CN116786474A

CN116786474A - Laser radar cleaning device, laser radar system and vehicle

Info

Publication number: CN116786474A
Application number: CN202310643568.4A
Authority: CN
Inventors: 王卓; 张德亮; 路国营
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-06-01
Filing date: 2023-06-01
Publication date: 2023-09-22

Abstract

The invention discloses a laser radar cleaning device, a laser radar system and a vehicle, wherein the laser radar cleaning device comprises a cleaning component, a driving component and a follow-up bracket, and the cleaning component is arranged along the surface of a laser radar mask; the driving component is fixedly arranged relative to the laser radar; the follow-up bracket is connected between the cleaning assembly and the driving assembly; the follow-up bracket is provided with a telescopic adjusting structure; the driving assembly drives the follow-up support to rotate around the driving assembly to drive the cleaning assembly to clean the laser radar mask, and the telescopic adjusting structure adjusts the relative position of the cleaning assembly and the driving assembly, so that the cleaning assembly always clings to the laser radar mask in the moving process. The invention can be matched with different types of laser radar systems, and after the laser radar window is polluted, the laser radar window is cleaned by the cleaning device, so that the universality of the cleaning device on the laser radar is strong, and the use cost and risk of the laser radar are reduced.

Description

Laser radar cleaning device, laser radar system and vehicle

Technical Field

The invention relates to the field of automobile and laser radar cleaning, in particular to a laser radar cleaning device, a laser radar system and a vehicle.

Background

Currently, on level L2+ and L3 autopilot vehicles, lidar is one sensor in which to implement technical routes. Because the laser radar needs to be arranged at the front end of the automobile, the risk of sensor identification signals can be influenced after the mirror surface of the laser radar is polluted, and the accuracy of sensing signals can be influenced if the laser radar is polluted in the L3 automatic driving process, so that the driving safety risk is caused.

The current general scheme that adopts is that after the laser radar discerned the mirror surface and pollutes, can withdraw from the autopilot mode, can show alarm signal on the instrument, and suggestion driver carries out laser radar and cleans, needs the driver to get off the bus and cleans.

In order to improve the cleaning convenience of the laser radar, a laser radar observation cleaning device can be arranged, but the size and working window of the laser radar are different due to different types and specifications of the laser radar, for example, a semi-arc structure, a plane structure and the like; the cleaning device used therein is not universal.

A window cleaning apparatus as disclosed in CN 218424358U. The semi-arc window is provided with a guide rail, the shape of the guide rail is matched with that of the window, and the brush bar is driven by the transmission assembly and the driving mechanism to move along the guide rail so as to clean the window.

A lidar cleaning device and lidar system as disclosed in CN 213240500U. The brushing assembly is connected with a driving assembly arranged on the fixing seat, and the driving assembly is used for driving the brushing assembly to make relative movement with the laser radar so that the brushing assembly brushes the laser radar; the fixing seat and the spray head support play a role in guiding spray washing.

The existing laser radar cleaning device needs to be provided with complex guide structures so as to enable the cleaning assembly to be matched with the shape of a window, and different guide structures need to be designed for laser radars with different types and specifications; therefore, the existing cleaning device is complex in structure and poor in universality, so that the use cost of the laser radar and the intelligent driving technology is high.

Disclosure of Invention

The invention aims to provide a laser radar cleaning device, a laser radar system and a vehicle, which solve the problem of universality of the laser radar cleaning device, enable the laser radar cleaning device to be matched with laser radars of different types and specifications, and reduce the use cost of the laser radars.

The invention provides the following scheme: in one aspect, the invention features a lidar cleaning device that includes a cleaning assembly, a drive assembly, and a follower support,

the cleaning component is arranged along the surface of the laser radar mask;

the driving component is fixedly arranged relative to the laser radar;

the follow-up bracket is connected between the cleaning assembly and the driving assembly;

the follow-up support is provided with a telescopic adjusting structure.

The driving assembly drives the follow-up support to rotate around the driving assembly, the cleaning assembly is driven to clean the laser radar mask, and the telescopic adjusting structure adjusts the relative positions of the cleaning assembly and the driving assembly, so that the laser radar mask is always clung to the cleaning assembly in the moving process.

