Dustproof demisting device for laser radar

Abstract

The invention relates to a laser radar dustproof demisting device, which comprises a film and a plurality of roll shafts, and is characterized in that the film sequentially bypasses the plurality of roll shafts, surrounds the periphery of a laser radar, forms a protection section on the side surface where a lens is located, and forms a regeneration section on the side surface opposite to the lens; the dust removal module comprises a dust removal air duct internally provided with a dust removal device and a cleaning tank arranged below the dust removal air duct; the regeneration section is positioned in the dedusting air duct close to the air outlet; a driving roller, a driven roller and a guide roller are arranged in the cleaning tank, and a film sequentially bypasses the driving roller, the guide roller, the multiple roller shafts and the driven roller to form a circulating conveying loop; the driving roller and the driven roller immerse the film between the two into the cleaning agent to form a soaking section; the drying module comprises a drying air duct, and a heating and drying device is arranged in the drying air duct; an air outlet of the drying air duct is in butt joint with an air inlet of the dedusting air duct. According to the invention, demisting and dedusting can be continuously carried out on the laser radar lens in an underground dusty environment.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar lens defogging, and in particular to a laser radar dust and defogging device. Background Art

[0002] With the continuous development of smart mines, the use of LiDAR in mines has become more and more extensive. LiDAR can obtain point cloud information of the mine environment through scanning, and plays an important role in the reconstruction of mine tunnels and unmanned driving of mining vehicles. LiDAR's accurate perception of the external environment is the key to achieving subsequent map reconstruction and decision-making tasks. The mine is a complex production system. In particular, some tunnels will be foggy due to the high humidity, air flow temperature exchange and tunnel pressure changes in the mine. In addition, there is a lot of dust underground, which will not only reduce visibility underground, but also cause water mist and dust to appear on the LiDAR lens, seriously affecting the normal operation of the LiDAR.

[0003] In the prior art, patents CN219347220U and CN219210917U disclose technical solutions that use hot air blowing to defog the laser radar lens. However, in an underground application environment with a lot of dust, the blowing method easily leaves stains on the radar mirror, so the existing defog method cannot effectively clean the surface of the laser radar lens in the underground environment. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a laser radar dust and defogging device to achieve defogging and dust removal for the laser radar in a dusty environment underground.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A laser radar dust and mist prevention device, comprising a film transmission mechanism, a dust removal module and a drying module;

[0007] The film transmission mechanism includes a film and a plurality of rollers, wherein the film passes around the plurality of rollers in sequence, surrounds the laser radar in a circle, and forms a protection section on the side where the lens of the laser radar is located, and a regeneration section on the side opposite to the lens;

[0008] The dust removal module comprises a dust removal air duct and a cleaning tank arranged below the dust removal air duct; a dust removal device is arranged in the dust removal air duct, and the regeneration section is located in the dust removal air duct near the air outlet; the cleaning tank is used to hold the cleaning agent, and a driving roller, a driven roller and a guide roller are arranged in the cleaning tank, the driving roller is connected to the driving mechanism, and the film passes around the driving roller, the guide roller, the multiple roller shafts and the driven roller in turn to form a circulating conveying loop;

[0009] The active roller and the driven roller allow the film between the active roller and the driven roller to be immersed in the cleaning agent to form a soaking section;

[0010] The drying module comprises a drying air duct, in which a heating and drying device is arranged; the air outlet of the drying air duct is connected to the air inlet of the dust removal air duct.

[0011] Further technical solutions are:

[0012] The film transmission mechanism also includes a protective cover, which is respectively arranged on the upper and lower sides of the laser radar and is used to cover the film surrounding the laser radar except for the protective section and the regeneration section.

[0013] The protection section is attached to the surface of the lens.

[0014] The cleaning tank is closed on all sides and has an opening on the top for the film to pass through.

[0015] The plurality of rollers include a first roller and a second roller;

[0016] The first roller is respectively arranged at the top and bottom of the side where the lens is located and the side opposite to the lens, and two second rollers are arranged at intervals in the middle of the side opposite to the lens;

[0017] Both axial ends of each first roller and second roller are connected to the fixed installation part through rolling bearings respectively;

[0018] The two axial ends of the active roller, the driven roller and the guide roller are connected to the wall of the cleaning tank through sealed bearings respectively.

