A lidar snow removal device

Abstract

This invention provides a lidar snow removal device, belonging to the field of autonomous driving assistance technology. The device includes an interface system, a fan system, an airflow guiding system, and a heating system. The interface system includes a lidar mounting housing and a slide rail. The fan system includes a circuit board, a DC motor, and a fan housing, which is mounted on the upper part of the lidar mounting housing via the slide rail. The airflow guiding system includes an air duct and an air duct flange. The air duct is mounted on one end of the fan housing via the air duct flange, guiding the airflow from top to bottom to the front of the lidar lens. The heating system includes a lidar heating plate, which is mounted on the upper part of the lidar mounting housing. This device can reduce the probability of particle suspension and adhesion in front of the lens, while providing heating for the near-field environment of the lidar sensor.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving assistance technology, and in particular to a lidar snow removal device for snowy weather. Background Technology

[0002] Autonomous driving technology integrates multiple technologies, including sensors, localization and deep learning, high-precision mapping, path planning, obstacle detection and avoidance, mechanical control, system integration and optimization, energy consumption and heat dissipation management, and more. Autonomous vehicles involve high-precision mapping, real-time localization, and obstacle detection, all of which rely heavily on LiDAR (Light Detection and Ranging). With technological advancements, the cost of LiDAR is gradually decreasing, making it an inevitable choice as a crucial data source for autonomous driving.

[0003] LiDAR (Light Detection and Ranging) works by first emitting a laser beam at a target object and then determining the actual distance to the target object based on the time interval between reception and reflection. Then, based on the distance and the angle of laser emission, the object's position information can be derived through simple geometric transformations. In such an application environment, the most fundamental requirement is the normal acquisition of point cloud data, i.e., the normal operation of the LiDAR sensor. Secondly, minimizing interference from non-target objects in the point cloud data is also of paramount importance.

[0004] However, lidar still suffers from interference from the external environment, especially in extreme weather conditions such as severe cold and snow. Normal operation of lidar is challenged by both snow noise and extremely low outdoor temperatures. To ensure that lidar can minimize snowfall and withstand low temperatures even in extreme weather, and to reduce noise in the point cloud data obtained during map reconstruction while operating normally, it is necessary to blow away snow in front of the lidar lens. Simultaneously, a heating device is needed to maintain the near-field temperature of the lidar within its normal operating temperature range.

[0005] Therefore, the present invention provides a snow removal heater for lidar in extremely harsh environments. Summary of the Invention

[0006] This invention addresses the challenges of insufficient technical support in scenarios such as snowfields and forest ski slopes, making it difficult to meet the normal operating requirements of lidar in similar conditions. It also addresses issues such as lidar sensor malfunction due to prolonged low temperatures, point cloud data loss caused by snow adhering to the lens, and the impact of snow on point cloud data acquisition within the lidar's field of view. The invention provides a lidar snow removal device that solves the working conditions of lidar in extreme and harsh environments, thereby enabling successful map reconstruction based on 3D point cloud data and reducing the impact of extreme and harsh environments on map reconstruction.

[0007] The device includes an interface system, a fan system, an airflow guiding system, and a heating system. The interface system includes a lidar mounting housing and a slide rail. The fan system includes a circuit board, a DC motor, and a fan housing, which is mounted on the upper part of the lidar mounting housing via the slide rail. The airflow guiding system includes an air duct and an air duct flange, with the air duct mounted on one end of the fan housing via the air duct flange, guiding the fan airflow from top to bottom to the front of the lidar lens. The heating system includes a lidar heating plate, which is mounted on the upper part of the lidar mounting housing.

[0008] The lidar is housed inside a fixed housing, with an opening on the front of the housing exposing the lidar sensor lens.

[0009] An air duct is arranged above the lens of the lidar sensor, with the opening of the air duct parallel to the lens of the lidar sensor.

[0010] The radar heating plate is L-shaped. One side of the L-shape is placed between the upper surface of the lidar mounting housing and the lower surface of the fan housing, while the other side covers the back of the lidar mounting housing to maintain the normal operating temperature of the lidar.

[0011] The bottom of the lidar mounting housing has pre-drilled threaded holes for secure installation on a vehicle.

