vehicle system must meet the corresponding sealing requirements to protect the relevant components in the vehicle system.
  • the purpose of the present application is to provide a vehicle laser radar support device.
  • Another object of the present application is to provide a vehicle comprising the above-mentioned vehicle lidar support device.
  • a support device for a laser radar for a vehicle comprising: a casing, which is sealed and connected to a vehicle body; a cleaning module and a driving module, both of which are located in the casing;
  • the housing is provided with an installation position and an outlet
  • the vehicle laser radar is installed in the installation position
  • the cleaning module protrudes from the outlet
  • the driving module drives the cleaning module to move back and forth
  • the cleaning module can clean the laser emitting surface of the vehicle laser radar.
  • the cleaning module can move a first preset distance and a second preset distance.
  • the cleaning module includes a cleaning fixed part and a cleaning moving part
  • the driving module drives the cleaning moving part to reciprocate
  • the cleaning moving part is sealed in connection with the cleaning fixed part.
  • the cleaning fixed part is sleeved on the cleaning moving part, and the cleaning moving part and the cleaning fixed part are slidingly fitted along the moving direction of the cleaning moving part;
  • the cleaning fixed part is fixedly connected to the driving module, and the driving module drives the cleaning moving part to reciprocate through a driving rod.
  • one end of the drive rod is in drive connection with the output shaft of the drive module, and the other end of the drive rod is in drive connection with the cleaning moving part through a connecting piece.
  • the vehicle lidar supporting device further includes an inner shell disposed in the outer shell, the inner shell is covered on the periphery of the outlet, and the inner shell and the outer shell are hermetically connected, the The cleaning module is located in the inner shell, or a part of the cleaning module is located in the inner shell, and the cleaning module is sealed with the inner shell.
  • the cleaning module is located in the inner casing and the cleaning module is in sealing connection with the inner casing, the driving module is in sealing connection with the inner casing.
  • the driving module and the inner shell are sealed and connected by the first seal, and the cleaning module and the inner shell are sealed and connected by the first seal;
  • the cleaning module is provided with a first A boss
  • the drive module is provided with a second boss
  • the first boss and the second boss are butted to form an annular boss
  • the first seal is arranged on the annular boss;
  • the inner shell and the outer shell are hermetically connected by a second sealing member.
  • the driving module is provided with a relief structure
  • the cleaning module is arranged in the relief structure, and the exposed surface of the cleaning module is flush with the surface of the driving module.
  • the vehicle lidar supporting device further includes a cleaning outer plate arranged on the cleaning module and capable of closing the outlet, and the cleaning outer plate is a conformal structure adapted to the outlet.
  • the cleaning outer panel is fixed to the cleaning module.
  • the driving module is a motor driving module
  • the cleaning module is a spraying module for spraying cleaning agent.
  • the vehicle lidar supporting device further includes a vehicle lidar disposed at the installation position.
  • the housing is provided with a detection opening for the vehicle lidar to be exposed.
  • the present application further provides a vehicle, which includes a supporting device for a laser radar for a vehicle.
  • FIG. 1 is a schematic diagram of a vehicle lidar support device provided in an embodiment of the present application installed on a vehicle body;
  • Fig. 2 is a front view of the vehicle lidar support device provided by the embodiment of the present application.
  • Fig. 3 is the A-A direction sectional view of Fig. 2;
  • FIG. 4 is an exploded view of the vehicle lidar support device provided in the embodiment of the present application.
  • Fig. 5 is a schematic diagram of the first preset distance of the cleaning moving part in the vehicle lidar support device provided by the embodiment of the present application;
  • Figure 6 is a partially enlarged schematic view of the structure shown in Figure 5;
  • Fig. 7 is a schematic diagram of the second preset distance of the cleaning moving part in the vehicle lidar support device provided by the embodiment of the present application.
  • Fig. 8 is a partially enlarged schematic diagram of the structure shown in Fig. 7;
  • FIG. 9 is a schematic diagram of the cleaning area of the cleaning module in the vehicle lidar support device provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of a part of the structure inside the housing of the vehicle laser radar support device provided by the embodiment of the present application;
  • Fig. 11 is a connection diagram between the shell and the vehicle body in the vehicle lidar support device provided by the embodiment of the present application;
  • FIG. 12 is a perspective view of a partial structure of a vehicle lidar support device provided in an embodiment of the present application.
  • Fig. 13 is a perspective view of a partial structure of a vehicle lidar support device provided by an embodiment of the present application.
  • the vehicle laser radar supporting device includes a housing 1 , a cleaning module 20 and a driving module 10 .
  • the casing 1 and the car body 7 are hermetically connected; the cleaning module 20 and the driving module 10 are located in the casing 1; wherein, the casing 1 is provided with an outlet 14 and an installation position, and the vehicle laser radar 2 is installed in the installation location, and the cleaning module 20 is connected by the exit 14 protrudes, the driving module 10 drives the cleaning module 20 to reciprocate, and when the driving module 10 drives the cleaning module 20 to extend out of the outlet 14, the cleaning module 20 can clean the laser emitting surface of the vehicle laser radar 2 .