[0019] The guide roller presses the film from the top; and the position of the guide roller is adjustable to tension the film.

[0020] The dust removal air duct is formed inside the dust removal housing, the dust removal device includes a plurality of spaced electrode sheets arranged inside the dust removal housing, a corona wire is arranged between adjacent electrode sheets, a traction weight is arranged at the bottom of the corona wire; an electrode busbar for supplying power to the corona wire is arranged at the upper part of the dust removal housing;

[0021] A guide plate is provided at the air inlet of the dust removal housing, which is used to guide the air input from the drying module to between the electrode sheets.

[0022] A dust-proof filter is provided at the air inlet of the dust removal housing.

[0023] The drying air duct is formed inside the drying box shell, and the heating and drying device includes an induced draft fan, a heating device and a moisture absorption device which are arranged in the drying box shell and arranged in sequence along the air inlet direction;

[0024] The heating device comprises a plurality of heating tubes arranged in sequence along the air inlet direction;

[0025] The moisture absorption device comprises a plurality of desiccant containers which are detachably connected to the drying box housing; small holes are arranged on the surface of the desiccant containers, and moisture absorbent is arranged in the desiccant containers.

[0026] Each of the heating tubes is arranged in a bent manner in the cross section of the drying air duct.

[0027] The beneficial effects of the present invention are as follows:

[0028] The present invention is suitable for the harsh environment underground, and can continuously remove fog and dust from the laser radar lens, thereby reducing the impact of the external environment on the detection accuracy of the laser radar equipment, improving the reliability of the equipment, and ensuring that it is always in the best working state. It has the following specific advantages:

[0029] 1. The present invention realizes automatic shielding and protection of the lens, automatic cleaning of the contaminated film, and automatic drying of the film after cleaning. When this embodiment is working, the film transmission cycle (for example, once every few hours or days), the length of each transmission (the optimal length of each transmission is the distance from the center of the protection section to the center of the immersion section), the transmission speed and other parameters can be set according to actual conditions and usage requirements. For example, when the lens is working, the film is stationary. After the working time reaches the transmission cycle, the active roller works and the film circulates, so that the current protection section is transferred to the cleaning tank for immersion cleaning, and the current immersion section is transferred to the regeneration section position for drying. The continuous cleaning of the lidar lens is ensured, the need for human intervention is reduced, and the efficiency and safety of the operation are improved.

[0030] 2. The drying module and dust removal module of the present invention are designed for the high humidity and dusty environment underground, ensuring that the drying air in the regeneration section is clean and at an appropriate temperature, preventing the film from being contaminated by water mist and dust before use, and ensuring the detection accuracy and equipment reliability of the laser radar in complex environments.

[0031] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0033] Figure 2 It is a schematic diagram of the assembly structure of the film conveying mechanism and the cleaning tank according to an embodiment of the present invention.

[0034] Figure 3 It is a schematic structural diagram of a film circulation conveying loop according to an embodiment of the present invention.

[0035] Figure 4 It is a longitudinal cross-sectional view of a dust removal module and a drying module according to an embodiment of the present invention.

[0036] Figure 5 It is a cross-sectional view of a dust removal module according to an embodiment of the present invention.

[0037] Figure 6 It is a top view of the electrode sheet arrangement structure of the dust removal module according to an embodiment of the present invention.

[0038] Figure 7 The figure is a schematic diagram of the arrangement structure of the desiccant container on the air inlet cross section according to an embodiment of the present invention.

[0039] Figure 8 The figure is a schematic diagram of the arrangement structure of the heating tubes on the air inlet cross section according to an embodiment of the present invention.

[0040] In the figure: 1. film; 2. laser radar; 3. protective cover; 4. roller; 5. rolling bearing; 6. bearing support shell; 7. cleaning tank; 8. active roller; 9. driven roller; 10. guide roller; 11. sealed bearing; 12. gear meshing transmission assembly; 13. stepping motor; 14. dust removal shell; 15. electrode busbar; 16. corona wire; 17. heavy hammer; 18. electrode sheet; 19. guide plate; 20. dust filter; 21. support frame; 22. induced draft fan motor; 23. drying box shell; 24. induced draft fan blades; 25. heating tube; 26. desiccant container; 27. handle; 28. electromagnetic coil; 41. first roller; 42. second roller; 101. protection section; 102. regeneration section; 103. soaking section. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention is described below with reference to the accompanying drawings.