[0012] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0013] In the above solution, snow removal utilizes a DC motor-driven fan to generate airflow in front of the lidar lens. A guide tube directs this airflow, blowing away snow and other debris in the near-field of the lidar lens, minimizing the impact of near-field noise on lidar point cloud data acquisition. Simultaneously, this invention considers low-temperature operating conditions in extreme environments by using a polyimide heating element to directly heat the lidar's casing, maintaining the near-field temperature within the normal operating range. This prevents sudden shutdown of the lidar sensor due to extreme low temperatures. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the lidar snow removal device of the present invention;

[0015] Figure 2 This is a top-view schematic diagram of the laser radar snow removal device of the present invention;

[0016] Figure 3 This is a schematic diagram of the air duct structure of the lidar snow removal device of the present invention, wherein (a) is the front view and (b) is the side view;

[0017] Figure 4This is a rear view of the lidar snow removal device of the present invention.

[0018] Wherein: 1-LiDAR mounting housing; 2-LiDAR heating plate; 3-Fan housing; 4-Air duct; 5-Air duct flange; 6-Fan air inlet; 7-LiDAR. Detailed Implementation

[0019] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0020] This invention provides a lidar snow removal device for snowy weather.

[0021] like Figure 1 , Figure 2 and Figure 4 As shown, the device includes an interface system, a fan system, an airflow guiding system, and a heating system. The interface system includes a lidar mounting housing 1 and a slide rail. The fan system includes a circuit board, a DC motor, and a fan housing 3. The fan housing 3 is mounted on the upper part of the lidar mounting housing 1 via the slide rail. The airflow guiding system includes an air duct 4 and an air duct flange 5. The air duct 4 is mounted on one end of the fan housing 3 via the air duct flange 5, and the airflow is guided from top to bottom to the front of the lidar lens 7 via the air duct 4. The heating system includes a lidar heating plate 2, which is mounted on the upper part of the lidar mounting housing 1.

[0022] like Figure 1 A lidar 7 is arranged inside the lidar mounting housing 1. The lidar mounting housing 1 has an opening on the front, exposing the lidar sensor lens.

[0023] An air duct 4 is arranged above the lidar sensor lens, with its opening parallel to the lidar sensor lens. Airflow enters through the fan inlet 6 on the other side of the fan housing.

[0024] The heating plate 2 is L-shaped. One side of the heating plate 2 is placed between the upper surface of the lidar mounting housing and the lower surface of the fan housing, and the other side of the L-shape covers the back of the lidar mounting housing 1 to maintain the normal operating temperature of the lidar.

[0025] The bottom of the lidar mounting housing 1 has a pre-drilled threaded hole for fixing and mounting on a vehicle.

[0026] In the specific design, the lidar mounting housing 1 is designed with threaded holes for mating with the vehicle body or the fuselage of the drone and mating inner holes for mating with the heating system and the fan system. The assembly design of lidar with snow removal heater and its equipment carrier is realized directly through the lidar mounting housing 1.

[0027] The fan housing provides positioning support for the DC motor that drives the fan, ensuring that it remains relatively fixed in the lidar snow removal heater system. It also provides a positioning interface for the lidar mounting housing and a flange interface for the flow guiding system for assembly with the flow guiding system.

[0028] The airflow guidance system directs the fan airflow to clear near-field snow and other irrelevant targets. The heating system's radar heating plate consists of heating elements and a radar cover. The heating elements are attached to the radar cover by adhesive. The radar cover is in direct contact with the lidar mounting housing of the interface system and the fan housing of the fan system, and is connected by bolts.

[0029] The lidar housing has mounting slots for the aforementioned heating elements, allowing direct contact between the heating elements and the lidar's upper surface for heat exchange. This provides thermal support and prevents the lidar from malfunctioning due to low temperatures in extreme environments. Furthermore, these mounting slots also secure the heating elements, preventing them from falling off and affecting normal heating in the strong vibrations of vehicle or airborne environments.

[0030] The lidar mounting housing has a cable entry point for the lidar data transmission line. This ensures normal data transmission and recording while using a 3D printed material that is more flexible than metal, providing a buffer against local vibrations.

[0031] The fan system in this invention has a simple structure, requiring only a power cord connection in a vehicle environment. It also features a fan housing with an opening on one side, facilitating the assembly of the DC motor and its fan structure with the overall system. The fan housing provides interfaces for the lidar mounting housing and lidar cover, allowing for secure fastening with bolts, ensuring a tight fit and stability for attached components such as the heating element.

