A laser ranging device and method for national land survey and monitoring

Abstract

The present invention relates to the technical field of lidar ranging devices, and specifically discloses a lidar ranging device and method for land survey and monitoring, including a lidar, a moving plate, and a calibration mechanism arranged on the side wall of the moving plate for calibrating the lidar. A transmitting mirror and a receiving mirror are arranged on the front surface of the lidar. A cleaning mechanism for cleaning the transmitting mirror and the receiving mirror and arranged at intervals is arranged on the side wall of the moving plate. The present invention calibrates the lidar at equal time intervals during the intermittent use through the calibration mechanism, which is convenient for mastering the accuracy of the lidar ranging, and is convenient for calibrating the lidar according to the actual measurement situation, improving the calibration effect. By means of a pressure sensor, etc., it is convenient to master the position of the calibration plate, thereby improving the calibration accuracy. The cleaning mechanism is convenient for cleaning the transmitting mirror and the receiving mirror usually arranged in the concave part, and the cleaning effect is better, thus avoiding the influence of dust, etc. on the accuracy of the lidar ranging.

Description

Technical Field

[0001] The present invention relates to the technical field of laser ranging devices, and particularly to a laser ranging device and method for national land survey and monitoring. Background Art

[0002] National land survey refers to the activity of comprehensively investigating and monitoring natural resources within the territory of a country. Among them, it is necessary to survey the boundaries and other positions of the national land through a laser ranging device for national land survey.

[0003] A laser rangefinder distance calibration device and method with the publication number CN117269942B. The problems raised in its background art are as follows: In traditional ranging calibration methods, the number of rangefinders calibrated each time is small, and the calibration distance is short, which affects the calibration efficiency and accuracy of the laser rangefinder. At the same time, the calibration device cannot provide feedback on the axial and radial postures of the rangefinder clamping mechanism used to fix the laser rangefinder to be calibrated, resulting in a large deviation in the perpendicularity of the rangefinder calibration device after long-term use of the equipment, which is not conducive to the calibration of the laser rangefinder.

[0004] A ranging device for environmental on-site investigation with the publication number CN218037349U. The problems raised in its background art are as follows: As the laser emission mirror and laser receiving mirror, which are the light input and output ends, need to be kept dry and free of dust coverage at all times. However, due to its general use environment being the wild, the two lenses are very easily blocked and covered by dust, water mist and other substances, affecting the ranging use.

[0005] Combining the existing technologies, the following problems exist:

[0006] In the prior art, the laser ranging device for national land survey usually conducts ranging in the wild for a long time. During the ranging process, it is not convenient to calibrate the laser ranging device, etc., or during calibration, it does not conform to the actual situation of national land survey, or it is not convenient to master the position between the calibration mechanism and the lidar, reducing the calibration accuracy, thus making it inconvenient to master the ranging accuracy and affecting the accuracy of national land survey. Moreover, since the emission mirror and receiving mirror of the laser ranging device are usually arranged in a concave part, therefore, when cleaning the existing laser ranging device, the cleaning effect is not good. Referring to the above application documents, although the laser ranging device can be calibrated and cleaned, the calibration accuracy and cleaning effect are not good, and there are certain deficiencies. To solve the above problems, a laser ranging device and method for national land survey and monitoring are proposed. Summary of the Invention

[0007] To overcome the deficiencies of the above-mentioned prior art, the present invention provides a laser ranging device and method for national land survey and monitoring, which improves the accuracy of calibrating the laser ranging device, is suitable for actual national land survey use, facilitates cleaning of the transmitting mirror and receiving mirror located in the concave part, and avoids affecting the use of laser ranging.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions: A laser ranging device for national land survey and monitoring includes a connecting piece, and also includes a lidar, a moving plate, and a calibration mechanism arranged on the side wall of the moving plate for calibrating the lidar. A transmitting mirror and a receiving mirror are arranged on the front of the lidar. A cleaning mechanism for cleaning the transmitting mirror and the receiving mirror and arranged at intervals is arranged on the side wall of the moving plate. The calibration mechanism includes:

[0009] An installation cylinder is fixedly sleeved on the side wall of the moving plate. A first plate body is sleeved on the inner wall of the installation cylinder. A calibration plate is fixedly arranged on the side of the first plate body close to the lidar. A waveform groove is opened on the side of the calibration plate close to the lidar to judge the accuracy of the lidar ranging by the distance between the calibration plate and the lidar;

[0010] A second plate body is fixedly sleeved on the inner wall of the installation cylinder. A threaded rod is threadedly connected to the center of the side wall of the second plate body. One end side of the threaded rod located between the first plate body and the second plate body is rotatably provided with a mounting plate. A pressure sensor is fixedly arranged on the side of the mounting plate close to the first plate body.

[0011] Furthermore, the calibration mechanism further includes:

[0012] A first rod body is fixedly arranged on the side of the first plate body close to the second plate body. The side wall of the first rod body is sleeved on the side wall center of the mounting plate and the threaded rod, so that one end of the first rod body away from the first plate body extends to the side of the second plate body away from the first plate body. A retaining ring is fixedly sleeved on the end of the first rod body away from the first plate body. The retaining ring is in a retaining fit with the threaded rod to limit the separation of the first rod body from the threaded rod. First through holes for sleeving the first rod body are opened on the side wall centers of the mounting plate and the threaded rod. The pressure sensor adopts an annular pressure sensor, and the inner wall of the pressure sensor is sleeved on the outside of the first rod body. A first spring is sleeved on the side wall of the first rod body and located between the pressure sensor and the first plate body.

[0013] Furthermore, the cleaning mechanism includes:

[0014] An installation shell is fixedly sleeved on the side wall of the moving plate. A first cleaning cotton plate is movably arranged on the side of the installation shell close to the lidar. A first driving component for driving the first cleaning cotton plate to move is arranged inside the installation shell. A rotating component for driving the first cleaning cotton plate to rotate and linked with the first driving component is arranged inside the first driving component. The first driving component includes:

[0015] The first electromagnet is fixedly arranged on the inner wall of the mounting shell away from the laser radar, and the inner wall of the mounting shell is sleeved with the second electromagnet. The first electromagnet and the second electromagnet are both designed in an annular shape.

