A laser scanning device for collecting three-dimensional data of a road surface

Abstract

The application relates to a laser scanning device for collecting road surface three-dimensional data, and belongs to the technical field of road surface scanning equipment. The device comprises a support for being mounted on a roof of a vehicle and a three-dimensional laser scanner mounted on the support. A laser emitter of the three-dimensional laser scanner is located at a leeward surface of the vehicle. An air inlet pipe is arranged on a windward surface of the support. A circumferential pipe is arranged on the support and surrounds a lens of the laser emitter. The circumferential pipe is in communication with the air inlet pipe. A plurality of air outlets are formed in the circumferential pipe and face the lens of the laser emitter. The circumferential pipe is rotationally arranged on the support and rotates along an axial direction of the circumferential pipe. The scanning device further comprises a first driving element for driving the circumferential pipe to rotate. The application has the effect of improving the scanning precision of a road surface.

Description

Technical Field

[0001] This application relates to the field of road surface scanning equipment technology, and in particular to a laser scanning device for collecting three-dimensional road surface data. Background Technology

[0002] A 3D laser scanning system mainly consists of a 3D laser scanner, a computer, a power supply system, a support frame, and supporting software. The 3D laser scanner, as the main component of the system, comprises a laser emitter, receiver, time counter, motor-controlled rotatable filter, control circuit board, microcomputer, CCD sensor, and software. It represents a technological revolution in surveying and mapping after GPS technology, breaking through traditional single-point measurement methods and possessing unique advantages of high efficiency and high precision. Currently, 3D road surface data collection primarily utilizes vehicle-mounted 3D laser scanners and airborne 3D LiDAR. Vehicle-mounted 3D laser measuring instruments mainly consist of a 3D laser scanner and a fixed support frame. The frame is secured to the vehicle's roof rack, and the 3D laser scanner is then mounted on top of the frame. Road surface information is collected through the movement of the vehicle itself.

[0003] However, there are many vehicles on the road, and the dust they stir up can adhere to the laser lens. When there is too much dust, it can affect the scanning of the laser lens and reduce the scanning accuracy. Summary of the Invention

[0004] To improve the accuracy of road surface scanning, this application provides a laser scanning device for collecting three-dimensional road surface data.

[0005] The laser scanning device for collecting three-dimensional road surface data provided in this application adopts the following technical solution:

[0006] A laser scanning device for collecting three-dimensional road surface data includes a bracket for mounting on a vehicle roof and a three-dimensional laser scanner mounted on the bracket. The laser emitter of the three-dimensional laser scanner is located on the leeward side of the vehicle. An air inlet pipe is provided on the windward side of the bracket. A circumferential tube is provided on the bracket and surrounding the lens of the laser emitter. The circumferential tube is connected to the air inlet pipe and has multiple air outlets, which face the lens of the laser emitter. The circumferential tube is rotatably mounted on the bracket and rotates about its axial direction. The scanning device also includes a first driving member for driving the rotation of the circumferential tube.

[0007] By adopting the above technical solution, when the vehicle is scanning and collecting road data, air enters the air intake pipe and then passes through the air intake pipe into the annular pipe. The air is then discharged through the air outlet of the annular pipe and blown towards the laser emitter lens, removing dust and other particles adhering to the laser emitter lens to maintain its cleanliness and thus improve the accuracy of road scanning. During the vehicle's movement, the annular pipe is driven to rotate by the first driving component. The rotation of the annular pipe adjusts the position of the air outlet, thereby reducing the blind spots for dust removal from the laser emitter lens and further improving the accuracy of road data scanning. Furthermore, using air to clean dust from the laser emitter, as air is a colorless medium, reduces the impact of dust cleaning on the laser emitter.

[0008] Optionally, a filter element is provided on the air inlet pipe. The filter element is located between the air inlet of the air inlet pipe and the annular pipe. The filter element includes a filter box mounted on a bracket. The filter box is provided with a first pipe body and a second pipe body. The first pipe body is connected to the air inlet pipe, and the second pipe body is connected to the annular pipe. The filter box contains cleaning water. The end of the first pipe body away from the air inlet pipe is immersed in the cleaning water, and the end of the second pipe body away from the annular pipe is located on the surface of the cleaning water.