  • the driving module 10 drives the cleaning module 20 to move back and forth, and the driving module 10 can adjust the moving distance of the cleaning module 20, that is, the driving module 10 can adjust the length of the cleaning module 20 protruding from the outlet 14, so that the cleaning module 20 can be adjusted. Cleaning area of module 20. Therefore, the above-mentioned cleaning module 20 can clean different positions of the laser emitting surface.
  • the cleaning module 20 after the cleaning module 20 moves a first preset distance, the cleaning module 20 extends out of the outlet 14. At this time, the cleaning module 20 can clean the laser emission surface of the vehicle laser radar 2; As shown in FIGS. 7 and 8 , after the cleaning module 20 moves a second preset distance, the cleaning module 20 can clean the laser emitting surface of the vehicle laser radar 2 . If the above-mentioned second preset distance is the maximum moving distance of the cleaning module 20, and the above-mentioned first preset distance is the minimum moving distance that the cleaning module 20 can clean, then the intersection of the solid arrow line and the laser exit surface and the dotted arrow in Fig. The distance between the intersection of the line and the laser emitting surface is the cleaning area of the cleaning module 20 .
  • the cleaning module 20 in FIGS. 5-9 is a spraying module, and the arrow line indicates the spraying direction of the spraying module.
  • the cleaning module 20 shown in dotted line in FIG. 9 represents the cleaning module 20 moving the second preset distance, and the cleaning module 20 shown in the solid line represents the cleaning module 20 moving the first preset distance.
  • the drive module 10 and the cleaning module 20 are arranged in the casing 1 by setting the casing 1 for sealing connection with the vehicle body 7, and the cleaning module 20 is driven to move by the driving module 10
  • the cleaning module 20 cleans the laser exit surface of the vehicle laser radar 2 under the state that the cleaning module 20 stretches out the exit 14, and realizes cleaning the laser exit surface; and, by adjusting the drive
  • the distance that the module 10 drives the cleaning module 20 to adjust the cleaning area of the cleaning module 20 effectively improves the cleaning effect; at the same time, the driving module 10 and the cleaning module 20 are both arranged in the casing 1, and the casing 1 is used for sealing connection with the car body 7 , to meet the vehicle's sealing requirements. Therefore, the above-mentioned laser radar support device for a vehicle meets the requirement of cleaning the laser emitting surface and the sealing requirement of the vehicle.
  • the cleaning module 20 is a spray module, the usage efficiency of the cleaning agent is also improved, and the cost of the cleaning agent is reduced.
  • the driving module 10 can be selected to drive the entire cleaning module 20 to move.
  • the above-mentioned cleaning module 20 can be selected to include a cleaning fixed part 11 and a cleaning moving part 12.
  • the driving module 10 drives the cleaning moving part 12 to move back and forth, and the cleaning moving part 12 and the cleaning fixed part 11 are sealed and connected. It can be understood that the cleaning moving part 12 is movably arranged on the cleaning fixed part 11 along its moving direction,
  • the cleaning module 20 realizes positioning and installation with the driving module 10 through its cleaning fixed part 11 and guides the displacement direction of the cleaning moving part 12 to improve the stability and accuracy of the reciprocating movement of the cleaning moving part 12 to ensure that the cleaning module 20 For the accuracy of the injection direction when injecting the module.
  • the specific structures of the cleaning fixed part 11 and the cleaning moving part 12 are designed according to actual needs, which is not limited in this embodiment.
  • the cleaning moving part 12 and the cleaning fixed part 11 are sealed and connected, which ensures that the cleaning moving part 12 will not leak during the moving process, especially when the cleaning module 20 is a jetting module.
  • the cleaning fixed part 11 can be chosen to cover the cleaning moving part 12 , and the cleaning moving part 12 and the cleaning fixed part 11 are slidably fitted along the moving direction of the cleaning moving part 12 .
  • the cleaning fixed part 11 is provided with a first installation hole 16
  • the cleaning moving part 12 is provided in the first installation hole 16 .
  • the above-mentioned fixed cleaning part 11 and the moving cleaning part 12 may also be distributed in other ways, for example, they are arranged side by side, which is not limited in this embodiment.
  • the fixed cleaning part 11 and the driving module 10 can also be selected to be fixedly connected, and the driving module 10 drives the cleaning moving part 12 to reciprocate through the driving rod 3 .
  • the axial direction of the driving rod 3 is parallel to the moving direction of the cleaning moving part 12 , and the cleaning moving part 12 is located on one side of the driving rod 3 .
  • one end of the driving rod 3 is in transmission connection with the output shaft of the driving module 10 , and the other end of the driving rod 3 is in transmission connection with the cleaning moving part 12 through a connecting piece.
  • the driving module 10 is provided with a second installation hole 17 , and the driving rod 3 is arranged in the second installation hole 17 .
  • the above-mentioned driving module 10 can drive the cleaning moving part 12 to move through other structures, and is not limited to the above-mentioned embodiment.