Preferentially, the cleaning component is arranged on one side of the laser radar, and the driving component is arranged on the other side of the laser radar;

the follow-up bracket comprises a first bracket and a second bracket which are connected between the cleaning component and the driving component;

the first bracket and the second bracket are respectively positioned at the upper part and the lower part of the laser radar.

The telescopic adjusting structure comprises

One end of the first connecting shaft is fixedly connected with the cleaning component;

one end of the second connecting shaft is sleeved with the first connecting shaft, and the other end of the second connecting shaft is fixedly connected with the driving assembly;

the elastic connecting piece is arranged at the sleeving part of the first connecting shaft and the second connecting shaft;

one end of the elastic connecting piece is connected with the first connecting shaft, and the other end of the elastic connecting piece is connected with the second connecting shaft.

The cleaning assembly includes

The first driving module is fixedly connected with the follow-up bracket;

the first rotating shaft is connected with the output shaft of the first driving module;

the cleaning brush is sleeved outside the first rotating shaft and is fixedly connected with the first rotating shaft;

the first bearing is rotationally connected with one end of the first rotating shaft and is also fixedly connected with one end of the first bracket;

the second bearing is rotationally connected with the other end of the first rotating shaft and is fixedly connected with one end of the second bracket.

The drive assembly includes

The second driving module is fixedly arranged relative to the laser radar;

the second rotating shaft is connected with the output shaft of the second driving module;

the adjusting sleeve is sleeved outside the second rotating shaft;

the other end of the first support is connected to a second rotating shaft which is positioned at the upper end part of the tight adjustment sleeve, and the other end of the second support is connected to the second rotating shaft which is positioned at the lower end part of the tight adjustment sleeve.

Preferentially, the other end of the first bracket is sleeved on the second rotating shaft, and the other end of the second bracket is fixedly connected to the second rotating shaft.

The drive assembly further comprises

The third bearing is rotationally connected with one end of the second rotating shaft;

the fourth bearing is rotationally connected to a second rotating shaft at the lower part of the second bracket;

the first fixing frame is fixedly connected with the third bearing;

the second fixing frame is fixedly connected with the fourth bearing.

Preferably, the cleaning assembly further comprises a first connecting plate fixedly connected between the first driving module and the second bracket;

the driving assembly further comprises a second connecting plate, and the second connecting plate is fixedly connected between the second driving module and the second fixing frame.

In a second aspect, the invention features a lidar system that includes a lidar assembly and a lidar cleaning device of the above-described construction.

In a third aspect, the present invention features a vehicle including a lidar system of the above-described construction.

When detecting that the surface of the laser radar system has pollutants or radar detection errors or exceeds the preset cleaning time, the laser radar system starts a laser radar cleaning device, and laser radar cleaning can be realized without operation of a driver. The operation and setting of the laser radar cleaning device can be integrated into the vehicle-mounted central control, and the cleaning period of the laser radar can be automatically set by a system or manually set by a driver according to the use environment, the vehicle driving mileage and the like.

Compared with the prior art, the invention has the following advantages: the invention can be matched with different types of laser radar systems, and after the laser radar window is polluted, the laser radar window is cleaned by the cleaning device, so that the universality of the cleaning device on the laser radar is strong, and the use cost and risk of the laser radar are reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an embodiment of a laser radar cleaning device according to the present invention.

Fig. 2 is a schematic structural view of an embodiment of the driving assembly of the present invention.

FIG. 3 is a schematic view of one embodiment of a cleaning assembly of the present invention.

Fig. 4 is a schematic diagram of a connection structure between the first shaft and the first and second bearings in the embodiment shown in fig. 3.

Fig. 5 is a side view of the embodiment of fig. 4.

Fig. 6 is a schematic structural diagram of an embodiment of the lidar system of the present invention.

Fig. 7 is a side view of the structure of the embodiment shown in fig. 6.

Fig. 8 is a schematic structural diagram of another embodiment of the lidar system of the present invention.

Fig. 9 is a schematic structural view of the telescopic adjusting structure of the present invention when the telescopic adjusting structure is a connecting rod.