[0009] By adopting the above technical solution, the air entering the air inlet duct passes through the first duct body into the filter box. After being washed by the cleaning water, the air overflows from the cleaning water and enters the second duct body, then enters the annular duct, and then performs the cleaning operation on the laser emitter lens. In the above process, the air purification reduces the amount of dust and impurities in the cleaning air, improving the dust removal effect on the laser emitter lens. Furthermore, after the dust and impurities in the air are removed by the cleaning water, the possibility of dust and impurities impacting the laser emitter lens and damaging it is reduced.

[0010] Optionally, a stirring shaft is rotatably installed inside the filter box, and the port of the first tube located below the surface of the cleaning water is located on one side of the stirring shaft. The rotation axis of the stirring shaft is parallel to the depth direction of the filter box. The scanning device also includes a second driving component for driving the stirring shaft to rotate.

[0011] By adopting the above technical solution, after the air enters the air inlet pipe and the first pipe body, it is difficult for the air to enter the cleaning water due to the blocking effect of the cleaning water surface. At this time, the second driving component drives the stirring shaft to rotate. The rotation of the stirring shaft disrupts the integrity of the cleaning water, so that the air can enter the cleaning water. At the same time, during the rotation of the second stirring shaft, a cavity is formed in the cleaning water, which further facilitates the intake of air into the cleaning water.

[0012] Optionally, the second driving component includes driving blades coaxially mounted on the stirring shaft, the driving blades being located outside the filter box.

[0013] By adopting the above technical solution, during the vehicle's movement, the flowing air impacts the drive blades, causing the drive blades to rotate and drive the agitator shaft to rotate, thereby breaking up the integrity of the cleaning water. The operation is simple and convenient.

[0014] Optionally, the stirring shaft is located within the vertical section of the first tube, with one end of the stirring shaft above the surface of the cleaning water and the other end below the surface of the cleaning water and extending out from the vertical section of the first tube.

[0015] By adopting the above technical solution, the stirring shaft is located in the vertical section of the first tube, which facilitates the introduction of air from the first tube into the cleaning water during the rotation of the stirring shaft, thereby increasing the air content entering the cleaning water and improving the dust removal effect on the laser emitter lens.

[0016] Optionally, the laser emitter lens is fitted with a mounting ring, the circumferential tube is coaxially fitted on the outer ring of the mounting ring, the circumferential tube is rotatably mounted on the mounting ring, the mounting ring is hollow, the second tube body is connected to the mounting ring, and the mounting ring is connected to the circumferential tube.

[0017] By adopting the above technical solution, under the action of the mounting ring, the air in the inner cavity of the mounting ring can enter the annular tube during the rotation of the annular tube, thereby ensuring the air supply of the annular tube and thus ensuring the dust removal effect on the laser emitter lens.

[0018] Optionally, the first driving component includes a driving tube disposed on the outer ring of the mounting ring, the driving tube being connected to the inner cavity of the mounting ring, the inner ring of the circumferential tube having an annular notch, the driving tube being located within the annular notch, the first driving component further including a plurality of driving plates disposed within the circumferential tube, the plurality of driving plates being evenly disposed along the axis of the circumferential tube, the driving plates being located on the sidewall of the circumferential tube opposite to the annular notch, the driving plates being inclinedly disposed within the circumferential tube, the air within the driving tube impacting the driving plates to drive the circumferential tube to rotate.

[0019] By adopting the above technical solution, the air filtered by the filter box enters the second tube and then enters the mounting ring. The air in the mounting ring is discharged through the drive tube. The discharged air impacts the drive plate, which rotates around the axis of the circumferential tube, thereby driving the circumferential tube to rotate around its axis. The operation is simple and convenient.

[0020] Optionally, both the mounting ring and the circumferential tube have rectangular cross-sections.

[0021] By adopting the above technical solution, the cross-sections of both the mounting ring and the circumferential tube are rectangular, which facilitates the installation of the mounting ring and the circumferential tube; furthermore, it reduces the possibility of air leakage through the gap between the mounting ring and the circumferential tube, thereby ensuring the dust removal effect of air on the laser emitter lens.

[0022] Optionally, a desiccant is disposed inside the second tube, the desiccant is located between the filter box and the annular tube, and a suction blade is rotatably disposed between the desiccant and the annular tube. The rotation axis of the suction blade is parallel to the axial direction of the second tube, the air inlet end of the suction blade faces the desiccant, and the air outlet end faces the annular tube. The scanning device also includes a third driving component for driving the suction blade to rotate.