  • the above-mentioned vehicle laser radar support device also includes an inner shell 8 arranged in the outer shell 1, the inner shell 8 covers the periphery of the outlet 14, and the inner shell 8 and the outer shell 1 are sealed and connected, and the cleaning module 20 is located in the inner shell. 8, or part of the cleaning module 20 is located in the inner casing 8 and the cleaning module 20 and the inner casing 8 are sealed.
  • the cleaning module 20 leaks, the leaked medium is prevented from entering the vehicle body, and the medium entering from the outlet 14 is also prevented from entering the vehicle body, which effectively improves the sealing performance.
  • some of the above-mentioned cleaning modules 20 can be selected to be located in the inner shell 8 and the cleaning modules 20 and the inner shell 8 are sealed and connected. Further, the drive module 10 is connected to the inner casing 8 in a sealed manner. It can be understood that the inner shell 8 covers the cleaning module 20 and the driving module 10 .
  • the optional driving module 10 and the inner casing 8, as well as the cleaning module 20 and the inner casing 8 are sealed and connected through the first sealing member 9; wherein, the cleaning module 20 is provided with a first boss, and the driving module 10 is provided with a first boss. Two bosses, the first boss and the second boss are butted to form an annular boss 13 , and the first sealing member 9 is arranged on the annular boss 13 .
  • the above-mentioned drive module 10 is provided with a relief structure, the cleaning module 20 is arranged in the relief structure and the exposed surface of the cleaning module 20 and the surface of the drive module 10 The surface is even.
  • the cleaning module 20 includes a cleaning fixed part 11 and a cleaning moving part 12, and the cleaning fixed part 11 is covered with the cleaning moving part 12, then the cleaning fixed part 11 and the driving module 10 can be selected to be fixedly connected, and the above-mentioned first boss is set As for the cleaning and fixing part 11 , the cleaning and fixing part 11 is in the abdication structure and the exposed surface of the cleaning and fixing part 11 is flush with the surface of the driving module 10 .
  • the type of the above-mentioned first sealing member 9 can be selected according to actual needs.
  • the above-mentioned first sealing member 9 is a sealing strip, a sealing ring, or a sealant, which is not limited in this embodiment.
  • the cleaning module 20 includes a cleaning fixed part 11 and a cleaning moving part 12 , the cleaning fixed part 11 and the inner shell 8 are hermetically connected, that is, the first boss is arranged on the cleaning fixed part 11 .
  • the inner shell 8 and the outer shell 1 can be selected to be sealed and connected through the second sealing member 5 .
  • the above-mentioned second sealing member 5 may be a sealing strip, a sealing ring, or a sealant, which is not limited in this embodiment.
  • the vehicle lidar supporting device further includes a cleaning outer plate 4 arranged on the cleaning module 20 and capable of closing the outlet 14 .
  • the cleaning outer plate 4 can be selected as a conformal structure adapted to the outlet 14 . That is, the shape and size of the cleaning outer plate 4 are the same as those of the outlet 14 .
  • the cleaning outer panel 4 can be selected to be fixed to the cleaning module 20 . If the cleaning module 20 includes a cleaning fixed part 11 and a cleaning moving part 12 , the cleaning outer plate 4 is fixed to the cleaning fixed part 11 .
  • the type of the drive module 10 is selected according to actual needs, for example, the drive module 10 is a motor drive module, a cylinder drive module or a hydraulic drive module, etc.; the type of the cleaning module 20 is also selected according to actual needs. It needs to be selected, for example, the cleaning module 20 mentioned above is an injection module for spraying a cleaning agent, and the cleaning agent can be gas or liquid. In this embodiment, the driving module 10 and the cleaning module 20 are not limited.
  • the above-mentioned vehicle laser radar supporting device further includes a vehicle laser radar 2 arranged at the installation position.
  • the automotive lidar 2 is sealed and connected to the housing 1 .
  • the automotive lidar 2 and the housing 1 are sealed and connected through a sealing strip, a sealing ring or a sealant, which is not limited in this embodiment.
  • the casing 1 is provided with a detection port 15 for the vehicle laser radar 2 to expose.
  • the cleaning module 20 and the driving module 10 are located on the same side of the vehicle laser radar 2 .
  • the tamped outer casing 1 is used for sealing connection with the vehicle body 7 through the third sealing member 6 .
  • the above-mentioned third sealing member 6 may be a sealing strip, a sealing ring or a sealant, which is not limited in this embodiment.
  • the pollution signal will be transmitted to the corresponding controller, and the controller will control the drive module 10 and the cleaning pump (cleaning pump)
  • the pump is the power supply device for the cleaning fluid.
  • the cleaning pump can work as the original pump of the vehicle or as a separately configured pump.
  • the driving rod 3 is used to push the cleaning movable part 12 to move, so as to realize the cleaning work at different positions of the laser exit surface.
  • the controller can control the movement sequence and action duration between the cleaning pump and the drive module 10 to realize partial cleaning of the laser exit surface.