In the drawing of the figure,

1. cleaning assembly

101. First drive module 102, first rotating shaft 103, cleaning brush 104, first bearing 105, second bearing 106, first connecting plate

2. Follow-up support

201. First bracket 202, second bracket

2011. First connecting shaft 2012, second connecting shaft 2013, elastic connecting member 2014, connecting rod

3. Driving assembly

301. A second driving module 302, a second rotating shaft 303, an adjusting sleeve 304 and a third bearing

305. Fourth bearing 306, first mount 307, second mount 308, second connection plate

4. Laser radar assembly

5. And (5) an assembly bracket.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, 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.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Example 1

1-3, the invention discloses a laser radar cleaning device, which comprises a cleaning assembly 1, a driving assembly 3 and a follow-up bracket 2;

the cleaning component 1 is arranged along the surface of the laser radar mask, the cleaning module of the cleaning component 1 is closely abutted against the window of the laser radar, and the cleaning component 1 comprises a cleaning brush and/or a spray head and/or a brush strip for spraying cleaning agent, etc.

The driving component 3 is fixedly arranged relative to the laser radar; the driving component 3 is arranged at one side away from the laser radar window; the drive assembly 3 may be electrically or hydraulically driven.

The following bracket 2 is connected between the cleaning assembly 1 and the driving assembly 3; the follow-up support 2 is driven by the driving component 3, and then the cleaning component 1 is driven by the follow-up support 2 to move along the surface of the laser radar mask.

The follow-up support 2 is provided with a telescopic adjusting structure. The telescopic adjusting structure can be a sleeve or connecting rod structure and is used for adjusting the relative distance between the cleaning assembly 1 and the driving assembly 3, the telescopic adjusting structure has a moment for enabling the follow-up support 2 to be always stretched or contracted, and the cleaning assembly 1 connected with the follow-up support 2 has an external force for enabling the cleaning assembly 1 to be always abutted against a laser radar window.

Example(s)

When the telescopic adjustment structure is a connecting rod structure, the telescopic adjustment structure enables the following support 2 to keep a contracted or stretched moment, as shown in fig. 9, the telescopic adjustment structure is a quadrilateral structure, and the quadrilateral structure is diagonally connected with an elastic force for enabling the following support 2 to keep contracted or stretched, for example, when the telescopic adjustment structure is a compression spring, the moment for enabling the following support 2 to stretch is provided, and when the telescopic adjustment structure is a tension spring, the moment for enabling the following support 2 to contract is provided.

Specifically, the quadrilateral structure is a equilateral quadrilateral, four sides are connecting rods, and the diagonal positions of the connecting rods are pivotally connected with the shafts; springs or rubber ropes are arranged at opposite corners.

When the following support 2 is kept stretched, the cleaning component 1 connected to one end of the following support 2 and the driving component 3 connected to the other end are positioned on the same side of the laser radar, and the following support 2 has stretching and extending thrust, so that the cleaning component 1 can be pushed to be abutted against the external force on the surface of the laser radar mask.

When the following support 2 keeps contracting, the cleaning component 1 and the driving component 3 are positioned at two sides of the laser radar, and the following support 2 has contracting thrust and also has external force capable of pushing the cleaning component 1 to be abutted against the surface of the laser radar mask.

The follow-up support 2 and the telescopic adjusting structure have flexible and various structures, so that the cleaning assembly 1 can keep the close position with the surface to be cleaned in the movement of the relative driving assembly 3 and the laser radar, and cleaning is convenient.

Example two

The cleaning component 1 is arranged on one side of the laser radar, and the driving component 3 is arranged on the other side of the laser radar; the following support 2 keeps contracting at this time, the following support 2 connects the cleaning component 1 and the driving component 3 and spans the laser radar, and the following support 2, the driving component 3 and the cleaning component 1 form an n-shaped arrangement structure.

The structure is suitable for a small laser radar and has a protective effect on two sides of the laser radar.

Illustratively, the following support 2 may also form a mouth-shaped arrangement with the driving assembly 3 and the cleaning assembly 1, the following support 2 comprising a first support 201 and a second support 202 connected between the cleaning assembly 1 and the driving assembly 3;

the first and second brackets 201 and 202 are located at the upper and lower portions of the lidar, respectively.