[0042] See also Figures 1 to 3 The laser radar dust and mist removal device of this embodiment includes a laser radar 2, a film transmission mechanism, a dust removal module and a drying module;

[0043] The laser radar 2 includes a lens;

[0044] The film transmission mechanism includes a film 1 and a plurality of rollers 4. The film 1 passes through the plurality of rollers 4 in sequence, surrounds the laser radar 2 in a circle, and forms a protection section 101 on the side where the lens is located and a regeneration section 102 on the side opposite to the lens.

[0045] The dust removal module includes a dust removal air duct and a cleaning tank 7 arranged below the dust removal air duct; a dust removal device is arranged in the dust removal air duct, and a regeneration section 102 is located in the dust removal air duct near the air outlet; the cleaning tank 7 is used to hold a cleaning agent, and an active roller 8, a driven roller 9 and a guide roller 10 are arranged in the cleaning tank 7, and the active roller 8 is connected to a driving mechanism, and the film 1 passes around the active roller 8, the driven roller 9, a plurality of roller shafts 4, and the guide roller 10 in sequence to form a circulating conveying loop;

[0046] The active roller 8 and the driven roller 9 allow the film 1 located therebetween to be immersed in the cleaning agent to form a soaking section 103;

[0047] The drying module comprises a drying air duct in which a heating and drying device is arranged; the air outlet of the drying air duct is connected with the air inlet of the dust removal air duct.

[0048] The laser radar dust and mist prevention device of this embodiment can be installed on an underground vehicle.

[0049] As a further improvement of the above embodiment, the film transmission mechanism further includes a protective cover 3, which is respectively arranged on the upper and lower sides of the laser radar 2, and is used to cover the film 1 surrounding the laser radar 2 except for the protective section 101 and the regeneration section 102, so as to prevent other parts of the film 1 from being contaminated by underground dust.

[0050] The protective cover 3 can be fixedly connected to the underground vehicle.

[0051] As a preferred embodiment, the protection section 101 is attached to the surface of the lens to prevent fog condensation or dust adhesion on the lens surface.

[0052] The plurality of rollers 4 include a first roller 41 and a second roller 42;

[0053] A first roller 41 is respectively arranged at the top and bottom of the side where the lens is located and the side opposite to the lens, and two second rollers 42 are arranged at intervals in the middle of the side opposite to the lens.

[0054] The axial ends of each first roller 41 and second roller 42 are connected to the fixed installation part through rolling bearings 5 ​​to ensure that the roller body does not move during operation.

[0055] Specifically, the fixed installation parts corresponding to the first rollers 41 may be bearing support shells 6 fixedly mounted on both sides of the protective cover 3. The fixed installation parts corresponding to the second rollers 42 may be side walls of the dust removal air duct or fixed frames connected thereto.

[0056] The two axial ends of the active roller 8, the driven roller 9 and the guide roller 10 are respectively connected to the wall of the cleaning tank 7 through the sealed bearings 11 to ensure that the roller bodies do not move during operation. It can be understood that the sealed bearings 11 are also rolling bearings.

[0057] The cleaning tank 7 is closed on all sides and has an opening on the top for the film 1 to pass through.

[0058] Specifically, the two second rollers 42 are spaced apart from each other and close to the opening of the cleaning tank 7 , respectively cooperating with the guide roller 10 and the driven roller 9 , so as to guide the film 1 to enter and exit the opening of the cleaning tank 7 .

[0059] Specifically, the film between the second roller 42 located at the upper part and the first roller 41 located at the upper part thereof forms the regeneration section 102 .

[0060] like Figure 3 As shown, under the power of the active roller 8, the film 1 forms a conveying loop in the counterclockwise direction. In the entire conveying loop, the outer surface of the protection section 101 is exposed to the underground environment, which plays a role in protecting the lens and preventing fog and dust from directly adhering to the lens surface; the contaminated protection section 101 rotates to the cleaning tank 7 to form an immersion section 103, which is cleaned by the cleaning agent, and then rotates to the side opposite to the lens to form a regeneration section 102, which is dried under the action of the drying wind and then continues to rotate back to the side where the lens is located to form a new protection section 101, and the cycle is repeated to protect the lens.