[0016] Furthermore, the first driving component further comprises:

[0017] The first rotating member is fixedly arranged on a side of the second electromagnet away from the first electromagnet, and a connecting shell extending to the outside of the mounting shell is rotatably provided on the inner wall of the first rotating member, and one end of the connecting shell located outside the mounting shell is fixedly connected to the first cleaning cotton plate to drive the first cleaning cotton plate to move through the first electromagnet and the second electromagnet, and a second through hole for sleeve-mounting the connecting shell is provided on the side wall of the mounting shell, and a second spring is sleeved on the outer wall of one end of the connecting shell located in the mounting shell and on the side of the second electromagnet away from the first electromagnet, and the side of the connecting shell close to the first electromagnet is designed to be open.

[0018] Furthermore, the rotating assembly comprises:

[0019] The second rod body is fixedly arranged on the inner wall of one side of the mounting shell close to the first electromagnet and sleeved on the inner wall of the first electromagnet. One end of the second rod body away from the first electromagnet extends into the connecting shell. One end of the second rod body located in the connecting shell is provided with a blowing assembly for blowing air to the transmitting mirror and the receiving mirror. A side wall of the second rod body is provided with a limiting assembly.

[0020] A toothed plate is fixedly arranged on the top of the second rod body and embedded in the second rod body, a first gear is meshed on the top of the toothed plate, a first rotating shaft is fixedly arranged on the inner wall of the first gear, and a transmission mechanism is arranged at the end of the first rotating shaft, so that the first rotating shaft is connected to the second gear through the transmission mechanism, so that the transmission directions of the first gear and the second gear are arranged vertically;

[0021] The first tooth grooves are arranged in an annular array on the inner side wall of the connecting shell and mesh with the second gear.

[0022] Furthermore, the limiting component includes:

[0023] A second rotating member is fixedly arranged on an outer wall of an end of the connecting shell close to the first electromagnet, and a baffle is rotatably arranged on the inner wall of the second rotating member so that the baffle is rotatably connected to the connecting shell, and a side of the baffle close to the connecting shell is rotatably connected to the first gear and the second gear;

[0024] The guide rod is fixedly arranged on the inner wall of one side of the mounting shell close to the first electromagnet. The guide rod is located on the inner side of the first electromagnet and on both sides of the second rod body. The end of the guide rod away from the first electromagnet passes through the baffle and extends into the connecting shell to limit the baffle. The side wall of the baffle is provided with a third through hole for sleeve-mounting the guide rod.

[0025] Further, the blowing assembly comprises:

[0026] An air guide groove is opened on one side of the first cleaning cotton board close to the lidar, and a second cleaning cotton board is fixedly arranged on the inner wall of the air guide groove. The sides of the first cleaning cotton board and the second cleaning cotton board close to the lidar are vertically aligned, and air guide holes arranged in an annular array are opened on the side wall of the second cleaning cotton board;

[0027] A telescopic tube is fixedly arranged at one end of the second rod body located inside the connecting shell. A conduit extending into the air guide groove is fixedly arranged at the end of the telescopic tube away from the second rod body. A fourth through hole for sleeving the conduit is opened on the side wall of the connecting shell. Limiting rings are fixedly sleeved on the outer wall of the conduit both inside the connecting shell and in the air guide groove to limit the conduit.

[0028] Furthermore, a mounting seat is fixedly arranged on the top of the connecting piece. A mounting groove is opened on the top of the mounting seat. The lidar is detachably arranged in the mounting groove, and a cover plate is detachably arranged on the top of the mounting seat;

[0029] Gaps communicating with the mounting groove are opened on the side walls of the mounting seat on the front and back of the lidar, so that the lidar measures the land along the gap on the front of the lidar. A cleaning assembly is arranged at the gap on the back of the lidar. An annular groove communicating with the mounting groove and the gap is opened inside the mounting seat and outside the lidar. The moving plate is arranged in the annular groove, and the moving plate is arc-shaped. A second driving assembly for driving the moving plate to move along the annular groove is arranged inside the annular groove. The second driving assembly includes:

[0030] A bottom plate is fixedly arranged on the bottom inner wall of the annular groove. An annular plate is slidably arranged on the top of the bottom plate. The top of the annular plate is fixedly connected to the bottom of the moving plate. An annular sliding groove is opened at the bottom of the annular plate. An annular sliding block is placed inside the annular sliding groove, and the bottom of the annular sliding block is fixedly connected to the top of the bottom plate;

[0031] A servo motor is fixedly arranged inside the mounting seat. A third gear is arranged on the output shaft of the servo motor. Annularly arranged second tooth grooves are opened on the inner wall of the annular plate, and the second tooth grooves are meshed with the third gear, so that the servo motor drives the annular plate to rotate.

[0032] Furthermore, the cleaning assembly includes:

[0033] A fixing plate is detachably arranged on the top of the mounting seat and at the gap on the back of the lidar. Cleaning rollers symmetrically arranged around the center point of the fixing plate are rotatably arranged at the bottom of the fixing plate.

[0034] The present invention also provides a usage method of a laser ranging device for land survey and monitoring. Using the laser ranging device for land survey and monitoring, the method includes the following steps:

[0035] S1: Determine the distance to the target by making the lidar emit a laser beam along the transmitting mirror and receiving the reflected laser beam through the receiving mirror, so as to conduct a survey of the national territory;

[0036] S2: During the use of the lidar, judge the accuracy of the lidar distance information measurement through the calibration mechanism, and clean the transmitting mirror and the receiving mirror through the cleaning mechanism.