  • the process of realizing accurate cleaning of the local area is as follows: 1) The vehicle laser radar 2 identifies the polluted area, and it is determined that the area within the dotted line frame in Figure 9 is polluted, The controller receives the signal sent by the vehicle laser radar 2 to determine the stretching distance of the cleaning active part 12 (the laser emitting surface can be divided into several regions according to the distance from the cleaning module 20, when the distance from the cleaning module 20 is closer to the region When being polluted, control the distance that the cleaning moving part 12 stretches out to be small, and realize the cleaning of the closer area; realize the cleaning of a relatively distant area), the controller controls the movement of the driving module 10, and the driving rod 3 pushes the cleaning moving part 12 to move to the position of the cleaning moving part 12 shown by the
  • the controller controls the cleaning pump to start working, and the cleaning module 20 Spray the cleaning agent, and the cleaning action starts; 2) the controller controls the drive module 10 to work, so that the cleaning mobile part 12 continues to move, and moves to the position of the cleaning mobile part 12 shown by the dotted line in Figure 9.
  • the controller controls the cleaning The pump works, and the cleaning module 20 sprays cleaning agent.
  • the cleaning mobile part 12 sweeps the area in the dotted line frame shown in FIG.
  • this embodiment also provides a vehicle, the vehicle includes a vehicle laser radar support device, and the vehicle laser radar support device is the vehicle laser radar support device described in the above embodiment. Radar support device.
  • the vehicle lidar support device provided by the above embodiment has the above technical effects, and the above vehicle includes the above vehicle laser radar support device, the above vehicle also has corresponding technical effects, which will not be repeated here.
  • the drive module and the cleaning module are arranged in the shell by setting the shell for sealing connection with the car body, and the drive module drives the cleaning module to move so that the cleaning module protrudes from the shell
