An automatic cleaning device for foreign matter on the surface of laser radar

Abstract

The embodiment of the present invention discloses an automatic cleaning device for foreign matter on the surface of a laser radar, comprising a support frame for supporting the laser radar, an electromagnet, a spring return piece, a magnetic element and a cleaning element for cleaning the laser radar, wherein one end of the electromagnet is fixed on the support frame, and the other end is connected to the spring return piece, and the other end of the spring return piece is connected to the cleaning element through the magnetic element. When the electromagnet is energized, the electromagnet generates a magnetic force to attract the magnetic element to move upward, and when the electromagnet is de-energized, the magnetic element can move downward under the action of the spring return piece. Whether the electromagnet is energized is controlled by a controller, and when the electromagnet is energized, the magnetic element is driven to move upward, and when the electromagnet is de-energized, the magnetic element is driven to move downward. Compared with the prior art, the embodiment of the present invention reduces the labor intensity of the staff, ensures the cleanliness of the laser emission point and the photoelectric sensor, and improves the measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the field of foreign matter cleaning, and in particular to an automatic cleaning device for foreign matter on the surface of a laser radar. Background Art

[0002] The principle of laser radar distance measurement is that the laser emits a beam of light, and after hitting the target object, the photons return, and the photoelectric sensor detects the returned signal, and then processes the signal to obtain distance information. In this process, if there is dust, fog, or other obstacles near the laser emission port or the photoelectric sensor receiving port, the laser will hit the obstacle after emission and cannot hit the target object in the distance, and the laser distance measurement function cannot be realized.

[0003] Currently, there is no cleaning device installed on the laser radar. The laser radar is generally used in the open air, which affects the measurement accuracy. The staff needs to clean it manually, which increases the workload and is inconvenient to use. Summary of the invention

[0004] In view of the above technical problems, an embodiment of the present invention provides an automatic cleaning device for foreign matter on the surface of a laser radar to solve the problems raised in the above background technology. The present invention is easy to use, easy to operate, has a good cleaning effect, and improves measurement accuracy.

[0005] A first aspect of an embodiment of the present invention provides an automatic cleaning device for foreign matter on the surface of a laser radar, comprising a support frame for supporting the laser radar, an electromagnet, a spring return piece, a magnetic element and a cleaning element for cleaning the laser radar, wherein one end of the electromagnet is fixed to the support frame, and the other end is connected to the spring return piece, and the other end of the spring return piece is connected to the cleaning element through the magnetic element. When the electromagnet is energized, the electromagnet generates a magnetic force to attract the magnetic element and move it upward, and when the electromagnet is de-energized, the magnetic element can move downward under the action of the spring return piece.

[0006] Optionally, the support frame is a side-mounted U-shaped frame, comprising a first horizontal baffle, a second horizontal baffle and a vertical baffle connecting the first horizontal baffle and the second horizontal baffle, wherein the bottom of the laser radar is fixed on the first horizontal baffle, and the electromagnet is fixed on the second horizontal baffle.

[0007] Optionally, the first horizontal baffle, the second horizontal baffle and the vertical baffle are all made of iron blocks.

[0008] Optionally, the cleaning element comprises two arc-shaped brush strips.

[0009] Optionally, the strip brush is a rubber brush, and the strip brush is fixed on the magnetic element by dispensing glue.

[0010] Optionally, it further includes a controller and a power supply, wherein the power supply is electrically connected to the controller and the electromagnet, and when the controller outputs a high level, the electromagnet is powered on, and when the controller outputs a low level, the electromagnet is powered off.

[0011] Optionally, the controller controls the frequency of energization of the electromagnet by controlling a duty cycle.

[0012] Optionally, the controller outputs a high level for a first preset time and then outputs a low level for a first preset time. After a preset period, the controller continues to output a high level and the electromagnet is energized.

[0013] Optionally, the magnetic element is an armature.

[0014] Optionally, the bottom of the laser radar is fixed to the first horizontal baffle by a nut.

