CN114653642A

CN114653642A - Laser radar cleaning device and building equipment

Info

Publication number: CN114653642A
Application number: CN202011525471.6A
Authority: CN
Inventors: 周伟安; 梁逸泓
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-22
Filing date: 2020-12-22
Publication date: 2022-06-24

Abstract

The invention relates to the technical field of construction machinery, in particular to a laser radar cleaning device and construction equipment. This laser radar cleaning device includes: a support; the cleaning mechanism comprises a fixed piece, a rotating piece and a wiping piece, wherein the fixed piece is arranged on the support, the rotating piece is arranged on the fixed piece in a rotating mode, and the wiping piece is arranged on the rotating piece and used for wiping the laser radar; and one side of the wiper, which faces the laser radar, is provided with an injection hole, and the injection hole is communicated with a fluid source. In the laser radar cleaning device, the wiping piece rotates along with the rotating piece to wipe the laser radar, so that the size of the wiping piece and the contact area of the wiping piece and the laser radar can be reduced on the basis of ensuring comprehensive cleaning; be provided with the jet orifice on the wiper, integrated the fluid jet function, compare components of a whole that can function independently and set up nozzle and wiper, not only be favorable to reduce cost, can further reduce sheltering from to laser radar moreover.

Description

Laser radar cleaning device and building equipment

Technical Field

The invention relates to the technical field of construction machinery, in particular to a laser radar cleaning device and construction equipment.

Background

The robot need use laser radar navigation when the building site walking, and the most suitable mounted position of laser radar is located the robot top, and the periphery does not have and shelters from. However, the laser radar is exposed for a long time, dust is easily accumulated on the surface after long-term use, and the emission and the receiving of a detection signal of the laser radar are influenced when the dust reaches a certain level, so that the navigation precision is influenced.

For avoiding artifical clean laser radar regularly, be provided with cleaning device on the present robot, can be through cleaning the clean laser radar of mode with jet-propelled combination, but for improving clean effect, the clean area of increase, the volume of wiper and air nozzle is great, and not only the structure is complicated, and is with high costs, and because of wiper and air nozzle all set up in laser radar's periphery, can shelter from laser radar's effective detection scope, influence the navigation effect.

Disclosure of Invention

One objective of the present invention is to provide a laser radar cleaning device, which can reduce the shielding of the laser radar on the basis of ensuring the cleaning effect.

In order to achieve the purpose, the invention adopts the following technical scheme:

a lidar cleaning apparatus comprising:

a support;

the cleaning mechanism comprises a fixed piece, a rotating piece and a wiping piece, wherein the fixed piece is arranged on the support, the rotating piece is arranged on the fixed piece in a rotating mode, and the wiping piece is arranged on the rotating piece and used for wiping the laser radar;

and one side of the wiper, which faces the laser radar, is provided with an injection hole, and the injection hole is communicated with a fluid source.

The wiper rotates along with the rotating piece to wipe the laser radar, so that the size of the wiper and the contact area of the wiper and the laser radar can be reduced on the basis of ensuring comprehensive cleaning, the cost is favorably reduced, the shielding of the laser radar can be reduced, and the detection range and the detection effect of the laser radar are ensured; be provided with the jet orifice on the wiper, integrated the fluid jet function, compare components of a whole that can function independently and set up nozzle and wiper, not only be favorable to reduce cost, can further reduce sheltering from to laser radar moreover.

The fluid source is communicated with the fluid source, the rotating part is provided with a circular groove communicated with the inlet, the circle center of the circular groove is located on the axis of a rotating shaft of the rotating part, and the injection hole is communicated with the circular groove.

The inlet is arranged on the fixing piece, so that the inlet is ensured to be fixed, and the rotation of a pipeline connecting the inlet and an air source is avoided, so that the normal conduction of the pipeline is ensured; by providing the circular groove on the turntable, the inlet is always located on the rotation track of the circular groove when the circular groove rotates with the rotating member 22, thereby ensuring the normal conduction between the inlet and the circular groove.

The cleaning mechanism further comprises a first sealing ring and a second sealing ring, wherein the first sealing ring and the second sealing ring are arranged between the fixing piece and the rotating piece and are respectively located on the inner side and the outer side of the circular groove.

