CN115201782A - Laser radar cleaning mechanism and method, laser radar system and vehicle - Google Patents
Laser radar cleaning mechanism and method, laser radar system and vehicle Download PDFInfo
- Publication number
- CN115201782A CN115201782A CN202210775513.4A CN202210775513A CN115201782A CN 115201782 A CN115201782 A CN 115201782A CN 202210775513 A CN202210775513 A CN 202210775513A CN 115201782 A CN115201782 A CN 115201782A
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- laser radar
- cleaning mechanism
- lidar
- mirror surface
- vehicle
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
- B60S1/60—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens for signalling devices, e.g. reflectors
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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
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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)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of automatic driving, and provides a laser radar cleaning mechanism and method, a laser radar system and a vehicle, wherein the laser radar cleaning mechanism comprises an air curtain mechanism and a cleaning mechanism, the air curtain mechanism is arranged above a laser radar and comprises an air outlet end, and the air curtain mechanism forms an isolation air curtain in front of a laser radar mirror surface through the air outlet end; the cleaning mechanism is arranged in front of the laser radar and connected with the laser radar, and the water outlet end of the cleaning mechanism is positioned on the side, close to the laser radar, of the isolation air curtain and faces the mirror surface of the laser radar; the air curtain mechanism and the cleaning mechanism are connected with a vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the air curtain mechanism and the cleaning mechanism to isolate and remove pollutants on the laser radar mirror surface respectively. Through the mode, the cleaning capability of the laser radar is improved, and the cleanliness of the mirror surface of the laser radar is effectively kept.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a laser radar cleaning mechanism and method, a laser radar system and a vehicle.
Background
The laser radar is the most important sensing component for automatic driving of the vehicle, and in the driving process of the vehicle, some pollutants cannot be prevented from being adhered to the surface of the laser radar, such as dust particles, mosquitoes and the like, which cause pollution to the sensing of automatic driving, so that the measuring result of automatic driving is not facilitated.
Disclosure of Invention
The embodiment of the invention provides a laser radar cleaning mechanism and method, a laser radar system and a vehicle, and aims to solve the technical field of measurement results that in the prior art, the laser radar is affected by external pollutants and is not beneficial to automatic driving.
The embodiment of the invention provides a laser radar cleaning mechanism, which comprises: the air curtain mechanism is arranged above the laser radar and comprises an air outlet end, and the air curtain mechanism forms an isolated air curtain in front of the surface of the laser radar through the air outlet end;
the cleaning mechanism is arranged in front of the laser radar and connected with the laser radar, and the water outlet end of the cleaning mechanism is positioned on the side, close to the laser radar, of the isolation air curtain and is arranged towards the laser radar mirror surface; wherein, the first and the second end of the pipe are connected with each other,
the air curtain mechanism and the cleaning mechanism are connected with a vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the air curtain mechanism and the cleaning mechanism to isolate and remove pollutants on the surface of the laser radar mirror respectively.
The laser radar cleaning mechanism further comprises a scraping and washing mechanism, wherein the scraping and washing mechanism is arranged in front of the laser radar and connected with the vehicle-mounted controller;
the scraping and washing mechanism comprises a scraping piece, one end of the scraping piece is attached to the laser radar mirror surface, and the scraping and washing mechanism is used for receiving a control signal sent by the vehicle-mounted controller and scraping pollutants on the laser radar mirror surface by utilizing the scraping piece.
According to the laser radar cleaning mechanism provided by the embodiment of the invention, the air curtain mechanism comprises a compressor and a shell, wherein the compressor is arranged on the shell, and the shell is connected with the laser radar;
an air outlet flow channel is arranged on the air outlet side of the compressor, and an air outlet of the air outlet flow channel corresponds to the air outlet end.
According to the laser radar cleaning mechanism provided by the embodiment of the invention, the shell is further provided with a temperature rise mechanism, the temperature rise mechanism is arranged in the air outlet flow channel, and the temperature rise mechanism is used for raising the temperature of the gas output by the compressor.
According to the laser radar cleaning mechanism provided by the embodiment of the invention, the shell is also provided with the temperature sensor, the temperature sensor is connected with the vehicle-mounted controller, and the temperature sensor is used for detecting the temperature value of the environment outside the laser radar.
