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Cleaning and protection integrated device of laser radar, cleaning control method thereof and cleaning system

A technology of laser radar and control method, which is applied in the direction of cleaning method using liquid, cleaning method using gas flow, cleaning method and utensils, etc. It can solve the problems of time-consuming and labor-intensive manual cleaning, large mining area, and reduced laser radar perception ability. , to achieve the effect of strong practicability, simple device structure and improved performance

Active Publication Date: 2019-12-20
SHANGHAI YIAO TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, if the radar mirror is blocked by foreign objects and the laser beam cannot be emitted normally, the perception ability of the lidar will be greatly reduced. At the same time, because the vehicle is driving in an outdoor environment, the radar mirror will inevitably be adhered by foreign objects such as dust and muddy water. Therefore, the cleaning of the radar has become particularly important
[0003] At present, the cleaning of lidar is basically carried out manually, but in many working conditions, such as unmanned vehicles driving on the highway, or lidar loaded on mine trucks, working in mining areas, or manual cleaning is not possible, Either the mining area is very large, and manual cleaning is time-consuming and laborious

Method used

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  • Cleaning and protection integrated device of laser radar, cleaning control method thereof and cleaning system
  • Cleaning and protection integrated device of laser radar, cleaning control method thereof and cleaning system
  • Cleaning and protection integrated device of laser radar, cleaning control method thereof and cleaning system

Examples

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Effect test

no. 1 example

[0074] In a first exemplary embodiment of the present disclosure, a laser radar integrated device for cleaning and protection is provided. In this embodiment, the lidar is set on the vehicle, and the cleaning and protection integrated device can solve the following technical problems existing in unmanned vehicles: the cleaning of the lidar is basically performed manually, but in many working conditions, such as unmanned Driving a vehicle on the highway, or loading the lidar on a mining vehicle to work in a mining area, either there is no condition for manual cleaning, or the mining area is very large, and manual cleaning is time-consuming and laborious. Of course, the laser radar cleaning and protection integrated device of the present disclosure is not only suitable for unmanned vehicles, but also suitable for cleaning other vehicles. In addition, the laser radar is not limited to being installed on vehicles, but can also be installed on other objects .

[0075] figure 1 It...

no. 2 example

[0096] In a second exemplary embodiment of the present disclosure, a cleaning system including a lidar integrated cleaning and protection device is provided.

[0097] Figure 8 It is a block diagram of a cleaning control system according to an embodiment of the present disclosure.

[0098] refer to Figure 8 Shown, the cleaning system of the present embodiment includes:

[0099] LiDAR cleaning and protection integrated device;

[0100] High-pressure air source structure, the output end is connected to the water-air duct 115 of the cleaning and protection integrated device, and the first switch control valve 71 controls the on-off of the air circuit;

[0101] High-pressure water source structure, the output end is connected to the water-gas duct 115 of the cleaning and protection integrated device, and the second switch control valve 72 controls the on-off of the water circuit; and

[0102] The cleaning control system includes: a cleanliness monitoring module, used to monit...

no. 3 example

[0108] In a third exemplary embodiment of the present disclosure, a cleaning control method of the lidar integrated cleaning and protection device is provided.

[0109] Figure 9 It is a flowchart of a cleaning control method according to an embodiment of the present disclosure.

[0110] refer to Figure 9 As shown, the cleaning control method of the present embodiment includes:

[0111] Step S1: monitor the mirror surface cleanliness of the lidar sensor;

[0112] In this example, a cleanliness detection strategy based on the comparison of the mirror reflectance of the lidar sensor and the identification parameters of roadside objects is proposed. In addition, a regular cleaning strategy is added. The two sets of solutions improve the reliability of mirror cleanliness detection in parallel. .

[0113] In an embodiment of the present disclosure, the method for monitoring the cleanliness of the mirror surface of the lidar sensor includes: determining by the change of the ref...

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Abstract

The invention discloses a cleaning and protection integrated device of a laser radar, a cleaning control method thereof and a cleaning system. The cleaning and protection integrated device comprises aprotection support, a spray nozzle support and a spray nozzle, wherein the protection support is arranged on a radar support bottom seat, and comprises a protection plate structure located above thelaser radar, the radar support bottom seat is used for supporting the laser radar 10, the spray nozzle support is fixed below the protection plate structure, and provided with a plurality of extensionarms, the extension arms are distributed above the top of the laser radar in an encircling mode, the spray nozzle is fixed on the end portions of the extension arms, an inlet of the spray nozzle is connected with a water-gas passing pipe, and an outlet of the spray nozzle faces the laser radar so as to spray out gas or a water-gas mixture. The cleaning and protection integrated device of the laser radar achieves integrated function of cleaning, protection and supporting, is simple in structure and strong in practicability, can simultaneously meet cleaning of various laser radars, such as a cylindrical type laser radar and a bevel type laser radar, widely used at present, and greatly improves applicability of the cleaning device.

Description

technical field [0001] The disclosure belongs to the technical field of unmanned driving, and relates to a laser radar cleaning and protection integrated device, a cleaning control method and a system. Background technique [0002] Unmanned driving technology mainly includes perception and high-precision positioning, decision-making and path planning, and vehicle motion control. As the input of decision-making and path planning and vehicle motion control, perception and high-precision positioning are the prerequisites for unmanned driving, and the lidar sensor, as one of the core components of perception, is an indispensable component for realizing high-precision positioning. LiDAR can measure the shape, position, distance, etc. of the target by emitting a laser beam, thereby quickly creating a point cloud of the surrounding environment. However, if the radar mirror is blocked by foreign objects and the laser beam cannot be emitted normally, the perception ability of the li...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B5/02B08B3/02
CPCB08B3/02B08B5/02
Inventor 朱早贝李机智张磊吕金桐
Owner SHANGHAI YIAO TECH CO LTD
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