  • the cleaning module cleans the laser exit surface of the vehicle laser radar, realizing the cleaning of the laser exit surface; moreover, the cleaning area of the cleaning module is adjusted by adjusting the distance that the driving module drives the cleaning module to move, The cleaning effect is effectively improved; at the same time, the drive module and the cleaning module are both arranged in the casing, and the casing is used for sealing connection with the vehicle body, which meets the sealing requirements of the vehicle. Therefore, the above-mentioned laser radar support device for a vehicle meets the requirement of cleaning the laser emitting surface and the sealing requirement of the vehicle.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种车用激光雷达（2）支撑装置及车辆，车用激光雷达（2）支撑装置包括：用于和车体（7）密封连接的外壳（1），均位于外壳（1）内的清洗模块（20）和驱动模块（10）；其中，外壳（1）设置有用于安装车用激光雷达（2）的安装位以及用于供清洗模块（20）伸出的出口（14），驱动模块（10）用于驱动清洗模块（20）往复移动，且驱动模块（10）驱动清洗模块（20）伸出出口（14）的状态下以使清洗模块（20）能够清洗车用激光雷达（2）的激光出射面。

Description

车用激光雷达支撑装置及车辆
相关申请的交叉引用
本申请要求享有于2021年11月25日提交的名称为“车用激光雷达支撑装置、车辆”的中国专利申请202122921607.1的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本申请涉及车辆技术领域，更具体地说，涉及一种车用激光雷达支撑装置及车辆。
背景技术
随着车辆自动驾驶水平的进步，激光雷达在车辆系统中逐渐的得到应用。激光雷达本身属于光学元件，对激光出射位置的表面清洁程度要求较高。另外，应用在车辆系统中的零部件要满足对应的密封要求，以保护车辆系统内相关部件。
发明内容
有鉴于此，本申请的目的是提供一种车用激光雷达支撑装置。本申请的另一目的是提供一种包括上述车用激光雷达支撑装置的车辆。以克服现有技术中存在的至少一个技术问题。
为了达到上述目的，本申请提供如下技术方案：
一种车用激光雷达支撑装置，包括：外壳，该外壳与车体密封连接；清洗模块和驱动模块，该清洗模块和驱动模块均位于所述外壳内；
其中，所述外壳设置有安装位和出口，车用激光雷达安装在所述安装位内，所述清洗模块由所述出口伸出，所述驱动模块驱动所述清洗模块往复移动，并且在所述驱动模块驱动所述清洗模块伸出所述出口的状态下，所述清洗模块能够清洗所述车用激光雷达的激光出射面。
可选地，所述清洗模块能够移动第一预设距离和第二预设距离。
可选地，所述清洗模块包括清洗固定部分和清洗移动部分，所述驱动模块驱动所述清洗移动部分往复移动，所述清洗移动部分和所述清洗固定部分密封连接。
可选地，所述清洗固定部分外套于所述清洗移动部分，且所述清洗移动部分和所述清洗固定部分沿所述清洗移动部分的移动方向滑动配合；
和/或，所述清洗固定部分和所述驱动模块固定连接，所述驱动模块通过驱动杆驱动所述清洗移动部分往复移动。
可选地，所述驱动杆的一端与所述驱动模块的输出轴传动连接，所述驱动杆的另一端通过连接件与清洗移动部分传动连接。
可选地，所述车用激光雷达支撑装置还包括设置于所述外壳内的内壳，所述内壳罩在所述出口的外围，且所述内壳和所述外壳密封连接，所述清洗模块位于所述内壳内、或部分所述清洗模块位于所述内壳内且所述清洗模块和所述内壳密封连接。
可选地，若部分所述清洗模块位于所述内壳内且所述清洗模块和所述内壳密封连接，所述驱动模块和所述内壳密封连接。
可选地，所述驱动模块和所述内壳通过所述第一密封件密封连接，所述清洗模块和所述内壳通过第一密封件密封连接；其中，所述清洗模块设置有第一凸台，所述驱动模块设置有第二凸台，所述第一凸台和所述第二凸台对接形成环形凸台，所述第一密封件设置于所述环形凸台；
和/或，所述内壳和所述外壳通过第二密封件密封连接。
可选地，所述驱动模块设置有让位结构，所述清洗模块设置在所述让位结构中，且所述清洗模块外露的表面和所述驱动模块的表面平齐。
可选地，所述车用激光雷达支撑装置还包括设置于所述清洗模块且能够封闭所述出口的清洗外板，所述清洗外板为与所述出口适配的随形结构。
可选地，所述清洗外板固定于所述清洗模块。
可选地，所述驱动模块为电机驱动模块，和/或所述清洗模块为用于喷射清洗剂的喷射模块。
可选地，所述车用激光雷达支撑装置还包括设置于所述安装位的车用激光雷达。
可选地，所述外壳设置有供所述车用激光雷达外露的探测口。
基于上述提供的车用激光雷达支撑装置，本申请还提供了一种车辆，车辆包括车用激光雷达支撑装置。
附图说明
为了更清楚地说明本申请实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本申请实施例提供的车用激光雷达支撑装置安装于车体的示意图；