An embodiment of the present invention further provides a laser radar system, including:
a laser radar body;
the laser radar cleaning mechanism is connected with the laser radar body.
An embodiment of the present invention further provides a vehicle, including:
the above-described laser radar system;
and the vehicle-mounted controller is used for receiving the cleanliness of the mirror surface sent by the laser radar body and controlling the laser radar cleaning mechanism to clean the laser radar body based on the cleanliness.
The embodiment of the invention also provides a laser radar cleaning method using the laser radar cleaning mechanism, which comprises the following steps:
receiving the cleanliness of the laser radar mirror surface;
and when the cleanliness of the laser radar mirror surface is lower than a preset value, sending a control signal to the cleaning mechanism so as to clean the laser radar mirror surface.
According to an embodiment of the present invention, before receiving the cleanliness of the laser radar mirror surface, the method further includes:
acquiring a temperature value of an outer environment of the laser radar;
and starting a heating mechanism to heat the gas output by the compressor in the state that the temperature value is lower than the threshold value.
According to the laser radar cleaning method of one embodiment of the present invention, after sending the control signal to the cleaning mechanism to clean the laser radar mirror surface, the method further includes:
further receiving the cleanliness of the laser radar mirror surface;
and when the cleanliness of the laser radar mirror surface is lower than the preset value, controlling the scraping and washing mechanism to scrape off pollutants on the laser radar mirror surface.
According to the laser radar cleaning mechanism provided by the embodiment of the invention, the isolation air curtain is arranged to isolate pollutants on the outer side of the laser radar under the condition that the normal use of the laser radar is not influenced to form a barrier, then the cleaning mechanism can clean the pollutants which penetrate through the isolation air curtain and are adhered to the surface of the laser radar mirror, and under the control action of the vehicle-mounted controller, the laser radar cleaning mechanism provided by the embodiment of the invention can meet the cleaning requirement of a vehicle under the environment without driving, the cleaning capability of the laser radar is improved, and the cleanness of the surface of the laser radar mirror is effectively maintained.
The laser radar system provided by the embodiment of the invention comprises the laser radar cleaning mechanism, so that the laser radar system has all the beneficial effects of the laser radar cleaning mechanism, and the detailed description is omitted.
The vehicle provided by the embodiment of the invention comprises the laser radar system, and similarly has all the beneficial effects of a laser radar cleaning mechanism, and the details are not repeated herein.
The laser radar cleaning method provided by the embodiment of the invention is realized by using the laser radar cleaning mechanism, so that the method also has corresponding beneficial effects, and the detailed description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a lidar cleaning mechanism and lidar in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of the air curtain mechanism shown in FIG. 1;
FIG. 3 is a schematic view of the scrubbing mechanism shown in FIG. 1;
FIG. 4 is a flow chart of a laser radar cleaning method;
reference numerals are as follows:
10. an air curtain mechanism; 110. an air outlet end; 120. isolating the air curtain; 130. a compressor; 140. a housing; 150. an air outlet flow channel; 160. a temperature raising mechanism; 170. a temperature sensor;
20. a cleaning mechanism;
30. a vehicle-mounted controller;
40. a scraping and washing mechanism; 410. scraping a blade;
50. a laser radar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of 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 embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to 3, the embodiment of the invention provides a vehicle, which includes a laser radar system and a vehicle-mounted controller 30, wherein the vehicle-mounted controller 30 is configured to receive cleanliness of a mirror surface sent by a laser radar body and control a laser radar cleaning mechanism to clean the laser radar body based on the cleanliness.
The onboard controllers 30 include, but are not limited to, an automatic driving controller, a vehicle body controller, and the like. The vehicle-mounted controller 30 is used for detecting the cleanliness of the mirror surface of the laser radar 50 and controlling the laser radar cleaning mechanism to clean the mirror surface in a state that the mirror surface of the laser radar 50 needs cleaning.
Specifically, the laser radar system includes the clean mechanism of laser radar body and laser radar, and the clean mechanism of laser radar is connected with the laser radar body, and the clean mechanism of laser radar is used for carrying out self-cleaning to the mirror surface of laser radar body. The laser radar 50 described below is explained as a laser radar body, and the laser radar 50 is explained below.
