Lightning-vision all-in-one machine based on intelligent laser radar

Abstract

The invention relates to the technical field of monitoring devices, in particular to an intelligent laser radar-based all-in-one machine, which comprises a placement device, a driving mechanism arranged on the outer side of the placement device, a cleaning device matched with the driving mechanism to move, an air blowing device arranged in the placement device and a reset mechanism for driving the driving mechanism to move. According to the all-in-one machine based on the intelligent laser radar, after rain and snow are accumulated in the collecting frame, the rotating rod is driven to rotate, the butt joint rod is driven to rotate, then the rain and snow accumulated on the outer sides of the laser radar and the camera are cleaned through the cleaning device and the air blowing device, and therefore the requirement for extra driving equipment is reduced; and it is ensured that equipment can be kept clean without manual intervention under the severe weather condition.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring devices, and in particular to a radar-vision integrated machine based on an intelligent laser radar. Background Art

[0002] The laser vision integrated machine integrates intelligent laser radar technology, and achieves accurate perception of the surrounding environment through high-precision laser scanning and intelligent analysis. It is most widely used on highways, mainly due to the laser radar's strong anti-interference ability, wide detection range, and high accuracy, providing strong guarantees for the safe operation of highways.

[0003] The patent with application number CN202321507090.4 discloses an adjustment mechanism for a laser vision integrated machine, including a base assembly, a pad assembly fixedly connected to the top of the base assembly, an adjustment box assembly fixedly connected to the top of the pad assembly, a screen assembly arranged on the top of the adjustment box assembly, a camera assembly arranged on the top of the screen assembly, and a small motor fixedly connected to the outside of the bottom of the inner cavity of the adjustment box assembly and close to the inner wall of the adjustment box assembly. This solves the problem that the overall height of the existing laser vision integrated machine is fixed and cannot be adjusted, and the fixed height will be very limited when observing different roads, resulting in the use effect of the laser vision integrated machine being affected.

[0004] However, under severe weather conditions such as rain and snow, rain and snow are very likely to accumulate on the surface of existing equipment. If these accumulated snow and rain are not cleaned in time, they will seriously interfere with the detection accuracy of the lidar and the image capture ability of the camera, thereby affecting the normal operation of the equipment. However, many devices currently lack automatic cleaning devices. Once rain and snow accumulate on the surface, they need to be cleaned manually, which not only greatly increases labor costs, but also if the cleaning process is not timely or improperly operated, it may cause irreversible damage to the precision equipment, reducing the reliability and service life of the equipment.

[0005] In view of this, we propose a radar-vision integrated machine based on intelligent lidar. Summary of the invention

[0006] The purpose of the present invention is to provide a radar-vision integrated machine based on intelligent laser radar to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: The integrated laser vision machine based on the intelligent laser radar comprises a placement device, a driving mechanism arranged outside the placement device, a cleaning device cooperating with the driving mechanism to move, an air blowing device arranged inside the placement device, and a reset mechanism driving the driving mechanism to move; The placement device includes a placement frame, a heat sink arranged on the top surface of the placement frame, and a camera and a laser radar fixedly connected to the outer wall of the placement frame by screws; The driving mechanism includes a rotating rod, a rod wall gear arranged on the outer side wall of the rotating rod, an extension rod arranged on the outer side wall of the rotating rod, a limit rod connected between two extension rods, and a collection frame arranged at the ends of the two extension rods; The cleaning device comprises a docking rod that rotates with the rotation of the rotating rod, connecting rods arranged on both sides of the docking rod, a sliding bar that moves in coordination with the connecting rod, and a scraper that moves with the sliding bar; The air blowing device comprises an outer jacket bin, an air inlet valve and an air outlet pipe arranged on the top surface of the outer jacket bin, a piston plate slidably connected to the inside of the outer jacket bin, a movable horizontal plate moving with the piston plate, and a transmission part driving the movable horizontal plate to move; The transmission part comprises a transmission shaft that rotates with the rotation of the rod wall gear and a shaft end lever arranged at the end of the transmission shaft; The reset mechanism comprises a limiting slide bar, a moving tooth plate slidably connected to the outer side of the limiting slide bar, and a pressure spring which pushes the moving tooth plate upward by its own elastic force.