图2为本申请实施例提供的车用激光雷达支撑装置的主视图；
图3为图2的A-A向剖视图；
图4为本申请实施例提供的车用激光雷达支撑装置的爆炸图；
图5为本申请实施例提供的车用激光雷达支撑装置中清洗移动部分移动第一预设距离的示意图；
图6为图5所示结构的局部放大示意图；
图7为本申请实施例提供的车用激光雷达支撑装置中清洗移动部分移动第二预设距离的示意图；
图8为图7所示结构的局部放大示意图；
图9为本申请实施例提供的车用激光雷达支撑装置中清洗模块的清洗区域的示意图；
图10为本申请实施例提供的车用激光雷达支撑装置中外壳内部的部分结构示意图；
图11为本申请实施例提供的车用激光雷达支撑装置中外壳和车体的连接图；
图12为本申请实施例提供的车用激光雷达支撑装置的部分结构的立体图；
图13为本申请实施例提供的车用激光雷达支撑装置的部分结构的立体图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
鉴于对激光雷达的激光出射位置的表面清洁程度要求以及激光雷达应用在车辆系统中时需要满足的密封要求。
如何清洗激光雷达的激光出射面，以满足清洗激光出射面的要求、以及如何满足车辆的密封要求，是目前本领域技术人员亟待解决的问题。
本申请实施例提供的车用激光雷达支撑装置包括外壳1、清洗模块20和驱动模块10。外壳1和车体7密封连接；清洗模块20和驱动模块10均位于外壳1内；其中，外壳1设置有出口14和安装位，车用激光雷达2安装在安装位内，清洗模块20由出口14伸出，驱动模块10驱动清洗模块20 往复移动，并且在驱动模块10驱动清洗模块20伸出出口14的状态下，清洗模块20能够清洗车用激光雷达2的激光出射面。
可以理解的是，上述驱动模块10驱动清洗模块20往复移动，则驱动模块10能够调节清洗模块20的移动距离，即驱动模块10能够调节清洗模块20伸出出口14的长度驱动，从而能够调节清洗模块20的清洗区域。因此，上述清洗模块20能够对激光出射面的不同位置进行清洗。
具体地，如图5和图6所示，上述清洗模块20移动第一预设距离后，清洗模块20伸出出口14，此时，清洗模块20可清洗车用激光雷达2的激光出射面；如图7和图8所示，上述清洗模块20移动第二预设距离后，清洗模块20可清洗车用激光雷达2的激光出射面。若上述第二预设距离为清洗模块20的最大移动距离，上述第一预设距离为清洗模块20能够清洗的最小移动距离，则图9中实箭头线与激光出射面的交点、和虚箭头线与激光出射面的交点之间的距离即为清洗模块20的清洗区域。
需要说明的是，图5-9中清洗模块20为喷射模块，箭头线表示喷射模块的喷射方向。图9中虚线所示的清洗模块20表示移动第二预设距离的清洗模块20，实线所示的清洗模块20表示移动第一预设距离的清洗模块20。
上述实施例提供的车用激光雷达支撑装置中，通过设置用于和车体7密封连接的外壳1，将驱动模块10和清洗模块20设置在外壳1中，通过驱动模块10驱动清洗模块20移动以实现清洗模块20伸出外壳1上的出口14，清洗模块20伸出出口14的状态下清洗模块20清洗车用激光雷达2的激光出射面，实现了清洗激光出射面；而且，通过调节驱动模块10驱动清洗模块20移动的距离来调整清洗模块20的清洗区域，有效提高了清洗效果；同时，驱动模块10和清洗模块20均设置在外壳1内，外壳1用于与车体7密封连接，满足了车辆对密封的要求。因此，上述车用激光雷达支撑装置满足了清洗激光出射面的要求、以及满足了车辆的密封要求。
上述车用激光雷达支撑装置中，若清洗模块20为喷射模块，则也提高了清洗剂的使用效率，降低了清洗剂的成本。
上述车用激光雷达支撑装置中，可选择驱动模块10驱动整个清洗模块20移动。为了减少能耗，可选择上述清洗模块20包括清洗固定部分11和清洗移动部分12，驱动模块10驱动清洗移动部分12往复移动，清洗移动部分12和清洗固定部分11密封连接。可以理解的是，清洗移动部分12沿其移动方向可移动地设置于清洗固定部分11，
清洗模块20通过其清洗固定部分11实现与驱动模块10之间的定位安装并对清洗移动部分12的位移方向进行引导，提升清洗移动部分12往复移动的稳定性及精确度，以保证清洗模块20为喷射模块时的喷射方向的准确性。
对于上述清洗固定部分11和清洗移动部分12的具体结构，根据实际需要进行设计，本实施例对此不作限定。
上述清洗模块20中，清洗移动部分12和清洗固定部分11密封连接，则保证了清洗移动部分12在移动过程中不会出现泄漏，特别是清洗模块20为喷射模块时。
为了减小体积，可选择上述清洗固定部分11外套于清洗移动部分12，且清洗移动部分12和清洗固定部分11沿清洗移动部分12的移动方向滑动配合。
可以理解的是，上述清洗固定部分11设置有第一安装孔16，清洗移动部分12设置于第一安装孔16。
当然，也可选择上述清洗固定部分11和清洗移动部分12通过其他方式分布，例如二者并排分布等，本实施例对此不做限定。
在实际应用过程中，为了减小体积，还可选择上述清洗固定部分11和驱动模块10固定连接，驱动模块10通过驱动杆3驱动清洗移动部分12往复移动。进一步地，驱动杆3的轴向平行于清洗移动部分12的移动方向，清洗移动部分12位于驱动杆3的一侧。
具体地，上述驱动杆3的一端和驱动模块10的输出轴传动连接，驱动杆3的另一端通过连接件和清洗移动部分12传动连接。为了便于安装，上述驱动模块10设置有第二安装孔17，驱动杆3设置于第二安装孔17。
上述驱动模块10可通过其他结构来驱动清洗移动部分12移动，并不局限于上述实施例。