[0037] The present invention provides a laser ranging device and method for national territory survey and monitoring. Compared with the prior art, it has the following beneficial effects:

[0038] 1. The present invention calibrates the lidar at equal intervals during the intermittent use through the calibration mechanism, which is convenient to master the accuracy of the lidar ranging, and is convenient to calibrate the lidar according to the actual measurement situation, improving the calibration effect. It is convenient to master the position of the calibration plate through the pressure sensor, etc., so as to improve the calibration accuracy. The cleaning mechanism is convenient to clean the transmitting mirror and the receiving mirror usually arranged in the concave part, and the cleaning effect is better, thus avoiding the influence of dust, etc. on the accuracy of the lidar ranging.

[0039] 2. The present invention monitors through the first spring and the pressure sensor to facilitate the judgment of the position information of the first plate body and the calibration plate, which is convenient to master the position of the calibration plate, avoid the situation of deviation or loosening of the calibration plate during the calibration process, improve the calibration accuracy, and is convenient to clean the calibration plate through the cleaning component later, avoid the accumulation of impurities at the waveform groove and affect the calibration accuracy, and is convenient for long-term calibration use;

[0040] By threading the threaded rod with the second plate body, it is convenient to adjust the compression amount of the first spring, avoid the situation that the first spring has poor elastic support due to metal fatigue, etc., and thus is convenient for long-term use.

[0041] 3. The present invention is provided with a waveform groove to facilitate the mastery of the distance information obtained by continuous measurement of the lidar, which conforms to the actual situation of national territory survey. The calibration mechanism is driven by the second driving component to move, which is convenient to calibrate the lidar and is convenient to move away from the lidar after calibration, avoiding affecting the actual use of the lidar.

[0042] 4. The present invention makes the first cleaning cotton plate approach the transmitting mirror and the receiving mirror through the first driving component of the cleaning mechanism to clean the transmitting mirror and the receiving mirror, avoid a large amount of impurities accumulating at the transmitting mirror and the receiving mirror, thus avoiding affecting the accuracy of the lidar ranging, and is linked with the rotating component and the blowing component to improve the cleaning effect. The first driving component cooperates with the cleaning component to facilitate the cleaning of the first cleaning cotton plate and the second cleaning cotton.

[0043] 5. In the present invention, the first cleaning cotton board rotates when approaching the transmitting mirror and the receiving mirror through the rotating assembly, which has a better cleaning effect compared with the traditional method of rotating the first cleaning cotton board through a torsion spring or the like. After the first cleaning cotton board finishes cleaning the transmitting mirror and the receiving mirror, the blowing assembly blows air on the transmitting mirror and the receiving mirror, further improving the cleaning effect, so as to facilitate the cleaning of the transmitting mirror and the receiving mirror located in the concave part, thereby avoiding affecting the ranging use of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the overall structure of the laser ranging device applicable to land survey and monitoring according to the present invention;

[0045] Figure 2 is a schematic diagram of the structures of the lidar, the mounting base and the cleaning assembly according to the present invention;

[0046] Figure 3 is a schematic diagram of the sectional structure of the mounting shell according to the present invention;

[0047] Figure 4 is a schematic diagram of the sectional view of the mounting base, the annular groove and the mounting groove according to the present invention;

[0048] Figure 5 is a schematic diagram of the second driving assembly according to the present invention;

[0049] Figure 6 is a schematic diagram of the structures of the moving plate, the cleaning mechanism and the calibration mechanism according to the present invention;

[0050] Figure 7 is a schematic diagram of the sectional view of the moving plate according to the present invention;

[0051] Figure 8 is a schematic diagram of the cleaning mechanism according to the present invention;

[0052] Figure 9 is a schematic diagram of the structures of the first rotating member, the connecting shell and the second electromagnet according to the present invention;

[0053] Figure 10 is a schematic diagram of the sectional view of the connecting shell according to the present invention;

[0054] Figure 11 is a schematic diagram of the structures of the rotating assembly and the connecting shell according to the present invention;

[0055] Figure 12 is a schematic diagram of the sectional view of the blowing assembly and the first cleaning cotton board according to the present invention;

[0056] Figure 13 is a schematic diagram of the sectional view of the limiting assembly and the connecting shell according to the present invention;

[0057] Figure 14Schematic structural diagram of the calibration mechanism of the present invention;

[0058] Figure 15 Schematic cross-sectional structural diagram of the installation cylinder of the present invention;

[0059] Figure 16 Schematic structural diagram of the cleaning component of the present invention;

[0060] Figure 17 Schematic structural diagram of the cover plate, mounting seat and connecting piece of the present invention.

[0061] Reference numerals involved in the above drawings: 1, mounting seat; 2, cover plate; 3, connecting piece; 4, second driving assembly; 5, moving plate; 6, cleaning mechanism; 7, annular groove; 8, lidar; 81, transmitting mirror; 82, receiving mirror; 9, mounting groove; 10, cleaning component; 11, calibration mechanism; 12, notch;

[0062] 41, bottom plate; 42, servo motor; 43, annular plate; 44, annular sliding groove; 45, third gear; 46, second tooth groove;

[0063] 61, mounting shell; 62, rotating assembly; 63, first cleaning cotton plate; 64, limiting assembly; 65, first driving assembly; 66, air blowing assembly;

[0064] 621, second rod body; 622, second gear; 623, toothed plate; 624, first gear; 625, first tooth groove; 626, transmission mechanism;

[0065] 641, guide rod; 642, baffle; 643, second rotating piece;

[0066] 651, first electromagnet; 652, second electromagnet; 653, connecting shell; 654, first rotating piece;

[0067] 661, telescopic tube; 662, air guide groove; 663, second cleaning cotton plate; 664, conduit; 665, limiting ring;

[0068] 101, cleaning roller; 102, fixing plate;

[0069] 111, installation cylinder; 112, second plate body; 113, mounting plate; 114, pressure sensor; 115, first plate body; 116, waveform groove; 117, calibration plate; 118, first rod body; 110, retaining ring; 119, threaded rod. Detailed implementation manners