[0023] By adopting the above technical solution, the air, after being cleaned with cleaning water, carries water vapor into the second pipe and is sprayed onto the laser transmitter lens through the mounting ring and circumferential pipe. The water vapor condenses on the laser transmitter lens, forming water droplets that affect the scanning effect of the laser scanner. Under the action of the desiccant, the water vapor carried in the air is absorbed and dried, reducing the possibility of water vapor condensing on the laser transmitter lens and further improving the accuracy of road scanning. Furthermore, it reduces the possibility of water droplets and water vapor damaging the laser transmitter. Under the action of the suction blades, it is convenient to draw air from the filter box and transport it to the circumferential pipe through the desiccant.

[0024] Optionally, a sealing plate is slidably disposed inside the air inlet pipe. The sliding direction of the sealing plate is perpendicular to the axial direction of the transverse end of the air inlet pipe. A first notch for the sealing plate to slide is opened on the top surface of the transverse end of the air inlet pipe. An activation plate is disposed on the surface of the sealing plate facing the air inlet of the air inlet pipe. The activation plate is inclined towards the top surface of the air inlet pipe.

[0025] By adopting the above technical solution, after the road surface scanning is completed, the cleaning water in the filter box may flow back into the first pipe and the air inlet pipe. When the vehicle is moving, air enters the air inlet pipe and impacts the starter plate. Because the starter plate is tilted, the air drives the sealing plate to slide and open the air inlet pipe, allowing air to enter the filter box. When the vehicle stops moving, the thrust of the air on the starter plate disappears, and the sealing plate slides towards the bottom of the air inlet pipe under the action of gravity, thus sealing the air inlet pipe and reducing the possibility of the cleaning water in the filter box flowing back out.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. During vehicle operation and data collection on the road surface, air enters the intake duct and then flows into the annular duct. The air exits through the outlet of the annular duct and is blown towards the laser emitter lens, removing dust and other debris adhering to the lens to maintain its cleanliness and improve the accuracy of road surface scanning. As the vehicle moves, the first driving component rotates the annular duct, changing the position of the outlet and reducing blind spots for dust removal on the laser emitter lens, further improving the accuracy of road surface data scanning. Furthermore, using air to clean dust from the laser emitter, being a colorless medium, minimizes the impact of dust removal on the laser emitter.

[0028] 2. After air purification, the amount of dust and impurities in the air is reduced, improving the dust removal effect on the laser emitter lens; furthermore, after the dust and impurities in the air are removed by the cleaning water, the possibility of dust and impurities impacting the laser emitter lens and damaging it is reduced. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a laser scanning device for collecting three-dimensional road surface data according to an embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the overall structure of a laser scanning device for collecting three-dimensional road surface data according to an embodiment of this application;

[0031] Figure 3 This is a cross-sectional view of a filter box in a laser scanning device for collecting three-dimensional road surface data according to an embodiment of this application;

[0032] Figure 4 yes Figure 3 An enlarged schematic diagram of part A in the middle;

[0033] Figure 5 This is a cross-sectional view of the mounting ring in a laser scanning device for collecting three-dimensional road surface data according to an embodiment of this application;

[0034] Figure 6 yes Figure 5 Enlarged schematic diagram of part B in the middle;

[0035] Figure 7 yes Figure 5 An enlarged schematic diagram of section C.

[0036] Explanation of reference numerals in the attached diagram: 1. Roof; 2. Bracket; 3. 3D laser scanner; 4. Air inlet duct; 5. Air inlet hood; 6. Circular duct; 7. Air outlet; 8. Return air hood;

[0037] 9. Filter element; 91. Filter box; 92. First tube; 93. Second tube;

[0038] 10. Stirring shaft; 11. Stirring plate; 12. Drive blade; 13. Mounting ring; 14. Drive tube; 15. Annular notch; 16. Drive plate; 17. Desiccant; 18. Suction blade; 19. Drive shaft; 20. Fan blade; 21. Bevel gear; 22. Sealing plate; 23. First notch; 24. Start-up plate; 25. Laser emitter. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0040] This application discloses a laser scanning device for collecting three-dimensional road surface data. (Refer to...) Figure 1 The laser scanning device for collecting three-dimensional road surface data includes a bracket 2 for mounting on the roof 1 and a three-dimensional laser scanner 3 mounted on the bracket 2. The three-dimensional laser scanner 3 is a known technology and will not be described in detail here. The three-dimensional laser scanner 3 utilizes the principle of laser ranging to quickly reconstruct the three-dimensional model of the target object and various graphic data such as lines, surfaces, and volumes by recording a large number of dense points on the surface of the object being measured.