为了提高密封性能，上述车用激光雷达支撑装置还包括设置于外壳1内的内壳8，内壳8罩在出口14的外围，且内壳8和外壳1密封连接，清洗模块20位于内壳8内、或部分清洗模块20位于内壳8内且清洗模块20和内壳8密封连接。
上述结构中，若清洗模块20出现泄漏，避免了泄漏的介质进入车体内，也避免了自出口14进入的介质进入车体内，有效提高了密封性能。
为了降低成本，可选择部分上述清洗模块20位于内壳8内且清洗模块20和内壳8密封连接。进一步地，驱动模块10和内壳8密封连接。可以理解的是，内壳8外套在清洗模块20和驱动模块10上。为了简化结构，可选择驱动模块10和内壳8、以及清洗模块20和内壳8均通过第一密封件9密封连接；其中，清洗模块20设置有第一凸台，驱动模块10设置有第二凸台，第一凸台和第二凸台对接形成环形凸台13，第一密封件9设置于环形凸台13。
为了便于第一凸台和第二凸台对接形成上述环形凸台13，上述驱动模块10设置有让位结构，清洗模块20设置在让位结构中且清洗模块20外露的表面和驱动模块10的表面平齐。
具体地，若清洗模块20包括清洗固定部分11和清洗移动部分12，且清洗固定部分11外套于清洗移动部分12，则可选择清洗固定部分11和驱动模块10固定连接，上述第一凸台设置于清洗固定部分11，清洗固定部分11在让位结构中且清洗固定部分11外露的表面和驱动模块10的表面平齐。
对于上述第一密封件9的类型，根据实际需要选择，例如上述第一密封件9为密封条、密封圈或密封胶等，本实施例对此不做限定。
若上述清洗模块20包括清洗固定部分11和清洗移动部分12，则上述清洗固定部分11和内壳8密封连接，即第一凸台设置于清洗固定部分11。
上述车用激光雷达支撑装置，为了便于内壳8和外壳1密封连接，可选择上述内壳8和外壳1通过第二密封件5密封连接。上述第二密封件5可为密封条、密封圈或密封胶等，本实施例对此不做限定。
为了提高密封性能，上述车用激光雷达支撑装置还包括设置于清洗模块20且能够封闭出口14的清洗外板4。为了提高美观度，可选择清洗外板4为与出口14适配的随形结构。即清洗外板4的形状及尺寸与出口14的形状及尺寸相同。
为了提高可靠性，可选择上述清洗外板4固定于清洗模块20。若上述清洗模块20包括清洗固定部分11和清洗移动部分12，则清洗外板4固定于清洗固定部分11。
上述车用激光雷达支撑装置中，对于驱动模块10的类型，根据实际需要选择，例如驱动模块10为电机驱动模块、气缸驱动模块或液压驱动模块等；对于上述清洗模块20的类型，亦根据实际需要选择，例如上述清洗模块20为用于喷射清洗剂的喷射模块，清洗剂可为气体或液体。本实施例对驱动模块10和清洗模块20此不做限定。
可选地，上述车用激光雷达支撑装置还包括设置于安装位的车用激光雷达2。可以理解的是，车用激光雷达2和外壳1密封连接。例如，车用激光雷达2和外壳1通过密封条、密封圈或密封胶密封连接，本实施例对此不做限定。
为了便于车用激光雷达2探测，上述外壳1设置有供车用激光雷达2外露的探测口15。为了便于清洗，上述清洗模块20和驱动模块10均位于车用激光雷达2的同侧。
上述车用激光雷达支撑装置中，为了便于外壳1和车体7密封连接，夯实外壳1用于通过第三密封件6和车体7密封连接。上述第三密封件6可为密封条、密封圈或密封胶等，本实施例对此不做限定。
上述车用激光雷达支撑装置应用于车辆时，当车用激光雷达2检测到激光出射面受到污染时，会将污染信号传递给对应的控制器，由控制器控制驱动模块10以及清洗泵(清洗泵为清洗液动力提供装置，清洗泵可以为车辆原有泵、也可以为单独配置的泵)进行工作，通过驱动杆3推动清洗活动部分12运动，实现激光出射面不同位置的清洗工作。
进一步地，当激光出射面只有部分区域需要清洗时，可以通过控制器控制清洗泵和驱动模块10之间的运动先后顺序以及动作时长来实现激光出射面的局部清洗工作。如图9所示，如激光出射面虚线框线内受到污染，则实现局部区域精确清洗的过程为：1)车用激光雷达2识别污染区域，确定为图9中虚线框内区域受到污染，控制器接收车用激光雷达2发出的信号，确定清洗活动部分12的伸出距离(可以将激光出射面按照其至清洗模块20距离的远近分为若干个区域，当距离清洗模块20较近区域受到污染时，控制清洗移动部分12伸出的距离较小，实现较近距离区域的清洗；当距离清洗模块20较远距离的区域受到污染时，控制清洗移动部分12伸出距离的变大，实现较远距离区域的清洗)，控制器控制驱动模块10运动，通过驱动杆3推动清洗移动部分12运动至图9中实线所示的清洗移动部分12的位置，该运动过程中驱动模块10工作，清洗泵不工作，清洗模块20不喷清洗剂，当清洗移动部分12已经运动至图9中实线所示的清洗移动部分12的位置后，控制器控制清洗泵开始工作，清洗模块20喷清洗剂，清洗动作开始；2)控制器控制驱动模块10工作，使得清洗移动部分12继续运动，运动至图9中虚线所示的清洗移动部分12的位置，该运动过程中控制器控制清洗泵工作，清洗模块20喷清洗剂，在清洗移动部分12的移动过程中，清洗移动部分12由近及远扫掠过图9所示的虚线框内的区域，实现局部清洗；3)当清洗移动部分12运动至图9中虚线所示的清洗移动部 分12的位置后，清洗动作已经完成，控制器控制清洗泵停止工作，驱动模块10的电机反转，清洗移动部分12回到初始位置，一次清洗工作完成。
基于上述实施例提供的车用激光雷达支撑装置，本实施例还提供了一种车辆，该车辆包括车用激光雷达支撑装置，该车用激光雷达支撑装置为上述实施例所述的车用激光雷达支撑装置。
由于上述实施例提供的车用激光雷达支撑装置具有上述技术效果，上述车辆包括上述车用激光雷达支撑装置，则上述车辆也具有相应的技术效果，本文不再赘述。