[0070] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0071] Embodiment 1: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 and Figure 17 , a laser ranging device for land survey and monitoring, including a connecting member 3. By means of the connecting member 3, it is convenient to install the lidar 8 at a designated position, so as to drive the lidar 8 to move, facilitating the survey of the land. It also includes a lidar 8, a moving plate 5, and a calibration mechanism 11 provided on the side wall of the moving plate 5 for calibrating the lidar 8. A transmitting mirror 81 and a receiving mirror 82 are provided on the front of the lidar 8, and a cleaning mechanism 6 for cleaning the transmitting mirror 81 and the receiving mirror 82 and arranged at intervals is provided on the side wall of the moving plate 5;

[0072] Please refer to Figure 6 , Figure 7 , Figure 14 and Figure 15 , the calibration mechanism 11 includes:

[0073] An installation cylinder 111 is fixedly sleeved on the side wall of the moving plate 5. A first plate body 115 is sleeved on the inner wall of the installation cylinder 111. A calibration plate 117 is fixedly provided on the side of the first plate body 115 close to the lidar 8. A waveform groove 116 is opened on the side of the calibration plate 117 close to the lidar 8 to judge the accuracy of the lidar 8 ranging by the distance between the calibration plate 117 and the lidar 8;

[0074] A second plate body 112 is fixedly sleeved on the inner wall of the installation cylinder 111. A threaded rod 119 is threadedly connected to the center of the side wall of the second plate body 112. An installation plate 113 is rotatably provided on the side wall of the threaded rod 119 located between the first plate body 115 and the second plate body 112. A pressure sensor 114 is fixedly provided on the side of the installation plate 113 close to the first plate body 115.

[0075] The calibration mechanism 11 further includes:

[0076] The first rod body 118 is fixedly arranged on one side of the first plate body 115 close to the second plate body 112, and the side wall of the first rod body 118 is sleeved at the center of the side walls of the mounting plate 113 and the threaded rod 119, so that one end of the first rod body 118 away from the first plate body 115 extends to the side of the second plate body 112 away from the first plate body 115. A retaining ring 110 is fixedly sleeved at one end of the first rod body 118 away from the first plate body 115. The retaining ring 110 is in a stop fit with the threaded rod 119 to limit the separation of the first rod body 118 and the threaded rod 119. First through holes for sleeving the first rod body 118 are formed at the centers of the side walls of the mounting plate 113 and the threaded rod 119. The pressure sensor 114 adopts an annular pressure sensor 114, and the inner wall of the pressure sensor 114 is sleeved on the outside of the first rod body 118. A first spring is sleeved on the side wall of the first rod body 118 and located between the pressure sensor 114 and the first plate body 115.

[0077] During specific implementation, when the lidar 8 needs to be calibrated, the second driving assembly 4 drives the moving plate 5 to move to the notch 12 in front of the lidar 8. At this time, the lidar 8 emits a laser beam and emits it along the emission mirror 81. The emitted laser beam is blocked by the calibration plate 117 and then reflected, and the reflected laser beam is received through the receiving mirror 82, so as to judge the distance of the lidar 8 from calibration, and judge the accuracy of the lidar 8 ranging through the preset distance information between the calibration plate 117 and the lidar 8;

[0078] By providing the waveform groove 116, it is convenient to master the distance information continuously measured by the lidar 8, which conforms to the actual situation of national land survey;

[0079] By providing the first spring to elastically support the first plate body 115 and the calibration plate 117, the position information of the first plate body 115 and the calibration plate 117 can be judged through the pressure information monitored by the pressure sensor 114, which is convenient to master the position of the calibration plate 117, avoid the situation of offset or loosening of the calibration plate 117 during the calibration process, improve the calibration accuracy, and elastically support the calibration plate 117, so as to facilitate the subsequent cleaning of the calibration plate 117 by the cleaning assembly 10, avoid the accumulation of impurities at the waveform groove 116 and affect the calibration accuracy, and is convenient for long-term calibration use;

[0080] By threading the threaded rod 119 with the second plate body 112 and rotatably connecting the mounting plate 113 with the threaded rod 119, it is convenient to adjust the positions of the mounting plate 113 and the pressure sensor 114, so as to facilitate the adjustment of the compression amount of the first spring, avoid the situation of poor elastic support of the first spring due to metal fatigue, etc., and thus facilitate long-term use;

[0081] By moving the first rod body 118 along the first through hole, the movement of the first plate body 115 and the calibration plate 117 is limited, improving the stability of the movement of the calibration plate 117 without affecting the use of the threaded rod 119 and the like.

[0082] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 and Figure 5 , a mounting seat 1 is fixedly provided at the top of the connecting member 3, a mounting groove 9 is formed at the top of the mounting seat 1, the lidar 8 is detachably arranged in the mounting groove 9, and a cover plate 2 is detachably arranged at the top of the mounting seat 1;

[0083] At the side wall of the mounting seat 1 and on the front and back of the lidar 8, gaps 12 communicating with the mounting groove 9 are respectively formed, so that the lidar 8 measures the land along the gap 12 on the front of the lidar 8. A cleaning assembly 10 is arranged at the gap 12 on the back of the lidar 8. An annular groove 7 communicating with the mounting groove 9 and the gap 12 is formed inside the mounting seat 1 and outside the lidar 8. A moving plate 5 is arranged in the annular groove 7, and the moving plate 5 is arc-shaped. A second driving assembly 4 for driving the moving plate 5 to move along the annular groove 7 is arranged inside the annular groove 7. The second driving assembly 4 includes:

[0084] A bottom plate 41, fixedly arranged on the bottom inner wall of the annular groove 7. A circular plate 43 is slidably arranged on the top of the bottom plate 41. The top of the circular plate 43 is fixedly connected to the bottom of the moving plate 5. An annular sliding groove 44 is formed at the bottom of the circular plate 43. An annular sliding block is placed inside the annular sliding groove 44, and the bottom of the annular sliding block is fixedly connected to the top of the bottom plate 41;

[0085] A servo motor 42, fixedly arranged inside the mounting seat 1. A third gear 45 is arranged on the output shaft of the servo motor 42. Annularly arranged second tooth grooves 46 are formed on the inner wall of the circular plate 43, and the second tooth grooves 46 are engaged with the third gear 45, so that the servo motor 42 drives the circular plate 43 to rotate.