[0008] In the technical solution of the present invention, a plurality of regularly distributed ventilation holes with an L-shaped longitudinal cross-section are opened on the outer wall of the placement frame, and limiting brackets are welded and fixed on the outer walls at both ends of the placement frame, and the heat sink is fixedly connected to the top surface of the placement frame by screws.

[0009] In the technical solution of the present invention, the left and right ends of the rotating rod are respectively rotatably connected to the inner walls of the left and right ends of the placement frame, the rod wall gear is fixedly connected to the outer wall of the rotating rod by a bayonet pin, and the extension rod is welded and fixed at the end position of the rotating rod.

[0010] In the technical solution of the present invention, a mounting block is welded and fixed at the end position of the extension rod, the left and right ends of the limit rod are respectively clamped and fixed to the extension rods on the left and right sides, the collecting frame is fixedly connected between the two mounting blocks by screws, and a discharge trough that passes through inside and outside is provided at the right opening of the collecting frame, the bottom end of the collecting frame is arc-shaped and has a number of regularly distributed and vertically through drainage holes on the bottom surface.

[0011] In the technical solution of the present invention, the left and right ends of the docking rod are rotatably connected to the inner walls of the left and right ends of the placement frame respectively, and the outer wall of the docking rod is fixedly connected to a docking gear meshing with the rod wall gear through a bayonet pin. One end of the connecting rod is clamped and fixed at the end position of the docking rod, and the other end of the connecting rod is integrally formed with a convex rod.

[0012] In the technical solution of the present invention, the sliding bar is slidably connected to the outer side of the limit bracket, a limit groove is provided on the inner wall of the sliding bar, a strip surface groove is provided inside the sliding bar which passes through the left and right sides and is used to provide a moving range for the convex rod, a fixed strip plate is clamped and fixed at the end position of the sliding bar, and a scraper is welded and fixed at the end positions of the two fixed strip plates.

[0013] In the technical solution of the present invention, the outer sleeve bin is clamped and fixedly connected to the inner wall of the placement frame, the air inlet valve is threadedly connected to the outer wall of the outer sleeve bin, one end of the air outlet pipe is clamped and fixedly connected to the outer wall of the outer sleeve bin, and the other end is clamped and fixedly connected to the nozzle strip.

[0014] In the technical solution of the present invention, the piston plate is slidably connected to the interior of the outer sleeve, a plurality of fixed round rods are clamped and fixed between the piston plate and the movable transverse plate, and a plate surface groove is provided on the outer side wall of the movable transverse plate.

[0015] In the technical solution of the present invention, one end of the transmission shaft is rotatably connected to the inner wall of the placement frame, and the other end is sleeved with an upper convex bracket, and the upper convex bracket is clamped on the inner bottom surface of the placement frame. The outer wall of the transmission shaft is fixedly connected with a shaft gear through a bayonet pin, and the shaft gear is meshed with the rod wall gear. The shaft end lever is clamped and fixed at the end position of the transmission shaft, and the end convex shaft of the shaft end lever extends to the inside of the groove on the plate surface.

[0016] In the technical solution of the present invention, the limiting slide bar is clamped and fixed on the inner wall of the placing frame, and an outer convex circular plate is integrally formed on the outer wall of the limiting slide bar. The movable tooth plate is slidably connected to the outer side of the limiting slide bar through the horizontal plates at the upper and lower ends. One end of the pressure spring is welded to the bottom surface of the horizontal plate at the top of the movable tooth plate, and the other end is welded to the top surface of the convex circular plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The laser radar-based integrated machine can collect rain and snow inside the frame, which will drive the rotating rod to rotate, and then drive the docking rod to rotate, and then use the cleaning device and air blowing device to clean the accumulated rain and snow on the outside of the laser radar and camera respectively, thereby reducing the need for additional driving equipment and ensuring that the equipment can be kept clean without human intervention under severe weather conditions.