[0061] Specifically, the drying air is dry, warm and dust-free air that is dried and heated by the drying module and then dusted by the dust removal module.

[0062] The cleaning agent may be deionized water, which can effectively clean dust and stains on the surface of the film.

[0063] The guide roller 10 presses the film 1 from the top, giving pressure to the film 1 so that it maintains an appropriate tension.

[0064] Preferably, the position of the guide roller 10 is adjustable so as to keep the film 1 taut during long-term use, ensure stable film transmission and prevent slipping.

[0065] There is at least one driving mechanism connected to the active roller 8, and each structure includes a motor 13 and a gear meshing transmission assembly 12. The input end of the motor 13 is connected to the gear meshing transmission assembly 12, and the output end of the gear meshing transmission assembly 12 is connected to the shaft end of the active roller 8. The motor 13 provides power for the film circulation.

[0066] See also Figures 4 to 6 The dust removal air duct is formed inside the dust removal housing 14. The dust removal device is an electrostatic dust removal device, which includes a plurality of electrode sheets 18 arranged at intervals in the dust removal housing 14, a corona wire 16 is arranged between adjacent electrode sheets 18, and a traction weight 17 is arranged at the bottom of the corona wire 16; an electrode bus 15 for supplying power to the corona wire 16 is arranged at the upper part of the dust removal housing 14;

[0067] A guide plate 19 is provided at the air inlet of the dust removal housing 14 , and the guide plate 19 at the air inlet is used to guide the air input from the drying module to between the electrode sheets 18 , and then flow to the regeneration section 102 after electrostatic dust removal.

[0068] A dust filter 20 is provided at the air inlet of the dust removal housing 14 .

[0069] The drying air duct is formed inside the drying box shell 23, and the heating and drying device includes an induced draft fan, a heating device and a moisture absorption device which are arranged in the drying box shell 23 and arranged in sequence along the air inlet direction.

[0070] Specifically, the induced draft fan includes an induced draft fan motor 22 , which is arranged in a drying box shell 23 through a support frame 21 , and an induced draft fan blade 24 is provided at the output end of the induced draft fan motor 22 .

[0071] The inlet of the drying air duct is connected to the external environment or to a special air storage device, and is introduced into the drying air duct through an induced draft fan, and after being heated, dried and dehumidified in sequence, it flows into the dust removal air duct.

[0072] See also Figure 7 The desiccant device includes a plurality of desiccant containers 26, which are detachably connected to the drying box housing 23; small holes are provided on the surface of the desiccant container 26, and a desiccant container 26 is provided with a desiccant.

[0073] Specifically, the desiccant may be an activated carbon adsorbent, which absorbs moisture from the air passing through the small holes on the surface of the desiccant container 26. A mounting hole for mounting the desiccant container 26 is provided on the top of the drying box housing 23, and a handle 27 is provided on the top of the desiccant container 26. When a water film appears on the surface of the activated carbon adsorbent due to the absorption of sufficient moisture, the desiccant container 26 is taken out of the mounting hole by the handle 27, and the activated carbon adsorbent inside is replaced.

[0074] The heating device includes a plurality of heating tubes 25 arranged in sequence along the air inlet direction.

[0075] See also Figure 4 and Figure 8 Each heating tube 25 is bent in an S shape in the cross section of the drying air duct.

[0076] Specifically, the heating tube 25 includes a tube body bent in an S-shape and an electromagnetic coil 28 wound around the tube body.

[0077] When this embodiment is working, the film transmission cycle (for example, once every few hours or days), the length of each transmission (the optimal length of each transmission is the distance from the center of the protection section to the center of the immersion section), the transmission speed and other parameters can be set according to actual conditions and usage requirements. For example, when the lens is working, the film is stationary. After the working time reaches the transmission cycle, the active roller works, the film circulates, and the current protection section is transferred to the cleaning tank for immersion cleaning, and the current immersion section is transferred to the regeneration section for drying. This ensures the continuous cleaning of the laser radar lens, reduces the need for human intervention, and improves the efficiency and safety of the operation.