The laser radar is cleaned, and the upper part, the lower part and the two sides of the laser radar are protected.

Example III

When the telescopic adjusting structure is a sleeved telescopic structure, such as a sleeve structure. The telescopic adjustment structure includes a first connecting shaft 2011, a second connecting shaft 2012 and an elastic connecting member 2013,

one end of the first connecting shaft 2011 is fixedly connected with the cleaning assembly 1;

one end of a second connecting shaft 2012 is sleeved with the first connecting shaft 2011, and the other end of the second connecting shaft 2012 is fixedly connected with the driving assembly 3;

an elastic connecting piece 2013 is arranged at the sleeving part of the first connecting shaft 2011 and the second connecting shaft 2012;

one end of the elastic connection member 2013 is connected to the first connection shaft 2011, and the other end is connected to the second connection shaft 2012, as shown in fig. 1-5.

The elastic connecting piece 2013 of the structure is arranged in the telescopic adjusting structure, one end of the first connecting shaft 2011 is coaxially sleeved outside one end of the second connecting shaft 2012, and the elastic connecting piece 2013 is hidden in a cavity of the first connecting shaft 2011 or the second connecting shaft 2012; the first connecting shaft 2011 and the second connecting shaft 2012 have guiding and connecting functions for extension and contraction.

When the elastic connection member 2013 is a tension spring, there is a tension force that contracts along the axis between the first connection shaft 201 and the second connection shaft 2012, and this structure is suitable for the solution when the cleaning assembly 1 and the driving assembly 3 are disposed on two sides of the laser radar.

When the cleaning component 1 moves along the laser radar housing, the cleaning component is matched with the outline of a laser radar window; for example, when the cleaning component 1 passes through the convex surface outside the laser radar window, the laser radar window acts on the cleaning component 1, so that the cleaning component 1 drives the first connecting shaft 2011 connected with the cleaning component to overcome the pressure of the tension spring, and the second connecting shaft 2012 stretches relatively, so that the cleaning component 1 moves to a position close to the laser radar window, and along with the change of the appearance of the laser radar window, the telescopic adjusting structure moves, so that the cleaning component 1 keeps a set cleaning position relative to the laser radar window to match with the laser radars with different profiles.

Example IV

The cleaning assembly 1 and the driving assembly 3 are of an electric driving structure, in particular,

as shown in fig. 4 and 5, the cleaning assembly 1 includes a first driving module 101, a first rotating shaft 102, a cleaning brush 103, a first bearing 104, and a second bearing 105;

the first driving module 101 is fixedly connected with the following bracket 2;

the first rotating shaft 102 is connected with the output shaft of the first driving module 101;

the cleaning brush 103 is sleeved outside the first rotating shaft 102 and is fixedly connected with the first rotating shaft 102;

the first bearing 104 is rotatably connected with one end of the first rotating shaft 102, and the first bearing 104 is also fixedly connected with one end of the first bracket 201;

the second bearing 105 is rotatably connected to the other end of the first rotating shaft 102, and the second bearing 105 is fixedly connected to one end of the second bracket 202.

The drive assembly 3 comprises a second drive module 301, a second spindle 302 and an adjustment sleeve 303,

the second driving module 301 is fixedly arranged relative to the laser radar;

the second rotating shaft 302 is connected with the output shaft of the second driving module 301;

the adjusting sleeve 303 is sleeved outside the second rotating shaft 302;

the other end of the first bracket 201 is connected to a second rotating shaft 302 which is positioned at the upper end part of the close-fitting adjusting sleeve 303, and the other end of the second bracket 202 is connected to the second rotating shaft 302 which is positioned at the lower end part of the close-fitting adjusting sleeve 303.

The first driving module 101 and the second driving module 301 are both motors; an output shaft of the first driving module 101 is connected with the first rotating shaft 102, and the cleaning brush 103 is sleeved outside the first rotating shaft 102 and can be fixed through a detachable structure such as clamping or bonding; the first bearing 104, the second bearing 105 and the first rotating shaft 102 are rotatably arranged, the first rotating shaft 102 and the cleaning brush 103 are driven by the first driving module 101 to rotate, and the cleaning brush 103 is utilized to clean the laser radar window.

