A lidar cleaning device, lidar system and vehicle

Abstract

This invention discloses a lidar cleaning device, a lidar system, and a vehicle. The lidar cleaning device includes a cleaning component, a driving component, and a follower bracket. The cleaning component is disposed along the surface of the lidar mask. The driving component is fixedly disposed relative to the lidar. The follower bracket is connected between the cleaning component and the driving component. The follower bracket is provided with a telescopic adjustment structure. The driving component drives the follower bracket to rotate and move around the driving component, thereby causing the cleaning component to clean the lidar mask. The telescopic adjustment structure adjusts the relative position of the cleaning component and the driving component, ensuring that the cleaning component remains in close contact with the lidar mask during movement. This invention can be matched with different types of lidar systems. After the lidar window is contaminated, the cleaning device cleans it. The cleaning device has strong versatility for lidar systems and reduces the cost and risk of lidar use.

Description

Technical Field

[0001] This invention relates to the field of automotive and lidar cleaning, and more particularly to a lidar cleaning device, lidar system, and vehicle. Background Technology

[0002] Currently, LiDAR is one of the sensor technologies used in L2+ and L3 level autonomous vehicles. Because LiDAR needs to be positioned at the front of the vehicle, contamination of its reflector can affect the sensor's recognition signal, posing a risk. Furthermore, in L3 autonomous driving, contamination of the LiDAR can impair the accuracy of the perception signal, leading to driving safety risks.

[0003] The current common approach is that after the lidar detects the contamination on the mirror surface, it will exit the autonomous driving mode and display an alarm signal on the instrument panel, prompting the driver to clean the lidar. The driver needs to get out of the vehicle to clean it.

[0004] To improve the ease of cleaning lidar, lidar inspection and cleaning devices can be installed. However, due to the different models and specifications of lidar, their sizes and working windows also differ, such as semi-circular structures and planar structures; therefore, the cleaning devices used are not universal.

[0005] For example, the window cleaning device disclosed in CN 218424358 U. A guide rail is set in a semi-circular window, and the guide rail matches the shape of the window. Then, a transmission component and a drive mechanism are used to drive the brush bar to move along the guide rail to clean the window.

[0006] For example, CN 213240500 U discloses a lidar cleaning device and lidar system. The washing assembly is connected to a drive assembly mounted on a fixed base. The drive assembly is used to drive the washing assembly to move relative to the lidar, so that the washing assembly can brush the lidar. The fixed base and nozzle bracket serve as guides for the spraying.

[0007] Current lidar cleaning devices require complex guide structures to match the shape of the cleaning components with the viewing window. Different models and specifications of lidar require different guide structures. As a result, existing cleaning devices are relatively complex in structure and have poor versatility, leading to high costs for lidar and intelligent driving technologies. Summary of the Invention

[0008] The purpose of this invention is to provide a lidar cleaning device, lidar system, and vehicle. This invention solves the problem of the universality of lidar cleaning devices, enabling lidar cleaning devices to be matched with different models and specifications of lidar, thereby reducing the cost of using lidar.

[0009] The present invention provides the following solution: In one aspect, the present invention describes a lidar cleaning device, including a cleaning component, a driving component, and a follower bracket.

[0010] The cleaning components are disposed along the surface of the lidar mask;

[0011] The driving component is fixed relative to the lidar;

[0012] The follower bracket is connected between the cleaning component and the drive component;

[0013] The follower bracket is equipped with a telescopic adjustment structure.

[0014] The drive component drives the follower bracket to rotate and move around the drive component, thereby driving the cleaning component to clean the lidar mask. The telescopic adjustment structure adjusts the relative position of the cleaning component and the drive component so that the cleaning component is always in close contact with the lidar mask during movement.

[0015] Preferably, the cleaning component is located on one side of the lidar, and the driving component is located on the other side of the lidar;

[0016] The follow-up support includes a first support and a second support connected between the cleaning component and the drive component;

[0017] The first bracket and the second bracket are located at the upper and lower parts of the lidar, respectively.