The first sealing ring and the second sealing ring are pressed tightly through the fixing piece and the rotary disc, so that air flow can be prevented from leaking from a gap between the fixing piece and the rotary disc, and a sealing effect is achieved.

The cleaning mechanism further comprises a bearing seat and a bearing arranged in the bearing seat, the bearing seat is arranged on the bottom surface of the fixing piece, and the rotating piece is fixedly connected with the inner ring of the bearing. The structure can realize the rotation connection of the rotating part and the fixing part, and has simple structure.

The rotating part comprises a first cylindrical part and a second cylindrical part which are connected, the diameter of the first cylindrical part is smaller than that of the second cylindrical part, the first cylindrical part is connected with the inner ring of the bearing, the second cylindrical part abuts against the end face of the bearing seat, and the wiping part is arranged on the edge of the bottom face of the second cylindrical part.

The first cylindrical part is matched with the bearing, so that the radial size of the bearing can be reduced, and the cost is reduced; through setting up second cylinder portion, can be on the basis of not increasing the radial dimension of bearing, the radial dimension of the lower extreme of increase carousel to make the wiper can rotate around laser radar's periphery.

The bracket comprises a bottom plate and a side plate, the bottom plate is used for bearing the laser radar, the side plate is vertically connected to the edge of one side of the bottom plate, the fixing piece is connected with the side plate, and the wiping piece can move to the side plate.

Laser radar arranges in between clean mechanism and the bottom plate, can make laser radar cleaning device compact structure after with the laser radar cooperation, and occupation space is little. The wiper can rotate to curb plate department along with the carousel to make wiper and curb plate to laser radar's the position coincidence that shelters from, reduce laser radar cleaning device whole to laser radar's the area that shelters from.

And the side plate is provided with a wiring through hole.

When the laser radar is arranged on the bottom plate, the wiring position on the laser radar is right opposite to the wiring through hole, so that a wire connected with the laser radar can extend out through the wiring through hole conveniently, and the laser radar is connected with other structures conveniently.

Wherein the cleaning mechanism further comprises:

the rotating piece is provided with a mounting hole, and the clamping sleeve is arranged in the mounting hole;

the driving piece is arranged on the fixing piece, and the clamping and holding sleeve can hold the output shaft of the driving piece tightly.

Through setting up the clamp cover, can simplify the connection structure and the assembly step of driving piece output shaft and carousel, conveniently maintain and assemble.

The cleaning piece comprises a cleaning swing arm and a cleaning flexible layer, the cleaning swing arm is connected with the rotating piece, and the cleaning flexible layer is arranged on one side, facing the laser radar, of the cleaning swing arm. The wiper has simple structure and low cost.

Another objective of the present invention is to provide a building device, which can automatically clean a laser radar and ensure the navigation effect of the laser radar.

a building device comprises a laser radar and further comprises the laser radar cleaning device.

This architectural equipment can clean laser radar, guarantees laser radar's normal work.

Has the advantages that: the invention provides a laser radar cleaning device and building equipment. In the laser radar cleaning device, the cleaning piece rotates along with the rotating piece to clean the laser radar, so that the size of the cleaning piece and the contact area of the cleaning piece and the laser radar can be reduced on the basis of ensuring comprehensive cleaning, the cost is favorably reduced, the shielding of the laser radar can be reduced, and the detection range and the detection effect of the laser radar are ensured; be provided with the jet orifice on the wiper, integrated the fluid jet function, compare components of a whole that can function independently and set up nozzle and wiper, not only be favorable to reduce cost, can further reduce sheltering from to laser radar moreover.

Drawings

FIG. 1 is a side view of a lidar cleaning apparatus particularly provided by the present invention;

FIG. 2 is a side view of a lidar cleaning apparatus embodying features of the present invention assembled with a lidar;

FIG. 3 is a cross-sectional view of a lidar cleaning apparatus particularly provided by the present invention;

FIG. 4 is a schematic structural view of a lidar cleaning device of the present invention without the mounting of a drive member and a mounting member;

fig. 5 is a schematic structural view of the laser radar cleaning apparatus according to the present invention after being assembled with a laser radar.