[0041] Reference Figure 1 and Figure 2 The laser emitter 25 of the 3D laser scanner 3 is located on the leeward side of the vehicle. An air inlet pipe 4 is provided on the windward side of the bracket 2. An air inlet cover 5 is provided at the air inlet of the air inlet pipe 4. The air inlet cover 5 is open and the opening of the air inlet cover 5 faces the windward side. Furthermore, an annular pipe 6 is provided on the bracket 2 and around the lens of the laser emitter 25. The annular pipe 6 is circular and is connected to the air inlet pipe 4. Multiple air outlets 7 are opened on the annular pipe 6, and the air outlets 7 face the lens of the laser emitter 25. When scanning the 3D data of the road surface, the scanning vehicle is driving on the road surface. Air enters the air inlet cover 5, is transported into the annular pipe 6 through the air inlet pipe 4, and then flows out through the opening of the annular pipe 6. The air flowing out of the annular pipe 6 is sprayed onto the lens of the laser emitter 25, removing the dust attached to the lens of the laser emitter 25, thereby reducing the impact of the attached dust on the laser emitter 25 and improving the accuracy of the road surface scanning.

[0042] Reference Figure 2 and Figure 3To reduce the possibility of secondary contamination of the laser emitter 25 lens caused by the air cleaning process, a filter element 9 is installed on the air inlet pipe 4. The filter element 9 is located between the air inlet of the air inlet pipe 4 and the annular pipe 6. The filter element 9 includes a filter box 91 installed on the bracket 2. The filter box 91 is provided with a first tube body 92 and a second tube body 93. Both the first tube body 92 and the second tube body 93 are connected to the filter box 91. The first tube body 92 is connected to the air inlet pipe 4, and the second tube body 93 is connected to the annular pipe 6. The filter box 91 contains cleaning water. The end of the first tube body 92 away from the air inlet pipe 4 is immersed in the cleaning water, and the end of the second tube body 93 away from the annular pipe 6 is located above the surface of the cleaning water. Furthermore, the second tube body 93 is connected to the top of the filter box 91.

[0043] Air entering the air inlet hood 5 enters the first pipe body 92 through the air inlet pipe 4, and then enters the cleaning water through the first pipe body 92. Under the action of the cleaning water, the incoming air is washed, and the dust and impurities carried in the air are dissolved or retained in the cleaning water, thereby completing the air cleaning operation. The cleaned air is removed from the cleaning water and enters the second pipe body 93, and is then transported to the circumferential pipe 6 through the second pipe body 93, and then removed from the circumferential pipe 6 to perform dust removal operation on the lens of the laser emitter 25.

[0044] Reference Figure 3 and Figure 4 To facilitate air entering the cleaning water through the first tube 92, a stirring shaft 10 is rotatably mounted inside the filter box 91. Multiple stirring plates 11 are fixedly mounted on a section of the stirring shaft 10 within the filter box 91. The stirring plates 11 are perpendicular to the stirring shaft 10, and the rotation axis of the stirring shaft 10 is parallel to the depth direction of the filter box 91. The scanning device also includes a second driving component for driving the stirring shaft 10 to rotate. In this embodiment, the second driving component includes driving blades 12 coaxially mounted on the stirring shaft 10. The driving blades 12 are located outside the filter box 91 and are used for... The vehicle rotates while in motion, driving the stirring shaft 10 to rotate. During the vehicle's operation, the relatively flowing air impacts the drive blades 12, causing them to rotate. The rotation of the drive blades 12 drives the stirring shaft 10 to rotate, which in turn drives the stirring plate 11 to rotate. The rotation of the stirring plate 11 agitates the cleaning water. During the agitation of the cleaning water, multiple cavities are formed below the surface of the cleaning water, thereby drawing air from the first tube 92 into the cleaning water. This improves the cleaning effect of the cleaning water on the air, thus facilitating the dust removal operation of the laser emitter 25 lens.

[0045] Furthermore, to facilitate dust removal from the lens of the laser emitter 25 by the annular tube 6, a return air hood 8 is provided on the annular tube 6, with the opening of the return air hood 8 facing the lens of the laser emitter 25.