With specific reference to fig. 1 and fig. 2, for the lidar cleaning mechanism, the lidar cleaning mechanism includes an air curtain mechanism 10 and a cleaning mechanism 20, the air curtain mechanism 10 is disposed above the lidar 50, the air curtain mechanism 10 includes an air outlet end 110, and the air curtain mechanism 10 forms an isolation air curtain 120 in front of the mirror surface of the lidar 50 through the air outlet end 110; the cleaning mechanism 20 is arranged in front of the laser radar 50 and connected with the laser radar 50, and the water outlet end of the cleaning mechanism 20 is positioned on the side, close to the laser radar 50, of the isolation air curtain 120 and arranged towards the mirror surface of the laser radar 50; the air curtain mechanism 10 and the cleaning mechanism 20 are both connected with the vehicle-mounted controller 30, and the vehicle-mounted controller 30 is used for controlling the air curtain mechanism 10 and the cleaning mechanism 20 to isolate and remove pollutants on the mirror surface of the laser radar 50 respectively.
When the vehicle is in the automatic driving mode, the air curtain mechanism 10 is in a real-time running state. That is, keep apart air curtain 120 and be located laser radar 50's front side all the time, so the pollutant of laser radar 50 front side can be cut off in the outside of keeping apart air curtain 120, and then forms the protection to laser radar 50 mirror surface, also can cushion the vehicle at the in-process of traveling under the autopilot mode towards pollutants such as the travertine of laser radar 50 mirror surface impact, avoids direct fish tail laser radar 50 mirror surfaces such as travertine. The air curtain structure that this application set up neither can exert an influence to laser radar 50's perception effect, and can play the isolation simultaneously for laser radar 50 the place ahead forms the isolation barrier, reduces the quantity that the pollutant is close to laser radar 50.
When the vehicle runs at a high speed, part of pollutants pass through the isolation air curtain 120 and are adhered to the mirror surface of the laser radar 50, so that the perception of the laser radar 50 is influenced. In the automatic driving process, the laser radar 50 sends the cleaning state of the mirror surface of the laser radar 50 to the vehicle body controller in real time, and when the vehicle-mounted controller 30 needs to clean, the vehicle-mounted controller sends a control signal to the cleaning mechanism 20, and then the cleaning mechanism 20 is controlled to clean the mirror surface of the laser radar 50.
The control of the cleaning mechanism 20 may be controlled by an automatic driving controller or may be controlled by a vehicle body controller, and is not limited herein, as long as the cleaning mechanism 20 is turned on to clean the surface of the laser radar 50 when the laser radar 50 needs to be cleaned. The water source of the cleaning mechanism 20 may be from the vehicle body, or may be provided with a water tank, etc., without limitation.
Referring to fig. 1 and 3, in some embodiments of the present invention, the present invention further includes a scraping mechanism 40, the scraping mechanism 40 is disposed in front of the laser radar 50 and connected to the onboard controller 30; the scraping mechanism 40 includes a scraping blade 410, one end of the scraping blade 410 is attached to the mirror surface of the laser radar 50, and the onboard controller 30 is configured to control the scraping blade 410 to reciprocate along the mirror surface of the laser radar 50 to scrape off the contaminants on the mirror surface of the laser radar 50.
The material of the scraping blade 410 is preferably rubber, the scraping mechanism 40 includes a body and the scraping blade 410 disposed on the body, one end of the scraping blade 410 is rotatably connected with the body, and the driving of the scraping blade 410 can be driven by a driving motor, so that the scraping blade 410 scrapes and cleans the mirror surface of the laser radar 50 in the rotating process. The driving motor may be controlled by the vehicle-mounted controller 30, when the scraping operation is required, the vehicle-mounted controller 30 may send a signal to the driving motor to perform the scraping operation, and the frequency and speed of the scraping operation may be controlled according to the vehicle-mounted controller 30, which is not limited herein.
That is, when the cleaning mechanism 20 finishes cleaning and the cleanliness detected by the laser radar 50 does not satisfy the requirement, the onboard controller 30 sends a signal to the scraping mechanism 40 to scrape the surface of the laser radar 50.