[0018] The telescopic adjustment structure includes

[0019] The first connecting shaft is fixedly connected at one end to the cleaning component;

[0020] The second connecting shaft has one end sleeved with the first connecting shaft and the other end fixedly connected to the drive assembly;

[0021] An elastic connector is provided at the joint between the first connecting shaft and the second connecting shaft;

[0022] One end of the elastic connector is connected to the first connecting shaft, and the other end is connected to the second connecting shaft.

[0023] The cleaning components include

[0024] The first drive module is fixedly connected to the follower bracket shown.

[0025] The first rotating shaft is connected to the output shaft of the first drive module;

[0026] A cleaning brush is fitted over the outside of the first rotating shaft and fixedly connected to the first rotating shaft.

[0027] The first bearing is rotatably connected to one end of the first rotating shaft, and the first bearing is also fixedly connected to one end of the first bracket;

[0028] The second bearing is rotatably connected to the other end of the first shaft, and the second bearing is also fixedly connected to one end of the second bracket.

[0029] The driving component includes

[0030] The second drive module is fixed relative to the lidar;

[0031] The second rotating shaft is connected to the output shaft of the second drive module;

[0032] An adjusting sleeve is fitted over the outside of the second rotating shaft;

[0033] The other end of the first bracket is connected to a second rotating shaft located close to the upper end of the adjusting sleeve, and the other end of the second bracket is connected to a second rotating shaft located close to the lower end of the adjusting sleeve.

[0034] Preferably, 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.

[0035] The drive component also includes

[0036] The third bearing is rotatably connected to one end of the second shaft;

[0037] The fourth bearing is rotatably connected to the second shaft at the lower part of the second bracket;

[0038] The first fixing frame is fixedly connected to the third bearing;

[0039] The second fixing bracket is fixedly connected to the fourth bearing.

[0040] Preferably, the cleaning assembly further includes a first connecting plate, which is fixedly connected between the first drive module and the second bracket;

[0041] The drive assembly also includes a second connecting plate, which is fixedly connected between the second drive module and the second mounting bracket.

[0042] Secondly, the present invention describes a lidar system, including a lidar assembly and a lidar cleaning device with the above-described structure.

[0043] Thirdly, the present invention describes a vehicle including a lidar system with the above-described structure.

[0044] When contaminants are detected on the surface of the lidar system, or when a radar detection error occurs, or when the preset cleaning time is exceeded, the lidar system activates the lidar cleaning device, enabling lidar cleaning without driver intervention. The operation and settings of the lidar cleaning device can be integrated into the vehicle's central control system, with the cleaning cycle automatically set by the system or manually set by the driver based on factors such as the usage environment and vehicle mileage.

[0045] Compared with the prior art, the present invention has the following advantages: the present invention can be matched with different types of lidar systems. After the lidar window is contaminated, it can be cleaned by a cleaning device. The cleaning device has strong versatility for lidar and also reduces the cost and risk of lidar use. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of one embodiment of the lidar cleaning device of the present invention.

[0048] Figure 2 This is a schematic diagram of the structure of one embodiment of the driving component of the present invention.

[0049] Figure 3 This is a schematic diagram of the structure of one embodiment of the cleaning component of the present invention.

[0050] Figure 4 for Figure 3 The schematic diagram shows the connection structure between the first rotating shaft, the first bearing, and the second bearing in the embodiment shown.

[0051] Figure 5 for Figure 4 Side view of the structure of the embodiment shown.

[0052] Figure 6 This is a schematic diagram of the structure of one embodiment of the lidar system of the present invention.

[0053] Figure 7 for Figure 6 A side view of the structure of the embodiment shown.

[0054] Figure 8 This is a schematic diagram of another embodiment of the lidar system of the present invention.

[0055] Figure 9This is a schematic diagram of the telescopic adjustment structure of the present invention when it is a connecting rod.

[0056] In the diagram,

[0057] 1. Cleaning components

[0058] 101. First drive module; 102. First rotating shaft; 103. Cleaning brush; 104. First bearing; 105. Second bearing; 106. First connecting plate.

[0059] 2. Follow-up support

[0060] 201. First support; 202. Second support

[0061] 2011, First connecting shaft; 2012, Second connecting shaft; 2013, Elastic connector; 2014, Connecting rod.

[0062] 3. Driver components

[0063] 301, Second drive module; 302, Second rotating shaft; 303, Adjusting sleeve; 304, Third bearing.