Wherein:

1. a support; 11. a base plate; 12. a side plate; 121. routing through holes; 2. a cleaning mechanism; 21. a fixing member; 22. a rotating member; 221. a second cylindrical portion; 222. a first cylindrical portion; 223. a circular groove; 224. a first air passage; 2241. an axial channel; 2242. a radial channel; 231. a drive member; 2311. an output shaft; 232. clamping and embracing sleeves; 24. a wiper; 241. cleaning the swing arm; 2411. a second air passage; 242. wiping the flexible layer; 2421. an injection hole; 25. a joint; 26. a connecting assembly; 261. a bearing seat; 262. a bearing; 263. a connecting member; 27. a seal assembly; 271. a first seal ring; 272. a second seal ring; 100. a laser radar.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being 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 for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. 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.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

The embodiment provides a laser radar cleaning device, as shown in fig. 1 and 2, laser radar cleaning device includes support 1 and clean mechanism 2, and clean mechanism 2 sets up on support 1, and clean mechanism 2 can clean laser radar 100 surface, avoids the dust to pile up and influences the navigation effect, guarantees laser radar 100's normal, accurate operation.

As shown in fig. 2, the laser radar 100 includes a base and a columnar emitting portion disposed on the base, a cylindrical surface of the columnar emitting portion is a laser emitting surface, and the cleaning mechanism 2 is used for cleaning the laser emitting surface.

The cylindrical transmitting part of the laser radar 100 is exposed outside, and the working environment of the laser radar 100 is complex, so that more dirt is on the surface of the laser radar 100. To improve the cleaning effect of the cleaning mechanism 2, the cleaning mechanism 2 in this embodiment cleans the laser radar 100 by a combination of wiping and fluid ejection.

In order to simplify the structure of the cleaning mechanism 2 and reduce the space occupied by the cleaning mechanism 2 on the peripheral side of the laser radar 100, the cleaning mechanism 2 includes a wiper 24, the wiper 24 can wipe the surface of the laser radar 100, and the side of the wiper 24 facing the laser radar 100 is provided with a jet hole 2421, and the jet hole 2421 is communicated with a fluid source. Through set up jet hole 2421 on wiper 24, can make wiper 24 integrated difunctional, compare and set up wiper 24 and shower nozzle alone among the prior art, can simplify the structure of clear quick-witted mechanism, reduce part quantity, be favorable to reducing the sheltering from area of clean mechanism 2 in laser radar 100 week side, avoid clean mechanism 2 to influence laser radar 100's normal work.

In this embodiment, the injection holes 2421 are connected to an air source, and the injection holes 2421 can blow away dust on the surface of the laser radar 100 by injecting air flow to the laser radar 100, and can improve the cleaning effect of the laser radar 100 by combining with the wiper 24 to wipe the laser radar 100.

In some embodiments, the fluid source may be a liquid container, and the injection holes 2421 communicate with the liquid container, so as to inject liquid to the laser radar 100, and improve the cleaning effect of the laser radar 100. Optionally, water or cleaning fluid may be stored within the fluid container.

In some embodiments, the ejection holes 2421 can be selectively communicated with a gas source or a liquid container as needed to switch the functions of gas ejection and liquid spraying.

In some embodiments, a plurality of the injection holes 2421 may be provided, and a part of the injection holes 2421 is communicated with a gas source, and a part of the injection holes 2421 is communicated with a liquid container, so as to inject or spray liquid at the same time.

For guaranteeing that clean mechanism 2 carries out all-round cleanness to lidar 100, wiper 24 can move by support 1 relatively to on the basis of guaranteeing clean area, reduce wiper 24 and lidar 100's area of contact, thereby can reduce wiper 24 to lidar 100's the area of sheltering from, avoid wiper 24 to influence lidar 100's normal work.

As shown in fig. 3, the cleaning mechanism 2 further includes a fixing member 21 and a rotating member 22, the fixing member 21 is disposed on the bracket 1, the rotating member 22 is rotatably disposed on the fixing member 21, and the wiping member 24 is disposed on the rotating member 22, so that the rotating member 22 can drive the wiping member 24 to rotate around the rotation center of the rotating member 22, and further, the laser radar 100 is wiped along the circumferential direction, thereby avoiding the occurrence of a dead angle.