[0086] The output shaft of the servo motor 42 is fixedly provided with a second rotating shaft through a coupling, and the side wall of the second rotating shaft is fixedly connected to the inner wall of the third gear 45, so that the servo motor 42 drives the third gear 45 to rotate;

[0087] In specific implementation, the servo motor 42 is started. The output shaft of the servo motor 42 drives the second rotating shaft to rotate through a coupling. The second rotating shaft drives the third gear 45 to rotate. Since the third gear 45 meshes with the second tooth grooves 46 arranged in an annular array, the annular plate 43 is driven to rotate under the limitation of the annular sliding groove 44 and the annular slider, so as to drive the moving plate 5 to rotate, thereby driving the cleaning mechanism 6 and the calibration structure to rotate, facilitating the adjustment of the positions of the cleaning mechanism 6 and the calibration mechanism 11, facilitating the cleaning and calibration of the lidar 8 by the cleaning mechanism 6 and the calibration mechanism 11, and facilitating them to move away from the receiving mirror 82 and the transmitting mirror 81 after the cleaning and calibration are completed, so as not to affect the actual use of the lidar 8.

[0088] Embodiment 2: Please refer to Figure 7 , Figure 8 , Figure 9 and Figure 10 . The different technical solution of this embodiment compared with Embodiment 1 is that the cleaning mechanism 6 includes:

[0089] The mounting shell 61 is fixedly sleeved on the side wall of the moving plate 5. A first cleaning cotton plate 63 is movably arranged on the side of the mounting shell 61 close to the lidar 8. A first driving component 65 for driving the first cleaning cotton plate 63 to move is arranged inside the mounting shell 61. An inner side of the first driving component 65 is provided with a rotating component 62 which is linked with the first driving component 65 and is used for driving the first cleaning cotton plate 63 to rotate. The first driving component 65 includes:

[0090] The first electromagnet 651 is fixedly arranged on the inner wall of the mounting shell 61 far from the lidar 8. A second electromagnet 652 is sleeved on the inner wall of the mounting shell 61. Both the first electromagnet 651 and the second electromagnet 652 are designed in a ring shape.

[0091] The first driving component 65 further includes:

[0092] The first rotating part 654 is fixedly arranged on the side of the second electromagnet 652 far from the first electromagnet 651. The inner wall of the first rotating part 654 is rotatably provided with a connecting shell 653 extending outside the mounting shell 61. One end of the connecting shell 653 outside the mounting shell 61 is fixedly connected with the first cleaning cotton plate 63, so as to drive the first cleaning cotton plate 63 to move through the first electromagnet 651 and the second electromagnet 652. A second through hole for sleeving the connecting shell 653 is formed in the side wall of the mounting shell 61. A second spring is sleeved on the outer wall of the end of the connecting shell 653 inside the mounting shell 61 and on the side of the second electromagnet 652 far from the first electromagnet 651. The side of the connecting shell 653 close to the first electromagnet 651 is designed to be open.

[0093] In a specific implementation, when the movable plate 5 and the cleaning mechanism 6 move to the front of the transmitting mirror 81 and the receiving mirror 82, the first electromagnet 651 and the second electromagnet 652 are energized, and the side where the first electromagnet 651 and the second electromagnet 652 are close to each other is the same pole, so that the repulsive force generated pushes the second electromagnet 652 to squeeze the second spring to move, thereby pushing the connecting shell 653 and the first cleaning cotton plate 63 to approach the transmitting mirror 81 and the receiving mirror 82, so as to clean the transmitting mirror 81 and the receiving mirror 82, avoid a large amount of impurities from accumulating at the transmitting mirror 81 and the receiving mirror 82, thereby avoiding affecting the accuracy of the laser radar 8 ranging;

[0094] When cleaning is completed, the first electromagnet 651 and the second electromagnet 652 are powered off. Under the action of the second spring, the second electromagnet 652 approaches the first electromagnet 651, thereby making the first cleaning cotton plate 63 away from the transmitting mirror 81 and the receiving mirror 82, so that the cleaning mechanism 6 can rotate along the annular groove 7 to avoid affecting the use of the laser radar 8. The side where the first electromagnet 651 and the second electromagnet 652 are close to each other can be made into opposite magnetic poles, so that the second electromagnet 652 can be driven to approach the first electromagnet 651 through suction, thereby making the first cleaning cotton plate 63 away from the transmitting mirror 81 and the receiving mirror 82. The magnetic poles of the electromagnet can be adjusted by changing the direction of the current. This is a prior art and will not be elaborated here.

[0095] See also Figure 10 and Figure 11 , the rotating assembly 62 comprises:

[0096] The second rod 621 is fixedly arranged on the inner wall of the mounting shell 61 close to the first electromagnet 651, and is sleeved on the inner wall of the first electromagnet 651. One end of the second rod 621 away from the first electromagnet 651 extends into the connecting shell 653. One end of the second rod 621 located in the connecting shell 653 is provided with a blowing assembly 66 for blowing air to the transmitting mirror 81 and the receiving mirror 82. The side wall of the second rod 621 is provided with a limit assembly 64.

[0097] The toothed plate 623 is fixedly disposed on the top of the second rod body 621 and embedded in the second rod body 621. The top of the toothed plate 623 is meshed with a first gear 624. The inner wall of the first gear 624 is fixedly provided with a first rotating shaft. A transmission mechanism 626 is disposed at the end of the first rotating shaft, so that the first rotating shaft is connected to the second gear 622 through the transmission mechanism 626, so that the transmission directions of the first gear 624 and the second gear 622 are vertically disposed.

[0098] The first tooth grooves 625 are formed in an annular array on the inner wall of the connecting shell 653 and mesh with the second gear 622 .