[0046] Furthermore, in this embodiment, the stirring shaft 10 is located within the vertical section of the first tube 92. One section of the stirring shaft 10 is located above the surface of the cleaning water, and the other section is located below the surface of the cleaning water and extends out from the vertical section of the first tube 92. The stirring shaft 10 is located inside the first tube 92, so that the cavity generated by the stirring plate 11 is located inside the first tube 92, thereby facilitating the extraction of air from the first tube 92 into the cleaning water. Furthermore, since one section of the stirring shaft 10 is located above the surface of the liquid, the rotation of the stirring shaft 10 breaks the integrity of the surface of the cleaning water, further facilitating the entry of air into the cleaning water.

[0047] Reference Figure 5 and Figure 6 To improve the dust removal effect of air on the lens of laser emitter 25, a circumferential tube 6 is rotatably mounted on the bracket 2. The circumferential tube 6 rotates about its axial direction. In this embodiment, the lens of laser emitter 25 is fitted with a mounting ring 13, and the circumferential tube 6 is coaxially mounted on the outer ring of the mounting ring 13. The circumferential tube 6 is rotatably mounted on the mounting ring 13 and rotates about its axial direction. The mounting ring 13 is hollow, and the second tube body 93 is connected to the mounting ring 13. The mounting ring 13 is also connected to the circumferential tube 6. Air delivered through the second tube body 93 enters the mounting ring 13, and air in the inner cavity of the mounting ring 13 enters the circumferential tube 6. The air in the circumferential tube 6 is ejected to remove dust from the lens of laser emitter 25. At the same time, the circumferential tube 6 rotates on the mounting ring 13, and the rotation of the circumferential tube 6 adjusts the position of the air outlet 7, reducing the cleaning dead angles of the lens of laser emitter 25, thereby improving the dust removal effect on the lens of laser emitter 25.

[0048] Reference Figure 5 and Figure 6 To facilitate the rotation of the circumferential tube 6 during vehicle movement, the scanning device also includes a first driving component for driving the rotation of the circumferential tube 6. The first driving component includes a driving tube 14 disposed on the outer ring of the mounting ring 13. The driving tube 14 is perpendicular to the outer ring of the mounting ring 13 and is connected to the inner cavity of the mounting ring 13. The inner ring of the circumferential tube 6 has an annular notch 15, which is connected end to end to form an annular shape. The driving tube 14 is located inside the annular notch 15. The first driving component also includes multiple driving plates 16 disposed inside the circumferential tube 6. The multiple driving plates 16 are evenly arranged along the axis of the circumferential tube 6. The driving plates 16 are located on the side wall of the circumferential tube 6 away from the annular notch 15. The driving plates 16 are inclined inside the circumferential tube 6. The air inside the driving tube 14 impacts the driving plates 16 to drive the circumferential tube 6 to rotate.

[0049] Air delivered through the second tube 93 enters the mounting ring 13 and exits from the drive tube 14. The exited air impacts the drive plate 16, causing the drive plate 16 to move. The position of the drive plate 16 and the drive tube 14 changes, thereby driving the circumferential tube 6 to rotate on the mounting ring 13. The operation is simple and convenient.

[0050] Reference Figure 5 and Figure 6 Furthermore, to facilitate dust removal from the lens of the laser emitter 25 by the annular tube 6, a return air hood 8 is provided on the annular tube 6, with the opening of the return air hood 8 facing the lens of the laser emitter 25.

[0051] Reference Figure 5 and Figure 6 To facilitate the installation of the mounting ring 13 and the circumferential pipe 6, both the mounting ring 13 and the circumferential pipe 6 have rectangular cross sections. The rectangular shape of the mounting ring 13 and the circumferential pipe 6 facilitates the mutual support between the outer ring of the mounting ring 13 and the inner ring of the circumferential pipe 6. Furthermore, the rectangular mounting surfaces of the mounting ring 13 and the circumferential pipe 6 increase the contact area between them and reduce the possibility of the mounting ring 13 and the circumferential pipe 6 falling off.