An output shaft of the driving assembly 3 is connected with the lower end of the second rotating shaft 302, an adjusting sleeve 303 is detachably fixed on the second rotating shaft 302, and the second bracket 202/the second bracket 202 and the first bracket 201 are fixedly connected with the adjusting sleeve 303; the driving component 3 drives the second rotating shaft 302, and the second rotating shaft 302 drives the second bracket 202/the second bracket 202 and the first bracket 201 which are fixedly connected with the adjusting sleeve 303 to move, so that the cleaning position of the cleaning component 1 is changed.

The drive assembly 3 further comprises

A third bearing 304 rotatably connected to one end of the second rotating shaft 302;

a fourth bearing 305 rotatably coupled to the second rotating shaft 302 at the lower portion of the second bracket 202;

the first fixing frame 306 is fixedly connected with the third bearing 304;

the second fixing frame 307 is fixedly connected with the fourth bearing 305.

The cleaning assembly 1 further comprises a first connection plate 106, wherein the first connection plate 106 is fixedly connected between the first driving module 101 and the second bracket 202;

the driving assembly 3 further includes a second connection plate 308, and the second connection plate 308 is fixedly connected between the second driving module 301 and the second fixing frame 307.

When assembled:

step one: interference fitting the cleaning brush 103 with the first shaft 102;

step two: interference-connecting the first bearing 104 with the first bracket 201;

step three: interference connecting the second bearing 105 with the second bracket 202;

step four: the third bearing 304 is in interference connection with the first fixing frame 306;

step five: the fourth bearing 305 is in interference connection with the second fixing frame 307;

step six: connecting the combination of the fourth step and the fifth step to the adjusting sleeve 303 and the second rotating shaft 302;

step seven: fixing the first driving module 101 on the combination of the second step;

step eight: axially interference-fitting the bearing in the combined body in the seventh step with the combined body in the first step;

step nine: fixing the second driving module 301 to the second fixing frame 307 on the combination of the step six;

step ten: fixing the elastic connection 2013 to the combination of the step nine;

step eleven: connecting the combination of the step ten and the combination of the step eight and the combination of the step three together through a spring (elastic connecting piece 2013);

step twelve: and (3) fixing the combination body in the step eleven and the laser radar according to the constraint position to finish assembly.

The second driving module 301 drives the adjusting sleeve 303 to rotate, the adjusting sleeve 303 drives the first support 201/second support 202 to move, the cleaning brush 103 fixed on the first rotating shaft 102 between the first support 201/second support 202 is tightly attached to the surface of the laser radar due to the action of the spring force, in the process, the first driving module 101 drives the first rotating shaft 102 to rotate, and the cleaning brush 103 can synchronously rotate due to interference fit between the first rotating shaft 102 and the cleaning brush 103, so that the cleaning brush 103 completes cleaning of the laser radar under the combined action of the second driving module 301 and the first driving module 101.

Example five

Based on the fourth embodiment, the improvement is that the other end of the first bracket 201 is sleeved on the second rotating shaft 302, and the other end of the second bracket 202 is fixedly connected to the second rotating shaft 302. A sufficient margin is provided between the third bearing 304 and the adjustment sleeve 303, and the first bracket 201 can be adjusted in position along the second rotation axis 302 as required.

It is necessary to change the position of the first holder 201 according to the setting of the adjusting sleeve 303 of different lengths so as to adjust the relative positions of the first holder 201 and the second holder 202, and to allow the cleaning brush 103 of different lengths to be set on the first rotation shaft 102 between the first holder 201 and the second holder 202 according to the thickness of the laser radar window.

The telescopic adjusting structure matched with the first support 201 can adjust along the axis of the first support 201, and the structure can be used for adjusting the direction perpendicular to the axis of the first support 201, so that the cleaning assembly 1 has a better cleaning effect.

Example six

As shown in fig. 6-8, the invention discloses a laser radar system, which comprises a laser radar assembly 4 and a laser radar cleaning device with the structure, wherein the laser radar assembly 4 is fixed on an assembly bracket 5 according to the figure, and the laser radar assembly 4 is fixed at a corresponding position of a vehicle through the assembly bracket 5. Fig. 6-7 are examples of radar window cleaning positions of the laser radar cleaning device to the arcuate surface, and fig. 8 is an example of radar window cleaning positions of the laser radar cleaning device to the planar surface.