Compare and set up wiper 24 and form annular cover and establish outside the column emission portion and along the axial displacement of column emission portion, or the circumference along column emission portion sets up a plurality of wipers 24, this embodiment is cleaned around the circumference removal of column emission portion through wiper 24, can be on guaranteeing comprehensive clear basis, further reduce wiper 24's volume and with laser radar 100's area of contact, it is little to the area of sheltering from of laser emission face, so that laser radar cleaning device is when clean laser radar 100, laser radar 100 can normally work, clean mechanism 2 can clean laser radar 100 in real time promptly, make laser radar 100 keep clean state and good navigation effect all the time.

In some embodiments, the lidar cleaning device may also be timed to clean lidar 100.

Alternatively, the rotating member 22 may be a rotating disc, and the rotating disc is rotatably connected to the fixed member 21 by a connecting assembly 26. Specifically, the connecting assembly 26 includes a bearing seat 261 and a bearing 262 disposed in the bearing seat 261, the bearing seat 261 is disposed on the bottom surface of the fixing member 21, and the turntable is fixedly connected to the inner ring of the bearing 262, so as to reduce the friction force applied to the turntable during rotation.

In order to facilitate the connection between the turntable and the inner ring of the bearing 262, the connection assembly 26 further includes a connection member 263, the connection member 263 is fixedly connected to the turntable, and the connection member 263 is sleeved outside the inner ring of the bearing 262 and is tightly fitted with the inner ring, so that the inner ring of the bearing 262 and the turntable rotate synchronously.

Specifically, the bearing seat 261 includes a first annular side plate and an annular bottom plate connected to the first annular side plate, the outer ring of the bearing 262 abuts against the inner side wall of the first annular side plate, and two end surfaces of the outer ring of the bearing 262 abut against the annular bottom plate and the fixing member 21, respectively. The fixing member 21 is provided with an annular mounting groove, the connecting member 263 is disposed in the mounting groove, and the bearing 262 is abutted against the bearing seat 261, so that the bearing 262 is abutted against the first annular side plate. The connecting piece 263 comprises a second annular side plate and an annular top plate connected with the second annular side plate, and two sides of the second annular side plate are respectively abutted to the inner ring of the bearing 262 and the inner wall of the mounting groove, so that the connecting piece 263 is tightly matched with the inner ring of the bearing 262, and the bearing seat 261 is tightly matched with the outer ring of the bearing 262.

Alternatively, the bearing seat 261 and the fixing member 21 may be fixedly connected by screws; the connecting piece 263 and the turntable can be fixedly connected through screws, and the structure is simple and the disassembly and the assembly are convenient.

Further, an inlet communicated with an air source is arranged on the fixing piece 21, the inlet is connected with a connector 25, and the connector 25 is used for connecting the air source; the turntable is provided with a circular groove 223 communicated with the inlet, the center of the circular groove 223 is positioned on the rotation axis of the turntable, and the injection hole 2421 is communicated with the circular groove 223. The inlet is arranged on the fixing piece 21, so that the inlet is fixed, and the rotation of a pipeline connecting the inlet and an air source is avoided, so that the normal conduction of the pipeline is ensured; by providing the circular groove 223 on the turntable, when the circular groove 223 rotates with the rotating member 22, the inlet is always located on the rotating track of the circular groove 223, thereby ensuring the normal conduction between the inlet and the circular groove 223.

To seal the air passage, the cleaning mechanism further includes a sealing assembly 27. As shown in fig. 4, the sealing assembly 27 includes a first sealing ring 271 and a second sealing ring 272, and the first sealing ring 271 and the second sealing ring 272 are both disposed between the fixing member 21 and the turntable and are respectively located at the inner side and the outer side of the circular groove 223. The fixing member 21 and the turntable press against the first sealing ring 271 and the second sealing ring 272, so that the air flow can be prevented from leaking from the gap between the fixing member 21 and the turntable, and the sealing function can be achieved.

Further, to facilitate the communication of the circular groove 223 with the injection hole 2421, a first air passage 224 is provided on the turntable, a second air passage 2411 is provided on the wiper 24, one end of the first air passage 224 communicates with the circular groove 223, the other end communicates with the second air passage 2411, and the injection hole 2421 communicates with the second air passage 2411.