[0078] Those skilled in the art can understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A laser radar dust and mist removal device, characterized in that: It includes a film transmission mechanism, a dust removal module and a drying module; The film transmission mechanism comprises a film (1) and a plurality of rollers (4), wherein the film (1) sequentially passes over the plurality of rollers (4) to surround the laser radar (2) in a circle, and forms a protection section (101) on the side where the lens of the laser radar (2) is located, and a regeneration section (102) on the side opposite to the lens; The dust removal module comprises a dust removal air duct and a cleaning tank (7) arranged below the dust removal air duct; a dust removal device is arranged in the dust removal air duct, and the regeneration section (102) is located in the dust removal air duct near the air outlet; the cleaning tank (7) is used to hold the cleaning agent, and a driving roller (8), a driven roller (9) and a guide roller (10) are arranged in the cleaning tank (7); the driving roller (8) is connected to the driving mechanism, and the film (1) sequentially passes around the driving roller (8), the guide roller (10), the multiple roller shafts (4) and the driven roller (9) to form a circulating conveying loop; The active roller (8) and the driven roller (9) allow the film (1) located therebetween to be immersed in the cleaning agent to form a soaking section (103); The drying module comprises a drying air duct, in which a heating and drying device is arranged; the air outlet of the drying air duct is connected to the air inlet of the dust removal air duct.

2. The laser radar dust and mist removal device according to claim 1, characterized in that: The film transmission mechanism also includes a protective cover (3), which is respectively arranged on the upper and lower sides of the laser radar (2) and is used to cover the film (1) surrounding the laser radar (2) except for the protective section (101) and the regeneration section (102).

3. The laser radar dust and mist removal device according to claim 1, characterized in that: The protection segment (101) is attached to the surface of the lens.

4. The laser radar dust and mist removal device according to claim 1, characterized in that: The cleaning tank (7) is closed on all sides and has an opening on the top for the film (1) to pass through.

5. The laser radar dust and mist removal device according to claim 1, characterized in that: The plurality of rollers (4) include a first roller (41) and a second roller (42); The first roller (41) is respectively arranged at the top and bottom of the side where the lens is located and the side opposite to the lens, and two second rollers (42) are arranged at intervals in the middle of the side opposite to the lens; Both axial ends of each first roller (41) and second roller (42) are connected to a fixed installation portion via rolling bearings (5); The axial ends of the active roller (8), the driven roller (9) and the guide roller (10) are respectively connected to the wall of the cleaning tank (7) through sealed bearings (11).

6. The laser radar dust and mist removal device according to claim 1, characterized in that: The guide roller (10) presses the film (1) from the top; and the position of the guide roller (10) is adjustable to tension the film (1).

7. The laser radar dust and mist prevention device according to claim 1, characterized in that: The dust removal air duct is formed inside the dust removal housing (14); the dust removal device comprises a plurality of electrode sheets (18) arranged at intervals in the dust removal housing (14); a corona wire (16) is arranged between adjacent electrode sheets (18); a traction weight (17) is arranged at the bottom of the corona wire (16); an electrode bus bar (15) for supplying power to the corona wire (16) is arranged on the upper part of the dust removal housing (14); A guide plate (19) is provided at the air inlet of the dust removal housing (14) for guiding the air input from the drying module to between the electrode sheets (18).

8. The laser radar dust and mist removal device according to claim 7, characterized in that: A dust-proof filter (20) is provided at the air inlet of the dust removal housing (14).

9. The laser radar dust and mist removal device according to claim 1, characterized in that: The drying air duct is formed inside the drying box shell (23), and the heating and drying device comprises an induced draft fan, a heating device and a moisture absorption device which are arranged in sequence in the drying box shell (23) along the air inlet direction; The heating device comprises a plurality of heating tubes (25) arranged in sequence along the air inlet direction; The moisture absorption device comprises a plurality of desiccant containers (26) which are detachably connected to the drying box housing (23); small holes are arranged on the surface of the desiccant containers (26), and moisture absorbent is arranged in the desiccant containers (26).

10. The laser radar dust and mist removal device according to claim 9, characterized in that: Each of the heating tubes (25) is arranged in a bent manner in the cross section of the drying air duct.

Images