Example seven

The invention discloses a vehicle, which comprises a laser radar system with the structure; through laser radar cleaning device's improvement, promote laser radar system's reliability in utilization and convenience, reduce the use cost of taking intelligent driving function vehicle.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A lidar cleaning device, comprising

A cleaning component (1) arranged along the surface of the laser radar mask;

the driving assembly (3) is fixedly arranged relative to the laser radar;

a follow-up bracket (2) connected between the cleaning assembly (1) and the driving assembly (3);

the follow-up support (2) is provided with a telescopic adjusting structure.

2. The lidar cleaning device of claim 1,

the cleaning component (1) is arranged on one side of the laser radar, and the driving component (3) is arranged on the other side of the laser radar;

the follow-up support (2) comprises a first support (201) and a second support (202) which are connected between the cleaning assembly (1) and the driving assembly (3);

the first bracket (201) and the second bracket (202) are respectively positioned at the upper part and the lower part of the laser radar.

3. The lidar cleaning device of claim 1 or 2, wherein the telescoping adjustment structure comprises

A first connecting shaft (2011), one end of which is fixedly connected with the cleaning component (1);

one end of the second connecting shaft (2012) is sleeved with the first connecting shaft (2011), and the other end of the second connecting shaft is fixedly connected with the driving assembly (3);

an elastic connecting piece (2013) arranged at the sleeving part of the first connecting shaft (2011) and the second connecting shaft (2012);

one end of the elastic connecting piece (2013) is connected with a first connecting shaft (2011), and the other end of the elastic connecting piece is connected with the second connecting shaft (2012).

4. The lidar cleaning device according to claim 2, wherein the cleaning assembly (1) comprises

The first driving module (101) is fixedly connected with the follow-up bracket (2);

a first rotary shaft (102) connected with an output shaft of the first driving module (101);

the cleaning brush (103) is sleeved outside the first rotating shaft (102) and is fixedly connected with the first rotating shaft (102);

the first bearing (104) is rotationally connected with one end of the first rotating shaft (102), and the first bearing (104) is fixedly connected with one end of the first bracket (201);

the second bearing (105) is rotationally connected with the other end of the first rotating shaft (102), and the second bearing (105) is fixedly connected with one end of the second bracket (202).

5. Lidar cleaning device according to claim 4, characterized in that the drive assembly (3) comprises

The second driving module (301) is fixedly arranged relative to the laser radar;

the second rotating shaft (302) is connected with the output shaft of the second driving module (301);

the adjusting sleeve (303) is sleeved outside the second rotating shaft (302);

the other end of the first support (201) is connected to a second rotating shaft (302) which is positioned at the upper end part of the close-fitting adjusting sleeve (303), and the other end of the second support (202) is connected to the second rotating shaft (302) which is positioned at the lower end part of the close-fitting adjusting sleeve (303).

6. The laser radar cleaning device according to claim 5, wherein the other end of the first bracket (201) is sleeved on the second rotating shaft (302), and the other end of the second bracket (202) is fixedly connected to the second rotating shaft (302).

7. Lidar cleaning device according to claim 5 or 6, characterized in that the drive assembly (3) further comprises

The third bearing (304) is rotationally connected with one end of the second rotating shaft (302);

a fourth bearing (305) rotatably connected to a second rotating shaft (302) at the lower part of the second bracket (202);

the first fixing frame (306) is fixedly connected with the third bearing (304);

and the second fixing frame (307) is fixedly connected with the fourth bearing (305).

8. The lidar cleaning device of claim 7,

the cleaning assembly (1) further comprises a first connecting plate (106), wherein the first connecting plate (106) is fixedly connected between the first driving module (101) and the second bracket (202);

the driving assembly (3) further comprises a second connecting plate (308), and the second connecting plate (308) is fixedly connected between the second driving module (301) and the second fixing frame (307).

9. A lidar system comprising a lidar assembly (4), characterized by further comprising a lidar cleaning device according to any of claims 1 to 8.

10. A vehicle comprising the lidar system of claim 9.