[0064] 305, Fourth bearing; 306, First fixing bracket; 307, Second fixing bracket; 308, Second connecting plate.

[0065] 4. LiDAR Assembly

[0066] 5. Assembly bracket. Detailed Implementation

[0067] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0069] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0070] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0071] Example 1

[0072] like Figure 1-3 As shown, the present invention discloses a lidar cleaning device, including a cleaning component 1, a driving component 3, and a follower bracket 2;

[0073] The cleaning component 1 is arranged along the surface of the lidar mask. The cleaning module of the cleaning component 1 is close to the viewing window of the lidar. The cleaning component 1 includes a cleaning brush and / or a nozzle and / or a brush strip for spraying cleaning agent.

[0074] The drive component 3 is fixedly mounted relative to the lidar; the drive component 3 is located on the side opposite to the lidar window; the drive component 3 can be electrically or hydraulically driven.

[0075] The follower bracket 2 is connected between the cleaning component 1 and the drive component 3; the drive component 3 drives the follower bracket 2, and the follower bracket 2 drives the cleaning component 1 to move along the surface of the lidar mask.

[0076] The follower bracket 2 is equipped with a telescopic adjustment structure. The telescopic adjustment structure can be a sleeve or a linkage structure, used to adjust the relative distance between the cleaning component 1 and the driving component 3. The telescopic adjustment structure has a torque that keeps the follower bracket 2 extended or retracted at all times, and the cleaning component 1 connected to the follower bracket 2 has an external force that keeps the cleaning component 1 close to the lidar window at all times.

[0077] Example

[0078] When the telescopic adjustment structure is a linkage structure, the telescopic adjustment structure maintains the contraction or expansion torque of the follower bracket 2, such as... Figure 9 As shown, the telescopic adjustment structure is a quadrilateral structure. The quadrilateral structure is connected diagonally to generate elastic force that keeps the follower bracket 2 in contraction or extension. When it is a compression spring, it has a torque that makes the follower bracket 2 extend; when it is a tension spring, it has a torque that makes the follower bracket 2 contract.

[0079] Specifically, the quadrilateral structure is an equilateral quadrilateral with four sides serving as connecting rods. The connecting rods are pivotally connected to the shaft at opposite corners, and springs or rubber ropes are provided at the opposite corners.

[0080] When the follower bracket 2 is extended, the cleaning component 1 connected to one end of the follower bracket 2 and the drive component 3 connected to the other end are on the same side of the lidar. The follower bracket 2 has an extension thrust that can push the cleaning component 1 to abut against the surface of the lidar mask.

[0081] When the follower bracket 2 remains retracted, the cleaning component 1 and the drive component 3 are located on both sides of the lidar. The follower bracket 2 has a retracting thrust and also has an external force that can push the cleaning component 1 to abut against the surface of the lidar mask.

[0082] The follow-up bracket 2 and the telescopic adjustment structure have a flexible and diverse structure, which can keep the cleaning component 1 in close contact with the surface to be cleaned during the movement of the drive component 3 and the lidar, making it convenient for cleaning.

[0083] Example 2

[0084] The cleaning component 1 is located on one side of the lidar, and the driving component 3 is located on the other side of the lidar. At this time, the follower bracket 2 remains retracted. The follower bracket 2 connects the cleaning component 1 and the driving component 3 and spans the lidar. The follower bracket 2, the driving component 3 and the cleaning component 1 form an n-shaped arrangement structure.

[0085] This structure is suitable for smaller lidar units and provides protection for both sides of the lidar unit.

[0086] For example, the follower bracket 2 can also form a U-shaped arrangement with the drive component 3 and the cleaning component 1. The follower bracket 2 includes a first bracket 201 and a second bracket 202 connected between the cleaning component 1 and the drive component 3.

[0087] The first bracket 201 and the second bracket 202 are located at the upper and lower parts of the lidar, respectively.

[0088] While cleaning the lidar, it also provides protection for the lidar's top, bottom, and sides.

[0089] Example 3

[0090] When the telescopic adjustment structure is a sleeve-type 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.