[0052] Reference Figure 5 and Figure 7 To extend the service life of the laser emitter 25, a desiccant 17 is provided inside the second tube 93. The desiccant 17 is located between the filter box 91 and the annular tube 6. In this embodiment, the desiccant 17 is a mixture of calcium sulfate and calcium chloride and is filled inside the second tube 93. The cleaning water vapor carried by the incoming air enters the second tube 93. After being dried by the calcium sulfate and calcium chloride, the water vapor in the air is adsorbed into the calcium sulfate and calcium chloride. After the above process, the dry air removes dust from the lens of the laser emitter 25, reduces the possibility of water vapor condensing on the lens, and extends the service life of the laser emitter 25.

[0053] Reference Figure 5 and Figure 7To facilitate the passage of purified air through the desiccant 17 into the mounting ring 13, a suction blade 18 is rotatably mounted between the desiccant 17 and the annular pipe 6. The rotation axis of the suction blade 18 is parallel to the axis of the second pipe body 93. The air inlet of the suction blade 18 faces the desiccant 17, and the air outlet faces the annular pipe 6. The scanning device also includes a third driving component for driving the suction blade 18 to rotate. The third driving component includes a drive shaft 19 rotatably mounted on the second pipe body 93. The rotation axis of the drive shaft 19 is parallel to the length direction of the stirring shaft 10. Furthermore, a fan blade 20 is provided on the outside of the second tube 93, and bevel gears 21 that mesh with each other are respectively provided at the ends of the drive shaft 19 and the suction blade 18 that are close to each other. During the vehicle's movement, air impacts the fan blade 20, and the fan blade 20 rotates, which drives the drive shaft 19 to rotate. The drive shaft 19 rotates, which drives the bevel gear 21 to rotate, which in turn drives the suction blade 18 to rotate. The suction blade 18 rotates and draws air from the side of the desiccant 17 into the mounting ring 13, thereby increasing the speed at which the air passes through the desiccant 17, thus facilitating the dust removal operation of the lens by the dried air.

[0054] Reference Figure 3 and Figure 4 To reduce the possibility of cleaning water flowing into the first pipe 92 and the air inlet pipe 4 after the vehicle stops, a sealing plate 22 is slidably installed inside the air inlet pipe 4. In this embodiment, the cross-sections of the air inlet pipe 4, the first pipe 92, and the second pipe 93 are all rectangular. The sliding direction of the sealing plate 22 is perpendicular to the axial direction of the transverse end of the air inlet pipe 4. A first notch 23 for sliding the sealing plate 22 is provided on the top surface of the transverse end of the air inlet pipe 4. When the bottom surface of the sealing plate 22 is against the bottom wall of the first pipe 92, the air inlet pipe 4 is closed, and the bottom surface of the sealing plate 22... When separated from the bottom wall of the first pipe body 92, the air inlet pipe 4 opens. A starter plate 24 is provided on the surface of the sealing plate 22 facing the air inlet of the air inlet pipe 4. The starter plate 24 is inclined towards the top surface of the air inlet pipe 4. When the vehicle is moving, the air impacts the sealing plate 22, and the air drives the starter plate 24 to slide towards the top wall of the air inlet pipe, thereby driving the starter plate 24 to slide and open the air inlet pipe 4. After the vehicle stops, the sealing plate 22 slides down and abuts against the bottom wall of the air inlet pipe 4 under the action of gravity, closing the air inlet pipe 4, thereby reducing the possibility of backflow of cleaning water.

[0055] The implementation principle of a laser scanning device for collecting three-dimensional road surface data according to an embodiment of this application is as follows:

[0056] When collecting three-dimensional data of the road surface, the vehicle is started and moves forward. The air impacts the sealing plate 22, and the air drives the starting plate 24 to slide towards the top wall of the air intake pipe, thereby causing the starting plate 24 to slide and open the air intake pipe 4.

[0057] Air passes through the air inlet hood 5, then sequentially through the air inlet pipe 4, the first pipe body 92, the filter box 91, the second pipe body 93, the mounting ring 13, and the circumferential pipe 6, before entering the return air hood 8 to perform dust removal on the lens of the laser emitter 25.

[0058] During the above process, air drives the drive blade 12 to rotate, which in turn drives the stirring shaft 10 to rotate. The rotation of the stirring shaft 10 agitates the cleaning water in the filter box 91, thereby allowing air from the first tube 92 to enter the cleaning water. At the same time, air drives the fan blade 20 to rotate, which in turn drives the suction blade 18 to rotate. The suction blade 18 draws air from the filter box 91 into the second tube 93, so as to facilitate the dust removal operation of the laser emitter 25 lens.