本申请的有益效果如下：
本申请提供的车用激光雷达支撑装置中，通过设置用于和车体密封连接的外壳，将驱动模块和清洗模块设置在外壳中，通过驱动模块驱动清洗模块移动以实现清洗模块伸出外壳上的出口，清洗模块伸出出口的状态下清洗模块清洗车用激光雷达的激光出射面，实现了清洗激光出射面；而且，通过调节驱动模块驱动清洗模块移动的距离来调整清洗模块的清洗区域，有效提高了清洗效果；同时，驱动模块和清洗模块均设置在外壳内，外壳用于与车体密封连接，满足了车辆对密封的要求。因此，上述车用激光雷达支撑装置满足了清洗激光出射面的要求、以及满足了车辆的密封要求。
对所公开的实施例的上述说明，使本领域技术人员能够实现或使用本申请。对这些实施例的多种修改对本领域技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本申请的精神或范围的情况下，在其它实施例中实现。因此，本申请将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (15)

  1. 一种车用激光雷达支撑装置，包括：外壳(1)，所述外壳(1)与车体(7)密封连接；清洗模块(20)和驱动模块(10)，所述清洗模块(20)和所述驱动模块(10)均位于所述外壳(1)内；
    其中，所述外壳(1)设置有出口(14)和安装位，车用激光雷达(2)安装在所述安装位内，所述清洗模块(20)由所述出口(14)伸出，所述驱动模块(10)驱动所述清洗模块(20)往复移动，并且在所述驱动模块(10)驱动所述清洗模块(20)伸出所述出口(14)的状态下，所述清洗模块(20)能够清洗所述车用激光雷达(2)的激光出射面。
  2. 根据权利要求1所述的车用激光雷达支撑装置，其中，所述清洗模块(20)能够移动第一预设距离和第二预设距离。
  3. 根据权利要求2所述的车用激光雷达支撑装置，其中，所述清洗模块(20)包括清洗固定部分(11)和清洗移动部分(12)，所述驱动模块(10)驱动所述清洗移动部分(12)往复移动，所述清洗移动部分(12)和所述清洗固定部分(11)密封连接。
  4. 根据权利要求3所述的车用激光雷达支撑装置，其中，
    所述清洗固定部分(11)外套于所述清洗移动部分(12)，且所述清洗移动部分(12)和所述清洗固定部分(11)沿所述清洗移动部分(12)的移动方向滑动配合；
    和/或，所述清洗固定部分(11)和所述驱动模块(10)固定连接，所述驱动模块(10)通过驱动杆(3)驱动所述清洗移动部分(12)往复移动。
  5. 根据权利要求4所述的车用激光雷达支撑装置，所述驱动杆(3)的一端与所述驱动模块(10)的输出轴传动连接，所述驱动杆(3)的另一端通过连接件与清洗移动部分(12)传动连接。
  6. 根据权利要求1至5中任一项所述的车用激光雷达支撑装置，其中，所述车用激光雷达支撑装置还包括设置于所述外壳(1)内的内壳(8)，所述内壳(8)罩在所述出口(14)的外围，且所述内壳(8)和所述外壳(1)密封连接，所述清洗模块(20)位于所述内壳(8)内、或部分所述清洗模块(20)位于所述内壳(8)内且所述清洗模块(20)和所述内壳(8)密封连接。
  7. 根据权利要求6所述的车用激光雷达支撑装置，其中，若部分所述清洗模块(20)位于所述内壳(8)内且所述清洗模块(20)和所述内壳(8)密封连接，所述驱动模块(10)和所述内壳(8)密封连接。
  8. 根据权利要求6或7所述的车用激光雷达支撑装置，其中，
    所述驱动模块(10)和所述内壳(8)通过第一密封件(9)密封连接，所述清洗模块(20)和所述内壳(8)通过第一密封件(9)密封连接；其中，所述清洗模块(20)设置有第一凸台，所述驱动模块(10)设置有第二凸台，所述第一凸台和所述第二凸台对接形成环形凸台(13)，所述第一密封件(9)设置于所述环形凸台(13)；
    和/或，所述内壳(8)和所述外壳(1)通过第二密封件(5)密封连接。
  9. 根据权利要求8所述的车用激光雷达支撑装置，所述驱动模块(10)设置有让位结构，所述清洗模块(20)设置在所述让位结构中，且所述清洗模块(20)外露的表面和所述驱动模块(10)的表面平齐。
  10. 根据权利要求1至8中任一项所述的车用激光雷达支撑装置，其中，所述车用激光雷达支撑装置还包括设置于所述清洗模块(20)且能够封闭所述出口(14)的清洗外板(4)，所述清洗外板(4)为与所述出口(14)适配的随形结构。
  11. 根据权利要求10所述的车用激光雷达支撑装置，其中，所述清洗外板(4)固定于所述清洗模块(20)。
  12. 根据权利要求1至11中任一项所述的车用激光雷达支撑装置，其中，所述驱动模块(10)为电机驱动模块，和/或所述清洗模块(20)为用于喷射清洗剂的喷射模块。
  13. 根据权利要求1至12中任一项所述的车用激光雷达支撑装置，其中，所述车用激光雷达支撑装置还包括设置于所述安装位的车用激光雷达(2)。
  14. 根据权利要求13所述的车用激光雷达支撑装置，所述外壳(1)设置有供所述车用激光雷达(2)外露的探测口(15)。
  15. 一种车辆，包括根据权利要求1至14中任一项所述的车用激光雷达支撑装置。
PCT/CN2022/133471 2021-11-25 2022-11-22 车用激光雷达支撑装置及车辆 WO2023093712A1 (zh)

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