[0015] In the technical solution provided by the embodiment of the present invention, a controller is used to control whether the electromagnet is energized. When the electromagnet is energized, the magnetic element is driven to move upward, and when the electromagnet is de-energized, the magnetic element is driven to move downward. Compared with the prior art, the embodiment of the present invention reduces the labor intensity of the staff, ensures the cleanliness of the laser emission point and the photoelectric sensor, improves the measurement accuracy, and solves the problem that the existing laser radar has no cleaning device installed, dust in the air is easily attached to the laser radar, affecting the measurement accuracy, and the staff manually cleans it, which is inconvenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of an embodiment of an automatic cleaning device for foreign matter on the surface of a laser radar according to the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] Please refer to Figure 1The structure diagram of an automatic cleaning device for foreign bodies on the surface of a laser radar of the present invention is shown. One embodiment of the present invention includes: a support frame 10 for supporting a laser radar 50, an electromagnet 20, a spring return member 30, a magnetic element 40 and a cleaning element 60 for cleaning the laser radar 50, wherein the entire laser radar 50 is placed in the support frame, one end of the electromagnet 20 is fixed to the upper part of the support frame 10, and the other end is connected to one end of the spring return member 20, and the other end of the spring return member 20 is connected to the cleaning element 60 through the magnetic element 40. After the electromagnet 20 is powered on, the electromagnet 20 generates a magnetic force to drive the magnetic element 40 to move upward through the spring return member 30, and the magnetic element 40 drives the cleaning element 60 to move upward. After the electromagnet 20 is powered off, the magnetic element 40 can move downward under the action of the spring return member 30, and the magnetic element 40 drives the cleaning element 60 to move downward. By controlling the electromagnet 20 to be intermittently powered on and off, the cleaning element 60 reciprocates up and down, and the cleaning element 60 automatically cleans the laser radar 50.

[0019] In one embodiment of the present invention, the support frame 10 is a side-mounted U-shaped support, and the U-shaped support includes a first horizontal baffle 11, a second horizontal baffle 13, and a vertical baffle 12 connected to the first horizontal baffle 11 and the second horizontal baffle 13. The first horizontal baffle 11 is placed on a horizontal plane, and the laser radar 50 is fixed on the first horizontal baffle 11. The vertical baffle 12 and the second horizontal baffle 13 protect the laser radar 50, reducing the laser radar 50 from dust pollution or cloud erosion in the external environment.

[0020] In one embodiment of the present invention, a fixing hole is provided on the first horizontal baffle 11, which is used to fix the radar at a specified position on the first horizontal baffle 11. The fixing hole can be a screw positioning hole. The screw is tightened upward on the column of the laser radar 50 through the screw positioning hole from the bottom of the first horizontal baffle 11 to fix the laser radar 50. The electromagnet 20 is fixed on the second horizontal baffle 13. In one embodiment, the first horizontal baffle 11, the second horizontal baffle 13 and the vertical baffle 12 are all made of iron blocks.

[0021] In one embodiment of the present invention, the cleaning element 60 is in close contact with the laser emission point of the laser radar 50 and the receiving point of the photoelectric sensor to clean the laser emission point and the receiving point of the photoelectric sensor. Considering that there are lenses in front of the laser emission point and the photoelectric sensor, and the lenses are circular, in order to achieve a better cleaning effect, the cleaning element 60 uses two arc-shaped brushes, and the size of the arc-shaped brushes is larger than the size of the lens, one for cleaning dust at the emission point, and the other for cleaning dust at the photoelectric sensor. In order to achieve a better cleaning effect, in one embodiment of the present invention, the strip brush is a rubber brush, and the arc-shaped brushes are pressed tightly against the laser emission point and the receiving point of the photoelectric sensor, and the arc-shaped brush is fixed to the magnetic element by dispensing.

[0022] The automatic cleaning device of the present invention further comprises a controller and a power supply, the power supply is electrically connected to the controller and the electromagnet 20, when the controller outputs a high level, the electromagnet 20 is powered on, when the controller outputs a low level, the electromagnet 20 is powered off. When the coil of the electromagnet 20 is connected to the power supply through the controller around the iron core, the port of the controller controls whether the electromagnet 20 is powered on by outputting high and low levels. When the port of the controller outputs a high level, the electromagnet 20 is connected to the power supply, and current flows through the coil of the electromagnet 20. Under the action of electromagnetic induction, the electromagnet 20 generates magnetic attraction to cause the magnetic element 40 to move upward, and the magnetic element 40 drives the cleaning element 60 to move upward, and the arc-shaped strip brush presses against the laser emission point and the photoelectric sensor receiving point and moves upward, cleaning the laser reflection point and the photoelectric sensor receiving point. When the port of the controller outputs a low level, the electromagnet 20 is disconnected from the power supply, no current flows through the coil of the electromagnet 20, the electromagnet 20 does not generate magnetism, the magnetic element 40 moves downward under the action of gravity, the previously compressed spring return member 30 is reset, and the spring return member 30 drives the magnetic element 40 to move downward under the action of the restoring elastic force, the magnetic element 40 drives the cleaning element 60 to move downward, and the arc-shaped strip brush presses the laser emission point and the photoelectric sensor receiving point and moves downward. The controller controls the cleaning element 60 to move upward and downward intermittently by intermittently outputting high and low levels, thereby realizing automatic cleaning of the laser emission point and the photoelectric sensor receiving point, with simple operation and high cleaning effect.