[0091] One end of the first connecting shaft 2011 is fixedly connected to the cleaning component 1;

[0092] One end of the second connecting shaft 2012 is sleeved with the first connecting shaft 2011, and the other end is fixedly connected to the drive assembly 3;

[0093] The elastic connector 2013 is disposed at the joint of the first connecting shaft 2011 and the second connecting shaft 2012;

[0094] One end of the elastic connector 2013 is connected to the first connecting shaft 2011, and the other end is connected to the second connecting shaft 2012, as shown below. Figure 1-5 As shown.

[0095] The elastic connector 2013 of the structure is built into the telescopic adjustment structure. One end of the first connecting shaft 2011 is coaxially sleeved on the outside of one end of the second connecting shaft 2012. The elastic connector 2013 is hidden in the cavity of the first connecting shaft 2011 or the second connecting shaft 2012. The sleeve joint of the first connecting shaft 2011 and the second connecting shaft 2012 has a guiding and connecting function for telescopic movement.

[0096] When the elastic connector 2013 is a tension spring, there is a tension force that contracts along the axis between the first connecting shaft 201 and the second connecting shaft 2012. This structure is suitable for a configuration where the cleaning component 1 and the drive component 3 are located on both sides of the lidar.

[0097] As the cleaning component 1 moves along the lidar housing, it matches the shape of the lidar window. For example, when the cleaning component 1 passes the convex surface of the lidar window, the lidar window acts on the cleaning component 1, causing the cleaning component 1 to drive the first connecting shaft 2011 connected to it to overcome the pressure of the tension spring and extend relative to the second connecting shaft 2012. This moves the cleaning component 1 to a position close to the lidar window. As the shape of the lidar window changes, the telescopic adjustment structure moves, keeping the cleaning component 1 in a set cleaning position relative to the lidar window to match lidars with different shapes.

[0098] Example 4

[0099] The cleaning component 1 and the driving component 3 described in this invention are electrically driven structures. Specifically,

[0100] like Figure 4 and Figure 5As shown, the cleaning component 1 includes a first drive module 101, a first rotating shaft 102, a cleaning brush 103, a first bearing 104, and a second bearing 105;

[0101] The first drive module 101 is fixedly connected to the follower bracket 2 shown;

[0102] The first rotating shaft 102 is connected to the output shaft of the first drive module 101;

[0103] The cleaning brush 103 is sleeved on the outside of the first rotating shaft 102 and is fixedly connected to the first rotating shaft 102;

[0104] The first bearing 104 is rotatably connected to one end of the first rotating shaft 102, and the first bearing 104 is also fixedly connected to one end of the first bracket 201;

[0105] The second bearing 105 is rotatably connected to the other end of the first rotating shaft 102, and the second bearing 105 is also fixedly connected to one end of the second bracket 202.

[0106] The drive assembly 3 includes a second drive module 301, a second rotating shaft 302, and an adjusting sleeve 303.

[0107] The second drive module 301 is fixed relative to the lidar;

[0108] The second rotating shaft 302 is connected to the output shaft of the second drive module 301;

[0109] The adjusting sleeve 303 is fitted onto the outside of the second rotating shaft 302;

[0110] The other end of the first bracket 201 is connected to the second rotating shaft 302 located close to the upper end of the adjusting sleeve 303, and the other end of the second bracket 202 is connected to the second rotating shaft 302 close to the lower end of the adjusting sleeve 303.

[0111] Both the first drive module 101 and the second drive module 301 are electric motors; the output shaft of the first drive module 101 is connected to the first rotating shaft 102, and the cleaning brush 103 is sleeved on the outside of the first rotating shaft 102 and can be fixed by a detachable structure such as snap-fit ​​or adhesive; the first bearing 104 is rotatably arranged with the second bearing 105 and the first rotating shaft 102. Under the drive of the first drive module 101, the first rotating shaft 102 and the cleaning brush 103 rotate, and the cleaning brush 103 is used to clean the lidar window.

[0112] The output shaft of the drive assembly 3 is connected to the lower end of the second rotating shaft 302. The adjusting sleeve 303 is detachably fixed on the second rotating shaft 302. The second bracket 202 / the second bracket 202 and the first bracket 201 are fixedly connected to the adjusting sleeve 303. The drive assembly 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 fixedly connected to the adjusting sleeve 303 to move, thereby changing the cleaning position of the cleaning assembly 1.