It should be noted that the control of the washing mechanism 20 may be cooperatively controlled by the automatic drive controller and the vehicle body controller. For example, if some contaminants are not removed after the cleaning mechanism 20 cleans the mirror surface for a certain time, the vehicle Controller may send a signal to the automatic driving Controller to inform the driver to take over, and after taking over, the automatic driving Controller may request the vehicle Controller to open the scrub mechanism 40 through a Controller Area Network (CAN) signal until the cleanliness of the mirror surface detected by the laser radar 50 meets the requirement, and then send a signal to the automatic driving Controller to remind the driver to activate automatic driving.
The control of the washing mechanism 20 may be performed by an automatic driving controller or may be performed by a vehicle body controller, and a specific control method is merely exemplary and not limited thereto.
In some embodiments of the present invention, the air curtain mechanism 10 includes a compressor 130 and a housing 140, the compressor 130 is mounted on the housing 140, and the housing 140 is connected to the laser radar 50; an air outlet flow channel 150 is disposed on the air outlet side of the compressor 130, and an air outlet of the air outlet flow channel 150 corresponds to the air outlet end 110.
It should be noted that, in order to form the isolation air curtain 120, one end of the air outlet flow channel 150 is communicated with the air outlet of the compressor 130, the size of the cross section of the air outlet flow channel 150 increases in the direction away from the air outlet of the compressor 130, and the air outlet end 110 is in a shape of a long hole, so that the air curtain can be formed by the air discharged from the compressor 130, and the transverse width of the air curtain is at least greater than the width of the laser radar 50, so that the air curtain can be completely covered on the front side of the laser radar 50.
In some embodiments of the present invention, a temperature raising mechanism 160 is further disposed on the housing 140, the temperature raising mechanism 160 is disposed in the air outlet flow channel 150, and the temperature raising mechanism 160 is configured to raise the temperature of the gas output by the compressor 130.
The temperature raising mechanism 160 may be an electric heating device, for example, wrapped outside the gas outlet flow channel 150 to heat the gas outlet flow channel 150, so as to raise the temperature of the gas in the gas outlet flow channel 150. The specific electric heating device belongs to the technical devices well known in the art, and the specific structure is not described herein.
Further, a temperature sensor 170 is further disposed on the housing 140, the temperature sensor 170 is connected to the vehicle-mounted controller 30, and the temperature sensor 170 is configured to detect a temperature value of an environment outside the laser radar 50.
When the external temperature is lower than the threshold value, the onboard controller 30 sends a control signal to the warming mechanism 160 to control the warming mechanism 160 to be opened, so that the temperature of the gas discharged from the compressor 130 is raised, and the isolation gas curtain 120 faces the laser radar 50 side to form a certain high-temperature area, so as to avoid icing or frosting on the surface of the laser radar 50 due to the excessively low front temperature of the laser radar 50.
It should be noted that, in an environment with too low outside temperature, such as rainy or snowy weather, snow is likely to accumulate on the surface of the laser radar 50, and may freeze without being cleaned for a while, after freezing, the cleaning mechanism 20 is difficult to clean, and the scraping mechanism 40 may rub against ice during scraping, thereby easily scratching the mirror surface of the laser radar 50. The temperature raising mechanism 160 can avoid this situation, so that the laser radar 50 is always in a stable sensing state and is less affected by the outside.
The dust cover is further arranged on the outer side of the laser radar 50, the vehicle comprises automatic driving and manual driving in the driving process, and when the vehicle is in the manual driving process, the dust cover is closed, so that the laser radar 50 is prevented from being influenced by external pollutants. When the automatic driving is activated, the vehicle body controller controls the dust cover to be opened.
Specifically, the dust cover is provided with a built-in driving mechanism and connected with the vehicle body controller, and when the vehicle-mounted controller 30 is opened, the vehicle body controller sends a control signal to the driving mechanism to open the dust cover. And when the vehicle-mounted controller 30 is in a closed state, the vehicle-mounted controller sends a control signal to the driving mechanism to close the dust cover, so that the laser radar 50 is prevented from being influenced by external environmental pollutants.