In this embodiment, the first air passage 224 includes an axial passage 2241 and a radial passage 2242 that communicate with each other, the axial passage 2241 communicates with the circular groove 223, and the radial passage 2242 communicates with the second air passage 2411. The axial passages 2241 and the radial passages 2242 can be machined from the bottom surface of the circular groove 223 and the outer peripheral surface of the turntable, respectively, and are conveniently machined.

Further, the wiper 24 may be provided at the lower end edge of the turntable in order to make the structure of the cleaning mechanism 2 more compact on the basis of a constant radial dimension of the columnar emitting portion, thereby reducing the volume of the cleaning mechanism 2.

Further, the turntable comprises a first cylindrical portion 222 and a second cylindrical portion 221 which are connected, the diameter of the first cylindrical portion 222 is smaller than that of the second cylindrical portion 221, the first cylindrical portion 222 is fixed with the inner ring of the bearing 262 through a connecting piece 263, a circular groove 223 is arranged on the top surface of the first cylindrical portion 222, the second cylindrical portion 221 abuts against the end surface of the bearing seat 261, and the wiper 24 is arranged on the edge of the bottom surface of the second cylindrical portion 221. By providing the first cylindrical portion 222 to cooperate with the bearing 262, the radial dimension of the bearing 262 can be reduced, thereby reducing the cost; by providing the second cylindrical portion 221, the radial dimension of the lower end of the turntable can be increased without increasing the radial dimension of the bearing 262, so that the wiper 24 can rotate around the outer periphery of the columnar emitting portion to wipe the columnar emitting portion.

In this embodiment, the cleaning mechanism 2 further includes a driving member 231, and the driving member 231 can drive the turntable to rotate, so as to implement automatic cleaning of the laser radar 100.

Alternatively, the driving member 231 may be a motor or a swing cylinder.

Because of clean mechanism 2 cleans through the jet-propelled in this embodiment, for the structure and the working cost of simplifying clean mechanism 2, driving piece 231 is preferred swing cylinder, and swing cylinder can be with the same air supply of import intercommunication, is favorable to simplifying the structure, reduce cost.

Further, the cleaning mechanism 2 further comprises a clamping and holding sleeve 232, a mounting hole is formed in the bottom surface of the rotary table, the clamping and holding sleeve 232 is detachably fixed in the mounting hole, and the clamping and holding sleeve 232 tightly holds the output shaft 2311 of the driving piece 231 to realize synchronous rotation of the output shaft 2311 and the rotary table. The clamping and holding sleeve 232 is also called an expansion sleeve, is a key-free connection device which realizes load transmission by screwing a high-strength bolt to enable pressure and friction force generated between the clamping and holding sleeve 232 and the output shaft 2311, can simplify the connection structure and the assembly steps of the output shaft 2311 of the driving piece 231 and a turntable by arranging the clamping and holding sleeve 232, and is convenient to maintain and assemble.

When assembling the laser radar cleaning device, the bearing seat 261 is fixed on the bracket 1 by screws, and then the bearing 262, the connecting piece 263, the turntable, the sealing component 27 and the fixing piece 21 are assembled. The high-strength bolt on the clamping sleeve 232 is connected with the rotary table in a spiral mode but is not locked, and then the wiper 24 is pushed manually to check whether the rotary table rotates smoothly or not. If the turntable rotates smoothly, the driving member 231 is fixed on the fixing member 21, and the high-strength bolt is tightened, so that the clamping sleeve 232 can lock the output shaft 2311.

In some embodiments, cleaning mechanism 2 may include a wheel or a handle, and a worker may manually rotate the wheel or the handle to drive the turntable to rotate, so as to manually clean lidar 100.

In this embodiment, the wiper 24 includes a cleaning swing arm 241 and a wiping flexible layer 242, the cleaning swing arm 241 is connected to the turntable, the wiping flexible layer 242 is disposed on one side of the cleaning swing arm 241 facing the laser radar 100, and the wiping flexible layer 242 can abut against the laser emitting surface of the laser radar 100 to clean surface dirt.

Alternatively, the wiping flexible layer 242 may be a sponge or a nonwoven fabric as long as it can perform a wiping function.