[0099] In specific implementation, when the second electromagnet 652 drives the connection shell 653 away from the first electromagnet 651 through repulsion, the connection shell 653 moves horizontally relative to the second rod body 621. At this time, under the action of the limiting component 64, and because the first gear 624 and the toothed plate 623 are engaged, thus during the movement of the connection shell 653, the first gear 624 is driven to rotate. The first gear 624 drives the second gear 622 to rotate through the transmission mechanism 626. Since the second electromagnet 652 is rotatably connected to the connection shell 653, the first connection shell 653 is driven to rotate through the first tooth groove 625, so that the first cleaning cotton plate 63 rotates when approaching the transmitting mirror 81 and the receiving mirror 82, thereby enabling the first cleaning cotton plate 63 to rotate and clean the transmitting mirror 81 and the receiving mirror 82, which has a better cleaning effect compared to the traditional method of using a torsion spring or the like to make the first cleaning cotton plate 63 rotate for cleaning;

[0100] A third rotating shaft rotatably connected to the baffle 642 is fixedly sleeved on the inner wall of the second gear 622. The transmission mechanism 626 includes bevel gears fixedly provided at the ends of the third rotating shaft and the first rotating shaft and meshing with each other, so that when the first gear 624 rotates, the second gear 622 is driven to rotate, and the rotation direction of the second gear 622 is changed, which is convenient for actual transmission use;

[0101] By making the rotating assembly 62 and the first driving assembly 65 be linked, it is convenient for the first cleaning cotton plate 63 to rotate when moving, thereby improving the cleaning effect on the transmitting mirror 81 and the receiving mirror 82, and being convenient for actual operation and use.

[0102] Please refer to Figure 12 , the air blowing assembly 66 includes:

[0103] An air guide groove 662 is opened on one side of the first cleaning cotton plate 63 close to the lidar 8, and a second cleaning cotton plate 663 is fixedly provided on the inner wall of the air guide groove 662. The sides of the first cleaning cotton plate 63 and the second cleaning cotton plate 663 close to the lidar 8 are vertically aligned, and air guide holes are arranged in an annular array on the side wall of the second cleaning cotton plate 663;

[0104] A telescopic tube 661 is fixedly provided at one end of the second rod body 621 located inside the connection shell 653. One end of the telescopic tube 661 away from the second rod body 621 is fixedly provided with a conduit 664 extending into the air guide groove 662. A fourth through hole for sleeving the conduit 664 is opened on the side wall of the connection shell 653. Limiting rings 665 are fixedly sleeved on the outer wall of the conduit 664 both inside the connection shell 653 and in the air guide groove 662 to limit the conduit 664.

[0105] In specific implementation, when the connection shell 653 approaches the first cleaning cotton plate 63, the connection shell 653 drives the conduit 664 to move through the limiting ring 665, thereby stretching the telescopic tube 661 to expand the telescopic tube 661. During this process, external gas enters the telescopic tube 661 through the air guide holes, air guide grooves 662, and the conduit 664, so that the inside of the telescopic tube 661 is filled with gas. When the first cleaning cotton plate 63 moves away from the transmitting mirror 81 and other components after cleaning the transmitting mirror 81 and the receiving mirror 82, the connection shell 653 drives the conduit 664 to move under the action of the limiting ring 665 to squeeze the telescopic tube 661, so that the gas in the telescopic tube 661 is blown out along the conduit 664, the air guide grooves 662, and the air guide holes, to blow air on the transmitting mirror 81 and the receiving mirror 82 after the first cleaning cotton plate 63 finishes cleaning the transmitting mirror 81 and the receiving mirror 82, further improving the cleaning effect. Since the receiving mirror 82 and the transmitting mirror 81 are usually arranged in the concave part, the cleaning effect of the transmitting mirror 81 and the receiving mirror 82 is improved by rotating and blowing air, and the blowing component 66 and the rotating component 62 are both linked with the first driving component 65, which is convenient for actual operation;

[0106] By opening air guide holes on the second cleaning cotton plate 663, it is convenient for air intake and also convenient for cleaning the transmitting mirror 81 and the receiving mirror 82. The conduit 664 is limited by the limiting ring 665, which is convenient for the conduit 664 not to rotate when the first cleaning cotton plate 63 rotates, and avoids the conduit 664 from detaching from the connection shell 653 and the first cleaning cotton plate 63;

[0107] The telescopic tube 661 can be made of elastic rubber material, which is convenient for actual use.

[0108] Please refer to Figure 13 , the limiting component 64 includes:

[0109] A second rotating member 643 is fixedly arranged on the outer wall of one end of the connection shell 653 close to the first electromagnet 651. The inner wall of the second rotating member 643 is rotatably provided with a baffle 642, so that the baffle 642 is rotatably connected to the connection shell 653. One side of the baffle 642 close to the connection shell 653 is rotatably connected to the first gear 624 and the second gear 622;

[0110] A guide rod 641 is fixedly arranged on the inner wall of one side of the mounting shell 61 close to the first electromagnet 651. The guide rod 641 is located inside the first electromagnet 651 and on both sides of the second rod body 621. The ends of the guide rod 641 far from the first electromagnet 651 all penetrate through the baffle 642 and extend into the connection shell 653 to limit the baffle 642. A third through hole for sleeving the guide rod 641 is opened on the side wall of the baffle 642.

[0111] In specific implementation, the baffle 642 is rotationally connected to the connection shell 653 through the second rotating member 643, facilitating the limiting of the first gear 624 and the second gear 622, avoiding the rotation of the connection shell 653 from affecting the stable use of the first gear 624 and the second gear 622, and limiting the movement of the baffle 642 through the guide rod 641, further improving the stability of the baffle 642 without affecting the movement of the baffle 642 along with the connection shell 653.

[0112] Please refer to Figure 16 , the cleaning assembly 10 includes:

[0113] The fixing plate 102 is detachably arranged on the top of the mounting seat 1 and is located at the notch 12 on the back of the lidar 8. The cleaning rollers 101 are rotatably arranged at the bottom of the fixing plate 102 and are symmetrically arranged with respect to the center point of the fixing plate 102.