In some embodiments of the present invention, when the vehicle is in automatic driving, the laser radar 50 sends its own contamination condition to the onboard controller 30, and the onboard controller 30 controls the air curtain mechanism 10, the cleaning mechanism 20, and the scraping mechanism 40 to continue to protect and clean the laser radar 50.
In still other embodiments of the present invention, the laser radar 50 is in communication with the automatic driving controller, and the automatic driving controller is in communication with the vehicle body controller, when the laser radar 50 sends its own contamination condition to the automatic driving controller, the automatic driving controller sends a signal to the vehicle body controller, and then the vehicle body controller controls the cleaning mechanism 20, the air curtain mechanism 10, and the scraping mechanism 40 to be opened so as to clean and protect the laser radar 50.
In conclusion, the laser radar 50 in the present application has triple protection, and during the automatic driving process, the air curtain mechanism 10 forms the isolation air curtain 120 as the first heavy protection, and the isolation air curtain 120 can isolate foreign objects such as external small stones and the like, so as to avoid generating rigid impact with the laser radar 50; when part of pollutants penetrate through the isolation air curtain 120 and are adhered to the surface of the laser radar 50, the cleaning mechanism 20 performs secondary protection on the laser radar 50, and the cleaning mechanism 20 cleans the pollutants on the surface of the laser radar 50 so as to avoid the pollutants from affecting the perception of the laser radar 50; when wiper mechanism 20 washs completion back to laser radar 50, when partial pollutant glues and locates laser radar 50 surfaces in addition, adopt to scrape and wash mechanism 40 and wash laser radar 50 surfaces, form the triple protection of third, so at the autopilot in-process, laser radar 50 perception effect receives external influence littleer, and the cleaning efficiency of pollutant is also more effective and high-efficient.
Referring to fig. 4, an embodiment of the present invention further provides a laser radar cleaning method, where the laser radar cleaning mechanism is adopted, and the method includes:
s110: and receiving the cleanliness of the laser radar mirror surface.
It should be noted that the temperature sensor acquires an ambient temperature value outside the laser radar in real time, and determines whether to start the temperature raising mechanism according to the external ambient temperature. For example, when the external environment temperature value of the laser radar is higher than a threshold value, the vehicle-mounted controller controls the heating mechanism to be closed; and when the external temperature value of laser radar is lower than the state of threshold value, on-vehicle controller control opens the heating mechanism to improve the gaseous temperature of compressor output, make and keep apart gas curtain week side temperature and be higher than external temperature value, keep apart the gas curtain this moment and not only play the effect of isolation, can also avoid laser radar to receive external environment influence and freeze or frost. Namely, the isolation air curtain generated by the compressor realizes the function of isolating pollutants and also plays a role of heat preservation.
Specifically, when the vehicle is in the autopilot mode, air curtain mechanism is in real-time running state, and the pollutant in the laser radar outside can be cut off in the outside of keeping apart the air curtain like this, and then forms the protection to the laser radar mirror surface. Because the air curtain is adopted, the sensing effect of the laser radar cannot be influenced, and the isolation effect is better.
When the external world is in a low-temperature state, the arranged heating mechanism can enable the isolation air curtain to play a heat preservation effect, so that the laser radar is better in adaptability to the environment and stronger in adjusting and self-cleaning capacity.
S120: and when the cleanliness of the laser radar mirror surface is lower than a preset value, sending a control signal to the cleaning mechanism so as to clean the laser radar mirror surface.
Specifically, send control signal to wiper mechanism to after cleaning the laser radar mirror surface, still include: further receiving the cleanliness of the laser radar mirror surface; when the cleanliness of the laser radar mirror surface is lower than a preset value, the scraping and washing mechanism is controlled to scrape off pollutants on the laser radar mirror surface.