[0059] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A laser scanning device for collecting three-dimensional data of a roadway surface, characterized by: The utility model provides a kind of scanning device for vehicle, including support (2) for installing on roof (1) and three-dimensional laser scanner (3) installed on support (2), the laser transmitter (25) of three-dimensional laser scanner (3) is located the leeward of vehicle, the windward of support (2) is provided with air inlet pipe (4), and the lens of laser transmitter (25) is provided with annular pipe (6) on support (2) and surrounds, annular pipe (6) is communicated with air inlet pipe (4) arrangement, a plurality of air outlets (7) are opened in annular pipe (6), and air outlet (7) is opposite the lens of laser transmitter (25);Annular pipe (6) is rotationally arranged on support (2), and annular pipe (6) is rotated in the axial direction of annular pipe (6), and the scanning device further includes first driving member for driving annular pipe (6) to rotate; Air inlet pipe (4) is provided with filter element (9), and filter element (9) is located between the air inlet of air inlet pipe (4) and annular pipe (6), and filter element (9) includes filter box (91) arranged on support (2), first pipe body (92) and second pipe body (93) are arranged on filter box (91), first pipe body (92) is communicated with air inlet pipe (4), second pipe body (93) is communicated with annular pipe (6), filter box (91) contains cleaning water, the end of first pipe body (92) away from air inlet pipe (4) is immersed in cleaning water, and the end of second pipe body (93) away from annular pipe (6) is located above the liquid level of cleaning water; The lens of laser transmitter (25) is provided with mounting ring (13), annular pipe (6) is coaxially arranged on the outer ring of mounting ring (13), annular pipe (6) is rotationally arranged on mounting ring (13), mounting ring (13) is hollow, second pipe body (93) is communicated with mounting ring (13), and mounting ring (13) is communicated with annular pipe (6) arrangement; First driving member includes driving pipe (14) arranged on the outer ring of mounting ring (13), driving pipe (14) is communicated with the inner cavity of mounting ring (13), the inner ring of annular pipe (6) is provided with annular notch (15), driving pipe (14) is located in annular notch (15), and the first driving member further includes a plurality of driving plates (16) arranged in annular pipe (6), a plurality of driving plates (16) are uniformly arranged along the axis of annular pipe (6), driving plate (16) is located on the side wall of annular pipe (6) away from annular notch (15), driving plate (16) is obliquely arranged in annular pipe (6), and air in driving pipe (14) impacts on driving plate (16) to drive annular pipe (6) to rotate.

2. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 1, wherein: Stirring shaft (10) is rotationally arranged in filter box (91), and the rotation axis of stirring shaft (10) is parallel to the depth direction of filter box (91), and the scanning device further includes second driving member for driving stirring shaft (10) to rotate.

3. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 2, wherein: The second driving member comprises driving blades (12) coaxially arranged on the stirring shaft (10) for rotating in the vehicle running to drive the stirring shaft (10) to rotate, and the driving blades (12) are located outside the filter box (91).

4. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 2, wherein: The stirring shaft (10) is located in the vertical section of the first pipe body (92), and one section of the stirring shaft (10) is located above the liquid level of the cleaning water, and the other section is located below the liquid level of the cleaning water and extends from the vertical section of the first pipe body (92).

5. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 1, wherein: The mounting ring (13) and the annular pipe (6) are both rectangular in cross section.

6. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 1, wherein: The second pipe body (93) is provided with a desiccant (17) located between the filter box (91) and the annular pipe (6), and a suction blade (18) is rotationally arranged between the desiccant (17) and the annular pipe (6), the rotation axis of the suction blade (18) is parallel to the axis direction of the second pipe body (93), the air inlet end of the suction blade (18) faces the desiccant (17), and the air outlet end faces the annular pipe (6), and the scanning device further comprises a third driving member for driving the suction blade (18) to rotate.

7. The laser scanning device for collecting three-dimensional data of a roadway surface of claim 1, wherein: The air inlet pipe (4) is slidably provided with a closing plate (22), the sliding direction of the closing plate (22) is perpendicular to the axis direction of the transverse end of the air inlet pipe (4), the top surface of the transverse end of the air inlet pipe (4) is provided with a first gap (23) for the sliding of the closing plate (22), the surface of the closing plate (22) facing the air inlet of the air inlet pipe (4) is provided with a starting plate (24), and the starting plate (24) is obliquely arranged towards the top surface of the air inlet pipe (4).

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