Optionally, a wiping flexible layer 242 is removably attached to the cleaning swing arm 241 to facilitate cleaning or replacement of the wiping flexible layer 242.

Alternatively, the wiping flexible layer 242 may be sleeved outside the cleaning swing arm 241 and fixed by a rope or a screw.

Further, as shown in fig. 5, the bracket 1 includes a bottom plate 11 and a side plate 12, the bottom plate 11 is used for carrying the laser radar 100, the side plate 12 is perpendicularly connected to one side edge of the bottom plate 11, and the fixing member 21 is connected to the side plate 12, so that the cleaning mechanism 2 is located above the bottom plate 11. Laser radar 100 is arranged between cleaning mechanism 2 and bottom plate 11, can make laser radar cleaning device compact structure after with laser radar 100 cooperation, and occupation space is little.

Further, in order to reduce the area that laser radar 100 was sheltered from by curb plate 12, curb plate 12 can be the I shape, and curb plate 12 and bottom plate 11 and clean mechanism 2's fixed effect can be improved to the upper end and the lower extreme broad of curb plate 12, and the middle part of curb plate 12 is narrower, can reduce the sheltering from to laser radar 100 to guarantee laser radar 100's detection scope.

Further, the wiper 24 can rotate to the side plate 12 along with the turntable, so that the shielding positions of the wiper 24 and the side plate 12 on the laser radar 100 are overlapped, and the shielding area of the whole laser radar cleaning device on the laser radar 100 is reduced.

Optionally, a routing through hole 121 is disposed on the side plate 12. When laser radar 100 is placed on bottom plate 11, the wiring position on laser radar 100 is just right with walking line through-hole 121 to the wire that laser radar 100 connects of being convenient for stretches out through walking line through-hole 121, makes things convenient for laser radar 100 and other structural connection.

This embodiment still provides a building equipment, and building equipment includes the organism, sets up lidar 100 and above-mentioned lidar cleaning device on the organism, and lidar 100 can be fixed on support 1 through fasteners such as screws, and clean mechanism 2 can be regularly or clean lidar 100 at any time.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.

Claims

1. A lidar cleaning apparatus, comprising:

a support;

2. The lidar cleaning apparatus of claim 1, wherein the stationary member has an inlet in communication with the fluid source, the rotatable member has a circular groove in communication with the inlet, the circular groove having a center at the axis of the rotatable member, and the spray orifice is in communication with the circular groove.

3. The lidar cleaning apparatus of claim 2, wherein the cleaning mechanism further comprises a first seal and a second seal, each of the first seal and the second seal being disposed between the fixed member and the rotating member and respectively inside and outside of the circular groove.

4. The lidar cleaning apparatus of claim 1, wherein the cleaning mechanism further comprises a bearing seat and a bearing disposed within the bearing seat, the bearing seat is disposed on a bottom surface of the stationary member, and the rotating member is fixedly coupled to an inner race of the bearing.

5. The lidar cleaning apparatus of claim 4, wherein the rotatable member comprises a first cylindrical portion and a second cylindrical portion connected, wherein a diameter of the first cylindrical portion is smaller than a diameter of the second cylindrical portion, wherein the first cylindrical portion is connected to the inner race of the bearing, wherein the second cylindrical portion abuts against an end surface of the bearing seat, and wherein the wiper is disposed on a bottom surface edge of the second cylindrical portion.

6. The lidar cleaning apparatus of any of claims 1-5, wherein the bracket comprises a base plate for carrying the lidar and a side plate attached perpendicularly to a side edge of the base plate, the fastener being attached to the side plate, the wiper member being movable to the side plate.

7. The lidar cleaning apparatus of claim 6, wherein the side plate has a trace through hole disposed therein.

8. The lidar cleaning apparatus of any of claims 1-5, wherein the cleaning mechanism further comprises:

9. The lidar cleaning apparatus of any of claims 1-5, wherein the wiper comprises a cleaning swing arm and a wiping flexible layer, the cleaning swing arm coupled to the rotatable member, the wiping flexible layer disposed on a side of the cleaning swing arm facing the lidar.

10. A construction equipment comprising a lidar cleaning apparatus according to any of claims 1 to 9.