[0114] In specific implementation, when the second driving assembly 4 drives the moving plate 5, the cleaning mechanism 6 and the calibration mechanism 11 to move to the back of the lidar 8, the calibration plate 117, the first cleaning cotton plate 63 and the second cleaning cotton plate 663 are in contact with the cleaning rollers 101, so as to clean them;

[0115] When cleaning the calibration plate 117, under the action of the first spring, the calibration plate 117 has a certain moving space after being squeezed by the cleaning rollers 101, so as to facilitate the full contact between the waveform groove 116 and the cleaning rollers 101, improve the cleaning effect of the calibration plate 117, and avoid affecting the calibration accuracy due to dust accumulation at the waveform groove 116;

[0116] When cleaning the first cleaning cotton plate 63 and the second cleaning cotton plate 663, the first driving assembly 65 adjusts the positions of the first cleaning cotton plate 63 and the second cleaning cotton plate 663 to facilitate contact with the cleaning rollers 101, so as to facilitate the cleaning of the first cleaning cotton plate 63 and the second cleaning cotton plate 663 and facilitate the long-term cleaning and use of the transmitting mirror 81 and the receiving mirror 82;

[0117] By arranging the cleaning assembly 10 on the back of the lidar 8, when cleaning the cleaning mechanism 6 and the calibration mechanism 11, the dust from cleaning will not adhere to the transmitting mirror 81 and the receiving mirror 82 again, improving the cleaning effect.

[0118] The embodiment of the present invention also provides a usage method of a laser ranging device for national land survey and monitoring. Using a laser ranging device for national land survey and monitoring, the method includes the following steps:

[0119] S1: Make the lidar 8 emit a laser beam along the transmitting mirror 81 and receive the reflected laser beam through the receiving mirror 82, so as to judge the distance of the target and conduct a survey of the national land;

[0120] S2: During the use of the lidar 8, the calibration mechanism 11 is used to judge the accuracy of the distance information measurement of the lidar 8 to determine the accuracy of the national land survey. Moreover, the cleaning mechanism 6 is used to clean the transmitting mirror 81 and the receiving mirror 82 to prevent impurities from adhering to the transmitting mirror 81 and the receiving mirror 82, which may affect the ranging accuracy of the lidar 8. The second driving component 4 drives the cleaning mechanism 6 and the calibration mechanism 11 to move to the front of the lidar 8, which is convenient for calibrating the lidar 8 and cleaning the transmitting mirror 81 and the receiving mirror 82.

[0121] The second driving component 4 adjusts the sequence of the cleaning mechanism 6 and the calibration mechanism 11 moving to the front of the lidar 8. When the calibration mechanism 11 moves to the front of the lidar 8 first, the lidar 8 is calibrated by the calibration mechanism 11 first. After calibration, the transmitting mirror 81 and the receiving mirror 82 are cleaned by the cleaning mechanism 6. Then, the lidar 8 is calibrated by the calibration mechanism 11 again to facilitate determining whether there is a ranging error before and after cleaning the transmitting mirror 81 and the receiving mirror 82, which is convenient for the actual investigation of land use. When the cleaning mechanism 6 moves to the front of the lidar 8 first, the cleaning mechanism 6 first cleans the transmitting mirror 81 and the receiving mirror 82, which is convenient for the subsequent calibration mechanism 11 to calibrate the lidar 8, improving the calibration accuracy and facilitating the actual ranging use.

[0122] Meanwhile, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0123] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0124] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made in these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser ranging device for national land survey and monitoring, including a connecting piece, characterized in that, It further includes a lidar, a moving plate, and a calibration mechanism disposed on the side wall of the moving plate for calibrating the lidar. A transmitting mirror and a receiving mirror are arranged on the front surface of the lidar. Cleaning mechanisms for cleaning the transmitting mirror and the receiving mirror and arranged at intervals are disposed on the side wall of the moving plate. The calibration mechanism includes: An installation cylinder fixedly sleeved on the side wall of the moving plate. A first plate body is sleeved on the inner wall of the installation cylinder. A calibration plate is fixedly provided on the side of the first plate body close to the lidar. A waveform groove is formed on the side of the calibration plate close to the lidar to judge the accuracy of the lidar ranging by the distance between the calibration plate and the lidar. A second plate body fixedly sleeved on the inner wall of the installation cylinder. A threaded rod is threadedly connected to the center of the side wall of the second plate body. One end side of the threaded rod located between the first plate body and the second plate body is rotatably provided with a mounting plate. A pressure sensor is fixedly provided on the side of the mounting plate close to the first plate body. A mounting seat is fixedly provided on the top of the connecting member. An installation groove is formed on the top of the mounting seat. The lidar is detachably installed in the installation groove. A cover plate is detachably installed on the top of the mounting seat. Notches communicating with the installation groove are formed on the side wall of the mounting seat and on the front and back of the lidar, so that the lidar measures the land through the notch on the front of the lidar. A cleaning assembly is arranged at the notch on the back of the lidar. An annular groove communicating with the installation groove and the notch is formed inside the mounting seat and outside the lidar. The moving plate is arranged in the annular groove and the moving plate is designed in an arc shape. A second driving assembly for driving the moving plate to move along the annular groove is arranged inside the annular groove. The second driving assembly includes: A bottom plate fixedly provided on the bottom inner wall of the annular groove. An annular plate is slidably arranged on the top of the bottom plate. The top of the annular plate is fixedly connected to the bottom of the moving plate. An annular sliding groove is formed on the bottom of the annular plate. An annular sliding block is placed inside the annular sliding groove. The bottom of the annular sliding block is fixedly connected to the top of the bottom plate. A servo motor fixedly provided in the mounting seat. A third gear is arranged on the output shaft of the servo motor. Annularly arranged second tooth grooves are formed on the inner wall of the annular plate and the second tooth grooves are meshed with the third gear to drive the annular plate to rotate by the servo motor.

