A dustproof and defogging device for a laser radar

Abstract

The application relates to a dustproof and defogging device for a laser radar, which comprises a film and a plurality of rollers, the film is sequentially wound around the plurality of rollers, a circle of the laser radar is surrounded in the film, a protection section is formed on a side where a lens is located, and a regeneration section is formed on a side opposite to the lens; a dust removal module comprises a dust removal air duct in which a dust removal device is arranged, and a cleaning tank arranged below the dust removal air duct; the regeneration section is located in the dust removal air duct and close to an air outlet; the cleaning tank is provided with a driving roller, a driven roller and a guide roller, the film is sequentially wound around the driving roller, the guide roller, the plurality of rollers and the driven roller to form a circulating conveying loop; the driving roller and the driven roller make the film located between the two rollers be immersed in a cleaning agent to form an immersion section; a drying module comprises a drying air duct in which a heating and drying device is arranged; an air outlet of the drying air duct is connected with an air inlet of the dust removal air duct. The application can continuously remove dust and defog the lens of the laser radar in a multi-dust underground environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar lens defogging, and particularly to a laser radar dustproof and defogging device. BACKGROUND

[0002] With the continuous development of intelligent mines, the use of laser radars in mines is becoming more and more widespread. Laser radars can obtain point cloud information of mine environments through scanning, and play an important role in mine roadway reconstruction, unmanned driving of mine vehicles and the like. The accurate perception of the external environment by laser radars is a key to subsequent map reconstruction and decision-making tasks. Mines are complex production systems, and in particular, in some roadways, the phenomenon of fog diffusion occurs due to high humidity, exchange of air flow temperature and change of roadway pressure in the mine, combined with a large amount of dust in the mine, which not only reduces the visibility in the mine, but also causes water mist and dust on the lens of the laser radar, seriously affecting the normal operation of the laser radar.

[0003] In the prior art, patent numbers CN219347220U and CN219210917U disclose technical solutions for defogging the lens of a laser radar by hot air blowing. However, in the dusty environment of a mine, the blowing method is prone to leaving stains on the lens of the laser radar, and therefore the existing defogging method cannot effectively clean the surface of the lens of the laser radar in the mine environment. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a laser radar dustproof and defogging device, which realizes defogging and dust removal of a laser radar in a dusty underground environment.

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

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

[0007] The film transmission mechanism comprises a film and a plurality of rollers, the film passes through the plurality of rollers in turn, surrounds the laser radar once around, and forms a protection section on the side of the lens of the laser radar 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; the dust removal air duct is provided with a dust removal device, and the regeneration section is located at a position close to an air outlet in the dust removal air duct; the cleaning tank is used for containing a cleaning agent, and the cleaning tank is provided with a driving roller, a driven roller and a guide roller; the driving roller is connected with a driving mechanism; and the film passes through the driving roller, the guide roller, the plurality of rollers and the driven roller in turn to form a circulating conveying loop.

[0009] The active roller and the driven roller immerse the film between them into the cleaning agent to form an immersion section;

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

[0011] The further technical scheme is:

[0012] The film transmission mechanism further comprises protective covers arranged on the upper side and the lower side of the laser radar respectively, for covering the part of the film around the laser radar except the protective section and the regeneration section.

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

[0014] The cleaning tank is closed around, and an opening for the film to pass through is arranged on the top.

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

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

[0017] The first roller and the second roller are connected with the fixed mounting portion through the rolling bearing at the two ends in the axial direction respectively.

[0018] The active roller, the driven roller and the guide roller are connected with the wall of the cleaning tank through the sealing bearing at the two ends in the axial direction respectively.

[0019] The guide roller is arranged on the upper part to press the film tightly; and the position of the guide roller is adjustable to tension the film.

[0020] The dust removal air duct is formed in the dust removal shell, and the dust removal device comprises a plurality of spaced electrode sheets arranged in the dust removal shell, a corona wire arranged between adjacent electrode sheets, and a weight arranged at the bottom of the corona wire; an electrode busbar is arranged on the upper part of the dust removal shell to supply power to the corona wire.

[0021] A flow guide plate is arranged at the air inlet of the dust removal shell, for guiding the air input from the drying module to the space between the electrode sheets.

[0022] A dust filter screen is arranged at the air inlet of the dust removal shell.

[0023] The drying air duct is formed in the drying box shell, and the heating drying device comprises an air guide fan, a heating device and a moisture absorbing device arranged in the drying box shell in sequence along the air inlet direction.