[0113] The driving component 3 also includes

[0114] The third bearing 304 is rotatably connected to one end of the second rotating shaft 302;

[0115] The fourth bearing 305 is rotatably connected to the second rotating shaft 302 at the lower part of the second bracket 202;

[0116] The first fixing frame 306 is fixedly connected to the third bearing 304;

[0117] The second fixing bracket 307 is fixedly connected to the fourth bearing 305.

[0118] The cleaning component 1 also includes a first connecting plate 106, which is fixedly connected between the first drive module 101 and the second bracket 202.

[0119] The drive assembly 3 also includes a second connecting plate 308, which is fixedly connected between the second drive module 301 and the second fixing frame 307.

[0120] During assembly:

[0121] Step 1: Interference fit the cleaning brush 103 with the first rotating shaft 102;

[0122] Step 2: Interference fit the first bearing 104 with the first bracket 201;

[0123] Step 3: Interference fit between the second bearing 105 and the second bracket 202;

[0124] Step 4: Interference fit the third bearing 304 with the first fixing bracket 306;

[0125] Step 5: Interference fit the fourth bearing 305 with the second fixing bracket 307;

[0126] Step Six: Connect the combination of Step Four and Step Five to the adjusting sleeve 303 and the second rotating shaft 302;

[0127] Step 7: Fix the first drive module 101 onto the assembly from step 2;

[0128] Step 8: Axially press-fit the bearing in the assembly from Step 7 with the assembly from Step 1;

[0129] Step 9: Fix the second drive module 301 onto the second mounting bracket 307 on the assembly from Step 6;

[0130] Step 10: Fix the elastic connector 2013 onto the assembly from Step 9;

[0131] Step 11: Connect the assembly from Step 10, the assembly from Step 8, and the assembly from Step 3 together using a spring (elastic connector 2013);

[0132] Step 12: Fix the assembly from Step 11 and the lidar to their constrained positions to complete the assembly.

[0133] The second drive module 301 drives the adjustment sleeve 303 to rotate, which in turn drives the first bracket 201 / second bracket 202 to move. Due to the spring force, the cleaning brush 103 fixed on the first rotating shaft 102 between the first bracket 201 / second bracket 202 will be tightly pressed against the surface of the lidar. During this process, the first drive module 101 drives the first rotating shaft 102 to rotate. Due to the interference fit between the first rotating shaft 102 and the cleaning brush 103, the cleaning brush 103 will rotate synchronously. Under the joint action of the second drive module 301 and the first drive module 101, the cleaning brush 103 completes the cleaning of the lidar.

[0134] Example 5

[0135] Based on Embodiment 4, the improvement lies in 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. Sufficient allowance is provided between the third bearing 304 and the adjusting sleeve 303, so that the position of the first bracket 201 can be adjusted along the second rotating shaft 302 as needed.

[0136] If necessary, the position of the first bracket 201 can be changed by setting the adjustment sleeve 303 of different lengths, thereby adjusting the relative position of the first bracket 201 and the second bracket 202. Depending on the thickness of the lidar window, cleaning brushes 103 of different lengths can be set on the first rotating shaft 102 between the first bracket 201 and the second bracket 202.

[0137] The telescopic adjustment structure of the first bracket 201 can be used to adjust along the axis of the first bracket 201. The above structure can also be used to adjust in the direction perpendicular to the axis of the first bracket 201, so that the cleaning component 1 can achieve a better cleaning effect.

[0138] Example 6

[0139] like Figure 6-8 As shown in the figure, the present invention discloses a lidar system, including a lidar assembly 4 and a lidar cleaning device with the above-described structure. The lidar assembly 4 is fixed on the assembly bracket 5 as shown in the figure, and the lidar assembly 4 is fixed to the corresponding position of the vehicle through the assembly bracket 5. Figure 6-7 This is an example of the cleaning position of the radar window on a curved surface by a lidar cleaning device. Figure 8 This is an example of a lidar cleaning device cleaning the radar window position on a plane.