2. The laser ranging device for national land survey and monitoring according to claim 1, wherein, The calibration mechanism further includes: A first rod body fixedly provided on the side of the first plate body close to the second plate body. The side wall of the first rod body is sleeved on the side wall centers of the mounting plate and the threaded rod, so that one end of the first rod body away from the first plate body extends to the side of the second plate body away from the first plate body. A retaining ring is fixedly sleeved on the end of the first rod body away from the first plate body. The retaining ring is in a retaining fit with the threaded rod to limit the separation of the first rod body from the threaded rod. First through holes for sleeving the first rod body are formed on the side wall centers of the mounting plate and the threaded rod. The pressure sensor adopts an annular pressure sensor and the inner wall of the pressure sensor is sleeved on the outside of the first rod body. A first spring is sleeved on the side wall of the first rod body between the pressure sensor and the first plate body.

3. A laser ranging device for national land survey and monitoring according to claim 1, characterized in that, The cleaning mechanism includes: The mounting shell is fixedly sleeved on the side wall of the movable plate, and a first cleaning cotton plate is movably arranged on a side of the mounting shell close to the laser radar, and a first driving assembly for driving the first cleaning cotton plate to move is arranged inside the mounting shell, and a rotating assembly is arranged inside the first driving assembly, which is linked with the first driving assembly and is used to drive the first cleaning cotton plate to rotate, and the first driving assembly includes: The first electromagnet is fixedly arranged on the inner wall of the mounting shell away from the laser radar, and the inner wall of the mounting shell is sleeved with the second electromagnet. The first electromagnet and the second electromagnet are both designed in an annular shape.

4. The laser ranging device for national land survey and monitoring according to claim 3, characterized in that, The first drive assembly also includes: The first rotating member is fixedly arranged on a side of the second electromagnet away from the first electromagnet, and a connecting shell extending to the outside of the mounting shell is rotatably provided on the inner wall of the first rotating member, and one end of the connecting shell located outside the mounting shell is fixedly connected to the first cleaning cotton plate to drive the first cleaning cotton plate to move through the first electromagnet and the second electromagnet, and a second through hole for sleeve-mounting the connecting shell is provided on the side wall of the mounting shell, and a second spring is sleeved on the outer wall of one end of the connecting shell located in the mounting shell and on the side of the second electromagnet away from the first electromagnet, and the side of the connecting shell close to the first electromagnet is designed to be open.

5. A laser ranging device for national land survey and monitoring according to claim 4, characterized in that, The rotating assembly comprises: The second rod body is fixedly arranged on the inner wall of one side of the mounting shell close to the first electromagnet and sleeved on the inner wall of the first electromagnet. One end of the second rod body away from the first electromagnet extends into the connecting shell. One end of the second rod body located in the connecting shell is provided with a blowing assembly for blowing air to the transmitting mirror and the receiving mirror. A side wall of the second rod body is provided with a limiting assembly. A toothed plate is fixedly arranged on the top of the second rod body and embedded in the second rod body, a first gear is meshed on the top of the toothed plate, a first rotating shaft is fixedly arranged on the inner wall of the first gear, and a transmission mechanism is arranged at the end of the first rotating shaft, so that the first rotating shaft is connected to the second gear through the transmission mechanism, so that the transmission directions of the first gear and the second gear are arranged vertically; The first tooth grooves are arranged in an annular array on the inner side wall of the connecting shell and mesh with the second gear.

6. The laser ranging device for national land survey and monitoring according to claim 5, characterized in that, The limiting component comprises: A second rotating member is fixedly arranged on an outer wall of an end of the connecting shell close to the first electromagnet, and a baffle is rotatably arranged on the inner wall of the second rotating member so that the baffle is rotatably connected to the connecting shell, and a side of the baffle close to the connecting shell is rotatably connected to the first gear and the second gear; The guide rod is fixedly arranged on the inner wall of one side of the mounting shell close to the first electromagnet. The guide rod is located on the inner side of the first electromagnet and on both sides of the second rod body. The end of the guide rod away from the first electromagnet passes through the baffle and extends into the connecting shell to limit the baffle. The side wall of the baffle is provided with a third through hole for sleeve-mounting the guide rod.

7. The laser ranging device for national land survey and monitoring according to claim 5, wherein, The blowing assembly comprises: An air guide groove is provided on a side of the first cleaning cotton plate close to the laser radar, and a second cleaning cotton plate is fixedly provided on the inner wall of the air guide groove, the first cleaning cotton plate and the second cleaning cotton plate are vertically aligned on a side close to the laser radar, and a side wall of the second cleaning cotton plate is provided with air guide holes arranged in a circular array; The telescopic tube is fixedly arranged at one end of the second rod body located inside the connection shell. A conduit extending into the air guide groove is fixedly arranged at one end of the telescopic tube away from the second rod body. A fourth through hole for sleeving the conduit is formed in the side wall of the connection shell. Limiting rings are fixedly sleeved on the outer wall of the conduit both inside the connection shell and in the air guide groove to limit the conduit.

8. A laser ranging device for national land survey and monitoring according to claim 1, characterized in that, The cleaning assembly includes: A fixing plate is detachably arranged on the top of the mounting seat and is located at the notch on the back of the lidar. Cleaning rollers arranged symmetrically about the center point of the fixing plate are rotatably arranged at the bottom of the fixing plate.

9. A method for using a laser ranging device for national land survey and monitoring, characterized in that, Using the lidar device for national land survey and monitoring according to any one of claims 1-8, the method includes the following steps: S1: By causing the lidar to emit a laser beam along the transmitting mirror and receiving the reflected laser beam through the receiving mirror, the distance to the target is judged to conduct a survey of the national land. S2: During the use of the lidar, the calibration mechanism is used to judge the accuracy of the distance information measurement of the lidar, and the cleaning mechanism is used to clean the transmitting mirror and the receiving mirror.

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