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

[0025] The moisture absorption device comprises a plurality of desiccant containers which are detachably connected with a drying box shell; the surface of the desiccant container is provided with a small hole, and the desiccant container is provided with a moisture absorbent.

[0026] Each of the heating pipes is arranged in a cross-section bending type in the drying air duct.

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

[0028] The present application is suitable for the harsh environment of underground, can continuously remove the fog and dust of the laser radar lens, can reduce the influence of external environment on the detection accuracy of the laser radar equipment, improve the reliability of the equipment, and ensure that it is always in the best working state. Specifically has the following advantages:

[0029] 1. The present application realizes automatic shielding protection of the lens, automatic cleaning of the contaminated film, and automatic drying of the cleaned film. During operation of the embodiment, the transmission period of the film (for example, transmission 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 soaking section), and the transmission speed can be set according to actual conditions and usage requirements. For example, when the lens is working, the film is stationary, and after the working time reaches the transmission period, the driving roller works, and the film circulates, so that the current protection section is transferred to the cleaning tank for soaking and cleaning, and the current soaking 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.

[0030] 2. The drying module and dust removal module of the present application are suitable for the environment of high humidity and more dust underground, ensure that the drying air of the regeneration section is clean and the temperature is appropriate, avoid the pollution of the film by water mist and dust before use, and protect the detection accuracy and equipment reliability of the laser radar in complex environment.

[0031] Other features and advantages of the present application will be described in the subsequent specification, and some will become apparent from the specification, or will be understood by those skilled in the art through implementation of the present application. BRIEF DESCRIPTION OF DRAWINGS

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

[0033] Figure 2 It is a schematic diagram of the assembly structure of the film transmission mechanism and the cleaning tank of the embodiment of the present application.

[0034] Figure 3 It is a schematic diagram of the structure of the film circulation conveying loop of the embodiment of the present application.

[0035] Figure 4 It is a longitudinal sectional view of the dust removal module and the drying module of the embodiment of the present application.

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

[0037] Figure 6 A top view of an electrode sheet arrangement of a dust removal module according to an embodiment of the present application.

[0038] Figure 7 A schematic view of an arrangement of desiccant containers in an air inlet cross-section according to an embodiment of the present application.

[0039] Figure 8 A schematic view of an arrangement of heating pipes in an air inlet cross-section according to an embodiment of the present application.

[0040] In the figure: 1, film; 2, laser radar; 3, protective cover; 4, roller shaft; 5, rolling bearing; 6, bearing support shell; 7, cleaning tank; 8, driving roller; 9, driven roller; 10, guide roller; 11, sealing bearing; 12, gear meshing transmission assembly; 13, stepping motor; 14, dust removal shell; 15, electrode bus; 16, corona wire; 17, weight; 18, electrode sheet; 19, flow guide plate; 20, dustproof filter screen; 21, support frame; 22, air blower motor; 23, drying box shell; 24, air blower blade; 25, heating pipe; 26, desiccant container; 27, handle; 28, electromagnetic coil; 41, first roller; 42, second roller; 101, protective section; 102, regeneration section; 103, soaking section. DETAILED DESCRIPTION

[0041] The specific embodiments of the present application are described below with reference to the accompanying drawings.

[0042] Reference Figures 1 to 3 The laser radar dustproof and defogging device according to the 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 roller shafts 4, the film 1 is sequentially wound around the plurality of roller shafts 4, surrounds the laser radar 2 once around, and forms a protective 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; the dust removal air duct is provided with a dust removal device, and the regeneration section 102 is located in the dust removal air duct and close to an air outlet; the cleaning tank 7 is used for containing a cleaning agent, and the cleaning tank 7 is provided with a driving roller 8, a driven roller 9, and a guide roller 10; the driving roller 8 is connected with a driving mechanism, and the film 1 is sequentially wound around the driving roller 8, the driven roller 9, the plurality of roller shafts 4, and the guide roller 10 to form a circulating conveying loop;

[0046] The active roller 8 and the driven roller 9 make the film 1 located between them immersed in the cleaning agent to form an immersion section 103;

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

[0048] The laser radar dust prevention and defogging device of the embodiment can be arranged on the underground vehicle.

[0049] As a further improvement of the above embodiment, the film conveying mechanism further comprises a protective cover 3 arranged on the upper side and the lower side of the laser radar 2 respectively, for covering the part of the film 1 around the laser radar 2 except the protective section 101 and the regeneration section 102. The other part of the film 1 is prevented from being contaminated by the underground dust.