That is, laser radar can send the cleanliness of its mirror surface to on-vehicle controller in real time, when the laser radar mirror surface needs clean, can adopt wiper mechanism earlier to wash, if the cleanliness still is less than the default after wasing the preset time, alright scrape and wash the mechanism and scrape it in order to control, so make laser radar's surface be in clear state all the time.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A lidar cleaning mechanism comprising:
the air curtain mechanism is arranged above the laser radar and comprises an air outlet end, and the air curtain mechanism forms an isolated air curtain in front of the surface of the laser radar through the air outlet end;
the cleaning mechanism is arranged in front of the laser radar and connected with the laser radar, and the water outlet end of the cleaning mechanism is positioned on the side, close to the laser radar, of the isolation air curtain and is arranged towards the laser radar mirror surface; wherein the content of the first and second substances,
the air curtain mechanism and the cleaning mechanism are connected with a vehicle-mounted controller, and the vehicle-mounted controller is used for controlling the air curtain mechanism and the cleaning mechanism to isolate and remove pollutants on the surface of the laser radar mirror respectively.
2. The lidar cleaning mechanism of claim 1, further comprising a scrubbing mechanism disposed in front of the lidar and coupled to the onboard controller;
scrape and wash the mechanism and include the doctor-bar, the one end and the laminating of laser radar mirror surface of doctor-bar mutually, scrape and wash the mechanism and be used for receiving the control signal that vehicle-mounted controller sent, and utilize the pollutant of doctor-bar on to the laser radar mirror surface is scraped.
3. The lidar cleaning mechanism of claim 1, wherein the air curtain mechanism comprises a compressor and a housing, the compressor being mounted to the housing, the housing being coupled to the lidar;
an air outlet flow channel is arranged on the air outlet side of the compressor, and an air outlet of the air outlet flow channel corresponds to the air outlet end.
4. The lidar cleaning mechanism of claim 3, wherein the housing further comprises a temperature raising mechanism disposed in the outlet flow channel, the temperature raising mechanism being configured to raise a temperature of the gas output by the compressor.
5. The lidar cleaning mechanism of claim 3, wherein the housing further comprises a temperature sensor, the temperature sensor is connected to the onboard controller, and the temperature sensor is configured to detect a temperature value of an environment outside the lidar.
6. A lidar system, comprising:
a laser radar body;
the lidar cleaning mechanism of any of claims 1-5, coupled to the lidar body.
7. A vehicle, characterized by comprising:
the lidar system of claim 6;
and the vehicle-mounted controller is used for receiving the cleanliness of the mirror surface sent by the laser radar body and controlling the laser radar cleaning mechanism to clean the laser radar body based on the cleanliness.
8. A lidar cleaning method utilizing the lidar cleaning mechanism of any of claims 1-5, comprising:
receiving the cleanliness of the laser radar mirror surface;
and when the cleanliness of the laser radar mirror surface is lower than a preset value, sending a control signal to the cleaning mechanism so as to clean the laser radar mirror surface.
9. The lidar cleaning method of claim 8, wherein prior to receiving the cleanliness of the lidar mirror, further comprising:
acquiring a temperature value of an outer environment of the laser radar;
and starting a heating mechanism to heat the gas output by the compressor in the state that the temperature value is lower than the threshold value.
10. The lidar cleaning method of claim 8, wherein after sending the control signal to the cleaning mechanism to clean the lidar mirror, the method further comprises:
further receiving the cleanliness of the laser radar mirror surface;
and when the cleanliness of the laser radar mirror surface is lower than the preset value, controlling the scraping and washing mechanism to scrape off the pollutants on the laser radar mirror surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210775513.4A CN115201782A (en) | 2022-07-01 | 2022-07-01 | Laser radar cleaning mechanism and method, laser radar system and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210775513.4A CN115201782A (en) | 2022-07-01 | 2022-07-01 | Laser radar cleaning mechanism and method, laser radar system and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN115201782A true CN115201782A (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210775513.4A Pending CN115201782A (en) | 2022-07-01 | 2022-07-01 | Laser radar cleaning mechanism and method, laser radar system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817409A (en) * | 2022-12-22 | 2023-03-21 | 中国重汽集团济南动力有限公司 | Laser radar cleaning system, method, device and storage medium |
-
2022
- 2022-07-01 CN CN202210775513.4A patent/CN115201782A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817409A (en) * | 2022-12-22 | 2023-03-21 | 中国重汽集团济南动力有限公司 | Laser radar cleaning system, method, device and storage medium |
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