[0032] The airflow guiding system's flange interface has four bolt connections to the fan housing. This simple structure allows for step-by-step assembly. Furthermore, the four circular holes at the flange interface and fan housing, tightened by bolt preload, effectively prevent air leakage to the outside, improving airflow efficiency. The airflow guiding system also includes square spaces at the bolt holes for easy insertion of nuts and tightening during assembly. Figure 3 The air duct of the air guiding system adopts a flat rectangular air outlet design, which is consistent with the width of the lidar lens, and concentrates the airflow to the near field range in front of the lidar lens.

[0033] During installation, because the solid-state lidar has a trapezoidal, stretched cuboid shape and a small upper area, it can be pushed into the mounting housing from bottom to top through the pre-drilled holes at the bottom. Simultaneously, the lidar's built-in threaded platform at the bottom can be bolted to the mounting housing platform to secure the lidar to the housing. The assembled lidar and its mounting housing can then be connected to the L-shaped lidar heating plate via the threaded holes at the top of the housing. Figure 1 As shown. The heating element is pre-attached to the L-shaped radar heating plate near the lidar using adhesive. Only the frame remains on the upper surface of the radar mounting housing, employing a hollow design. After installation, the heating element can directly contact the lidar. Simultaneously, the heating power supply circuit of the L-shaped radar heating plate is connected via... Figure 4 The back cover shown is connected to external power supply equipment to ensure that the lidar operates at normal operating temperature, thus extending its service life to a certain extent.

[0034] The fan system and airflow guiding system require the DC motor to be installed into the fan housing and secured with bolts. The fan housing has a pre-installed rear fan inlet to facilitate airflow introduction from the rear and top of the lidar. The fan system, controlled by the DC motor, propels the airflow forward. The airflow guiding system directs the forward-propelled airflow along the internal structure of the air duct, blowing it downwards to remove near-field debris such as snow from in front of the lidar lens, minimizing the impact of near-field noise on the lidar point cloud data acquisition.

[0035] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A laser radar snow removal device in snowy weather, characterized by, The interface system includes a laser radar fixed shell and a sliding rail, the fan system includes a circuit board, a direct current motor and a fan shell, the fan shell is installed on the upper part of the laser radar fixed shell through the sliding rail, the guide system includes a wind guide pipe and a wind guide pipe flange, the wind guide pipe is installed at one end of the fan shell through the wind guide pipe flange, and the fan air flow is guided from top to bottom to the front of the laser radar lens through the wind guide pipe; the heating system includes a radar heating plate, and the radar heating plate is installed on the upper part of the laser radar fixed shell; The radar heating plate is L-shaped, one side of the L-shaped radar heating plate is arranged between the upper surface of the laser radar fixed shell and the lower surface of the fan shell, and the other side covers the back surface of the laser radar fixed shell, and is used for maintaining the normal use temperature of the laser radar; The radar heating plate is pasted with a polyimide heating sheet; In the specific installation, the radar is pushed into the fixed shell from bottom to top through the reserved hole below the radar fixed shell, meanwhile, the threaded hole platform below the laser radar is bolted with the platform of the fixed shell to fix the laser radar in the fixed shell; the assembled laser radar and the fixed shell are connected with the L-shaped radar heating plate through the threaded hole above the shell; the heating sheet is fixed to the L-shaped radar heating plate close to the laser radar in advance by pasting, the upper surface of the radar fixed shell only retains a frame and adopts a hollow design, after installation, the heating sheet can directly contact the laser radar, meanwhile, the heating power supply line of the L-shaped radar heating plate is connected with the power supply equipment outside through the rear cover, so that the laser radar can work at a normal working temperature; the fan system and the guide system assemble the direct current motor into the fan shell and are fixed through bolts, meanwhile, the rear fan air inlet reserved in the fan shell introduces the air flow from the upper rear of the laser radar, and the air flow is pushed forward through the fan system controlled by the direct current motor; the guide system blows the air flow from top to bottom along the internal structure of the wind guide pipe, blows away the sundries in front of the laser radar lens, and reduces the influence of the near field noise on the collection of the laser radar point cloud data.

2. The laser radar snow removal device in snowy weather according to claim 1, characterized by, The laser radar is arranged in the laser radar fixed shell, and the front of the laser radar fixed shell is open to expose the laser radar sensor lens.

3. The laser radar snow removal device in snowy weather according to claim 2, characterized by, The wind guide pipe is arranged above the laser radar sensor lens, and the opening of the wind guide pipe is parallel to the laser radar sensor lens.

4. The laser radar snowplowing device according to claim 1, characterized by Threaded holes are reserved at the bottom of the laser radar fixed shell for fixed installation on a vehicle.

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