[0023] In order to control the frequency of the up and down movement of the cleaning element 60, the present invention controls the frequency of the power supply voltage of the electromagnet 20 by controlling the duty cycle of the controller. For example, the smaller the duty cycle, that is, the shorter the time when the controller outputs a high level, the shorter the time when the electromagnet 20 is powered, and the faster the frequency of the up and down movement of the cleaning element 60, the faster the cleaning speed can be.

[0024] In one embodiment of the present invention, the duty cycle is pre-set to a fixed value, so that the time of each high level and low level is fixed, that is, the frequency of the cleaning element 60 moving up and down is fixed. At the same time, a fixed number of pulses can be pre-set in the controller, that is, the time of each cleaning is fixed, which is convenient for operation. In order to ensure that each time the cleaning element 60 stops, it will not block the laser emission and the photoelectric sensor, the controller outputs a high level for a first preset time and then outputs a low level for a first preset time. After a preset cycle, the controller continues to output a high level, and the electromagnet 20 is energized. Or in the pulse waveform pre-stored in the controller, the last pulse maintains a high level, that is, the controller outputs a high level and a low level in sequence according to a preset time interval, and when the number of high levels is reached, the controller continues to output a high level, so that the cleaning element 60 finally moves upward and stops at a certain position under the drive of the magnetic element 40, thereby ensuring that the cleaning element 60 stops, The laser emission and the photoelectric sensor will not be blocked. In the above embodiments, the magnetic element 40 can be an armature. When the electromagnet 20 is powered on, it generates magnetism, attracts the armature to move upward, compresses the spring reset element 30, and drives the cleaning element 60 to move upward. When the electromagnet 20 is powered off, it does not generate magnetism, and the armature moves downward under the action of gravity. At the same time, the compressed elastic reset element 30 drives the armature to move downward in the process of restoring the original position, so that the cleaning element 60 moves downward.

[0025] The automatic cleaning device for foreign bodies on the surface of a laser radar of the present invention drives the armature to move up and down by an electromagnet, thereby reducing the labor intensity of the staff, ensuring the cleanliness of the laser emission point and the photoelectric sensor, improving the measurement accuracy, and solving the problem that the existing laser radar has no cleaning device installed, dust in the air is easy to adhere to the laser radar, affecting the measurement accuracy, and manual cleaning by the staff is inconvenient to use. The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic cleaning device for foreign matter on the surface of a laser radar, characterized in that: It includes a support frame for supporting the laser radar, an electromagnet, a spring return piece, a magnetic element and a cleaning element for cleaning the laser radar, one end of the electromagnet is fixed on the support frame, and the other end is connected to the spring return piece, and the other end of the spring return piece is connected to the cleaning element through the magnetic element. When the electromagnet is powered on, the electromagnet generates a magnetic force to attract the magnetic element to move upward, and when the electromagnet is powered off, the magnetic element can move downward under the action of the spring return piece; Also holding a controller and a power supply, the power supply is electrically connected to the controller and the electromagnet, the controller outputs a high level, the electromagnet is powered on, the controller outputs a low level, the electromagnet is powered off; The controller controls the frequency of energization of the electromagnet by controlling the duty cycle; The controller outputs a high level for a first preset time and then outputs a low level for a first preset time. After a preset period, the controller continues to output a high level, and the electromagnet is energized; The support frame is a side-mounted U-shaped frame, including a first horizontal baffle, a second horizontal baffle and a vertical baffle connecting the first horizontal baffle and the second horizontal baffle, wherein the bottom of the laser radar is fixed on the first horizontal baffle, and the electromagnet is fixed on the second horizontal baffle.

2. The automatic cleaning device for laser radar external foreign matter according to claim 1, characterized in that: The first horizontal baffle, the second horizontal baffle and the vertical baffle are all made of iron blocks.

3. The automatic cleaning device for laser radar external foreign matter according to claim 1, characterized in that: The cleaning element comprises two arc-shaped strip brushes.

4. The automatic cleaning device for laser radar external foreign matter according to claim 3 is characterized in that: The strip brush is a rubber brush, and the rubber brush is fixed on the magnetic element by glue dispensing.

5. The automatic cleaning device for laser radar external foreign matter according to claim 1, characterized in that: The magnetic element is an armature.

6. The automatic cleaning device for laser radar external foreign matter according to claim 1, characterized in that: The bottom of the laser radar is fixed on the first horizontal baffle through a nut.

Images