[0140] Example 7

[0141] This invention discloses a vehicle including a lidar system with the above-described structure; by improving the lidar cleaning device, the reliability and convenience of the lidar system are enhanced, and the operating cost of vehicles with intelligent driving functions is reduced.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lidar cleaning device, characterized in that, include Cleaning component (1) is set along the viewing window surface of the lidar; The drive component (3) is fixed relative to the lidar; A follower bracket (2) is connected between the cleaning component (1) and the drive component (3); The follower bracket (2) is equipped with a telescopic adjustment structure; The cleaning component (1) is disposed on one side of the lidar, and the driving component (3) is disposed on the other side of the lidar; wherein the driving component is fixedly disposed relative to the lidar; and the driving component is disposed on the side away from the lidar window; The follower bracket (2) includes a first bracket (201) and a second bracket (202) connected between the cleaning component (1) and the drive component (3); The first bracket (201) and the second bracket (202) are located at the upper and lower parts of the lidar, respectively; The assembly of the cleaning component, drive component, and follower bracket is fixed to the vehicle along with the lidar according to the constrained positions. The lidar assembly, which includes the lidar, is fixed to the assembly bracket and then fixed to the corresponding position on the vehicle via the assembly bracket. The assembly of the cleaning component, drive component, and follower bracket is fixed to another constrained position on the vehicle and spans the lidar. The assembly of the cleaning components, drive components, and follower bracket is then fixed to the corresponding positions on the vehicle along with the lidar according to the constraint positions, thus completing the assembly. When the shape of the LiDAR is changed, the assembly of the cleaning component, drive component and follower bracket does not need to be disassembled during the disassembly and assembly process. After the LiDAR with the changed shape is replaced and fixed in the corresponding position on the vehicle, the telescopic adjustment structure moves to keep the cleaning component in the set cleaning position relative to the LiDAR window to match the LiDAR with different shapes.

2. The lidar cleaning device as described in claim 1, characterized in that, The telescopic adjustment structure includes The first connecting shaft (2011) is fixedly connected at one end to the cleaning component (1); The second connecting shaft (2012) is sleeved at one end with the first connecting shaft (2011) and fixedly connected at the other end with the drive assembly (3); An elastic connector (2013) is disposed at the joint between the first connecting shaft (2011) and the second connecting shaft (2012); One end of the elastic connector (2013) is connected to the first connecting shaft (2011), and the other end is connected to the second connecting shaft (2012).

3. The lidar cleaning device as described in claim 2, characterized in that, The cleaning component (1) includes The first drive module (101) is fixedly connected to the follower bracket (2) shown; The first rotating shaft (102) is connected to the output shaft of the first driving module (101); A cleaning brush (103) is sleeved on the outside of the first rotating shaft (102) and fixedly connected to the first rotating shaft (102); The first bearing (104) is rotatably connected to one end of the first rotating shaft (102), and the first bearing (104) is also fixedly connected to 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 also fixedly connected to one end of the second bracket (202).

4. The lidar cleaning device as described in claim 3, characterized in that, The driving component (3) includes The second drive module (301) is fixed relative to the lidar; The second rotating shaft (302) is connected to the output shaft of the second drive module (301); An adjusting sleeve (303) is fitted over the outside of the second rotating shaft (302); The other end of the first bracket (201) is connected to the second rotating shaft (302) located close to the upper end of the adjusting sleeve (303), and the other end of the second bracket (202) is connected to the second rotating shaft (302) close to the lower end of the adjusting sleeve (303).

5. The lidar cleaning device as described in claim 4, characterized in 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).

6. The lidar cleaning device as described in claim 5 or 4, characterized in that, The driving component (3) also includes The third bearing (304) is rotatably connected to one end of the second shaft (302); The fourth bearing (305) is rotatably connected to the second rotating shaft (302) at the lower part of the second bracket (202); The first fixing frame (306) is fixedly connected to the third bearing (304); The second fixing bracket (307) is fixedly connected to the fourth bearing (305).

7. The lidar cleaning device as described in claim 6, characterized in that, The cleaning component (1) further includes a first connecting plate (106), which is fixedly connected between the first drive module (101) and the second bracket (202); The drive assembly (3) further includes a second connecting plate (308), which is fixedly connected between the second drive module (301) and the second fixing frame (307).

8. A lidar system, comprising a lidar assembly (4), characterized in that, It also includes the lidar cleaning device according to any one of claims 1-7.

9. A vehicle, characterized in that, Includes the lidar system as described in claim 8.

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