[0050] The protective cover 3 can be fixed with the underground vehicle.

[0051] As a preferred embodiment, the protective section 101 is attached to the lens surface to prevent the lens surface from condensing fog or adhering dust.

[0052] The plurality of rollers 4 comprises a first roller 41 and a second roller 42.

[0053] The top and the bottom of the side where the lens is located and the side opposite to the lens are each provided with a first roller 41, and the middle of the side opposite to the lens is provided with two second rollers 42.

[0054] The axial ends of each first roller 41 and second roller 42 are respectively connected with the fixed mounting part through the rolling bearing 5, so as to ensure that the roller body does not displace during work.

[0055] Specifically, the fixed mounting part corresponding to each first roller 41 can be a bearing support shell 6 fixed on both sides of the protective cover 3. The fixed mounting part corresponding to each second roller 42 can be a fixed frame connected with the sidewall of the dust removal air duct.

[0056] The axial ends of the active roller 8, the driven roller 9 and the guide roller 10 are respectively connected with the wall of the cleaning tank 7 through the sealing bearing 11, so as to ensure that the roller body does not displace during work. It can be understood that the sealing bearing 11 is also a rolling bearing.

[0057] The cleaning tank 7 is closed around, and the top is provided with an opening for the film 1 to pass through.

[0058] Specifically, the two second rollers 42 are spaced apart and close to the opening of the cleaning tank 7, and are respectively matched 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 upper second roller 42 and the upper first roller 41 forms the regeneration section 102.

[0060] like Figure 3 As shown, under the power of the drive roller 8, the film 1 forms a conveying loop in a counterclockwise direction. In the entire conveying loop, the outer surface of the protective 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 protective section 101 rotates into the cleaning tank 7 to form the soaking section 103. After being cleaned by the cleaning agent, it rotates to the side opposite the lens to form the regeneration section 102. After being dried by the drying air, it continues to rotate back to the side where the lens is located to form a new protective section 101. This cycle is repeated to achieve the protection of the lens.

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

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

[0063] The guide roller 10 presses the film 1 from above, applying pressure to the film 1 to maintain 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 delivery, and prevent slippage.

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

[0066] See Figures 4 to 6 The dust removal duct is formed inside the dust removal housing 14. The dust removal device is an electrostatic dust removal device, which includes a plurality of spaced electrode plates 18 disposed inside the dust removal housing 14, corona wires 16 are provided between adjacent electrode plates 18, and a traction weight 17 is provided at the bottom of the corona wires 16; an electrode busbar 15 for supplying power to the corona wires 16 is provided on the upper part of the dust removal housing 14.

[0067] The dust collector housing 14 is provided with a guide plate 19 at the air inlet. The guide plate 19 at the air inlet is used to guide the air input from the drying module to the space between the electrode plates 18. After electrostatic dust removal, the air flows to the regeneration section 102.

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

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

[0070] Specifically, the air guide fan comprises an air guide fan motor 22 arranged in the drying box shell 23 through a support frame 21, and the air guide fan motor 22 is provided with air guide fan blades 24 at the output end.

[0071] The inlet of the drying air duct is connected with the external environment or a special gas storage device, air is introduced into the drying air duct through the air guide fan, and then flows into the dust removal air duct after being heated, dried and moisture-absorbed in sequence.

[0072] Referring to Figure 7 , the moisture absorption device comprises a plurality of desiccant containers 26 which are detachably connected with the drying box shell 23; the surface of the desiccant container 26 is provided with small holes, and the desiccant container 26 is provided with a moisture absorber inside.

[0073] Specifically, the moisture absorber can be an activated carbon adsorbent which absorbs moisture from the air flowing through the small holes on the surface of the desiccant container 26. The top of the drying box shell 23 is provided with a mounting hole for mounting the desiccant container 26, and the top of the desiccant container 26 is provided with a handle 27. When the activated carbon adsorbent has adsorbed a sufficient amount of moisture and a water film appears on the surface, the desiccant container 26 is taken out from the mounting hole through the handle 27, and the activated carbon adsorbent inside is replaced.

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

[0075] Referring to Figure 4 and Figure 8 , each heating pipe 25 is arranged in an S-shaped bending manner in the cross section S of the drying air duct.

[0076] Specifically, the heating pipe 25 comprises a pipe body arranged in an S-shaped bending manner and an electromagnetic coil 28 wound on the pipe body.

[0077] During the operation of the embodiment, the transmission cycle of the film (for example, transmission 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 soaking section), the transmission speed and other parameters can be set according to the actual situation and the use requirements. For example, when the lens is working, the film is stationary, and after the working time reaches the transmission cycle, the driving roller works, and the film circulates, so that the current protection section is transferred to the cleaning tank for soaking and cleaning, and the current soaking section is transferred to the regeneration section position 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 only describes the preferred embodiments of the present application and is not used to limit the present application, and although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lidar dust and fog removal device, characterized in that, Includes a film transport mechanism, a dust removal module, and a drying module; The thin film transport mechanism includes a thin film (1) and multiple rollers (4). The thin film (1) passes around the multiple rollers (4) in sequence, surrounds the lidar (2) in a circle, and forms a protective section (101) on the side where the lens of the lidar (2) is located and a regeneration section (102) on the side opposite to the lens. The dust removal module includes a dust removal duct and a cleaning tank (7) located below the dust removal duct. A dust removal device is provided in the dust removal duct, and the regeneration section (102) is located in the dust removal duct near the air outlet. The cleaning tank (7) is used to hold cleaning agent. The cleaning tank (7) is provided with an active roller (8), a driven roller (9) and a guide roller (10). The active roller (8) is connected to the drive mechanism. The film (1) passes around the active roller (8), the guide roller (10), the multiple roller shafts (4) and the driven roller (9) in sequence to form a circulating conveying loop. The active roller (8) and the driven roller (9) immerse the film (1) located between them into the cleaning agent to form an immersion section (103). The drying module includes a drying air duct, which is equipped with a heating and drying device; the air outlet of the drying air duct is connected to the air inlet of the dust removal air duct. The thin film transmission mechanism also includes a protective cover (3), which is respectively disposed on the upper and lower sides of the lidar (2) to cover the portion of the thin film (1) surrounding the lidar (2) except for the protective section (101) and the regeneration section (102); The cleaning tank (7) is closed on all sides and has an opening at the top for the film (1) to pass through; The active roller (8) operates, the film (1) circulates, the current protective section (101) is transferred to the cleaning tank (7) for soaking and cleaning, and the current soaking section (103) is transferred to the regeneration section (102) for drying.

2. The lidar dust and fog removal device according to claim 1, characterized in that, The protective section (101) is attached to the lens surface.

3. The lidar dust and fog removal device according to claim 1, characterized in that, The plurality of rollers (4) includes a first roller (41) and a second roller (42); A first roller (41) is provided on the side where the lens is located and on the top and bottom of the side opposite the lens. Two second rollers (42) are provided at intervals in the middle of the side opposite the lens. The first roller (41) and the second roller (42) are connected to the fixed mounting part at both ends of the axial direction through rolling bearings (5); The axial ends of the driving roller (8), driven roller (9) and guide roller (10) are respectively connected to the wall of the cleaning tank (7) through sealed bearings (11).

4. The lidar dust and fog removal device according to claim 1, characterized in that, The guide roller (10) presses the film (1) from above; and the position of the guide roller (10) is adjustable to tension the film (1).

5. The lidar dust and fog removal device according to claim 1, characterized in that, The dust removal duct is formed inside the dust removal housing (14). The dust removal device includes a number of electrode plates (18) arranged at intervals inside the dust removal housing (14). Corona wires (16) are provided between adjacent electrode plates (18). A traction weight (17) is provided at the bottom of the corona wires (16). An electrode busbar (15) is provided on the upper part of the dust removal housing (14) to supply power to the corona wires (16). The dust collector housing (14) has a guide plate (19) at the air inlet, which is used to guide the air input from the drying module to the space between the electrode plates (18).

6. The lidar dust and fog removal device according to claim 5, characterized in that, The dust collector housing (14) is equipped with a dust filter (20) at the air inlet.

7. The lidar dust and fog removal device according to claim 1, characterized in that, The drying air duct is formed inside the drying chamber shell (23), and the heating and drying device includes an induced draft fan, a heating device and a moisture absorption device arranged in sequence along the air inlet direction inside the drying chamber shell (23); The heating device includes multiple heating tubes (25) arranged sequentially along the air intake direction; The desiccant device includes several desiccant containers (26), which are detachably connected to the drying chamber shell (23); the surface of the desiccant containers (26) is provided with small holes, and the desiccant containers (26) contain desiccant.

8. The lidar dust and fog removal device according to claim 7, characterized in that, Each of the heating tubes (25) is arranged in a bent manner in the cross section of the drying air duct.

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