[0018] 2. The laser vision integrated machine based on intelligent laser radar can drive the movable tooth plate to move through the elastic force of the pressure spring, and drive the rotating rod to rotate, so that the position of the collection frame is restored. It not only improves the automation level of the overall device, but also ensures the rapid reset of the equipment after cleaning, thereby enhancing the reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic cross-sectional view of the overall structure of the present invention; Figure 3 It is a schematic cross-sectional view of the structure of the placement device in the present invention; Figure 4 For the present invention Figure 3 A magnified schematic diagram of part A; Figure 5 It is a structural schematic diagram of the driving mechanism in the present invention; Figure 6 It is a schematic diagram of the cross-section structure of the collection frame in the present invention; Figure 7 For the present invention Figure 6 A magnified schematic diagram of part B; Figure 8 It is a schematic diagram of the structure of the cleaning device in the present invention; Fig. 9 It is a schematic cross-sectional view of the structure of the air blowing device in the present invention; Fig.10 It is a structural schematic diagram of the transmission part in the present invention; Fig.11 It is a structural schematic diagram of the reset mechanism in the present invention; Description of reference numerals: 100, placement device; 110, placement frame; 111, vent; 120, limit bracket; 130, heat sink; 140, camera; 150, laser radar; 200, driving mechanism; 210, rotating rod; 220, rod wall gear; 230, extension rod; 240, mounting block; 250, limiting rod; 260, collecting frame; 261, discharge trough; 262, drainage hole; 300, cleaning device; 310, docking rod; 320, docking gear; 330, connecting rod; 340, convex rod; 350, sliding bar; 351, limiting slot; 352, strip surface slot; 360, fixed strip plate; 370, scraper; 400, air blowing device; 410, outer jacket; 420, air inlet valve; 430, air outlet pipe; 440, piston plate; 450, fixed round rod; 460, movable horizontal plate; 461, plate surface slot; 470, transmission part; 471, transmission shaft; 472, shaft body gear; 473, shaft end lever; 474; upper convex bracket; 480, nozzle strip; 500, reset mechanism; 510, limit slide bar; 511, convex circular plate; 520, movable tooth plate; 530, pressure spring. DETAILED DESCRIPTION

[0020] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 11 As shown, this embodiment provides a technical solution: The laser vision integrated machine based on the intelligent laser radar comprises a placement device 100, a driving mechanism 200 arranged outside the placement device 100, a cleaning device 300 cooperating with the driving mechanism 200 to move, an air blowing device 400 arranged inside the placement device 100, and a reset mechanism 500 driving the driving mechanism 200 to move; In the present invention, the placement device 100 includes a placement frame 110, a heat sink 130 disposed on the top surface of the placement frame 110, a camera 140 and a laser radar 150 fixedly connected to the outer wall of the placement frame 110 by screws; Specifically, a plurality of regularly distributed ventilation holes 111 with an L-shaped longitudinal cross-section are provided on the outer wall of the placement frame 110, and limiting brackets 120 are welded and fixed on the outer walls at both ends of the placement frame 110, and the heat sink 130 is fixedly connected to the top surface of the placement frame 110 by screws.

[0022] Furthermore, the placement frame 110 ensures the strength of the overall structure of the placement device 100, the limiting bracket 120 is used to limit the movement range of the internal structure of the cleaning device 300, and the heat sink 130 is used to improve the heat dissipation efficiency of the overall device in hot weather.

[0023] In this embodiment, Figure 5-Figure 7 As shown, the driving mechanism 200 includes a rotating rod 210, a rod wall gear 220 disposed on the outer wall of the rotating rod 210, an extension rod 230 disposed on the outer wall of the rotating rod 210, a limiting rod 250 connected between the two extension rods 230, and a collection frame 260 disposed at the ends of the two extension rods 230; Specifically, the left and right ends of the rotating rod 210 are rotatably connected to the inner walls of the left and right ends of the placement frame 110, the rod wall gear 220 is fixedly connected to the outer wall of the rotating rod 210 by a bayonet, and the extension rod 230 is welded and fixed to the end position of the rotating rod 210.

[0024] Furthermore, a mounting block 240 is welded and fixed at the end position of the extension rod 230, the left and right ends of the limiting rod 250 are respectively clamped and fixed to the extension rods 230 on the left and right sides, and the collecting frame 260 is fixed between the two mounting blocks 240 by screws. A discharge groove 261 that passes through inside and outside is provided at the open right side of the collecting frame 260, and the bottom end of the collecting frame 260 is arc-shaped and has a plurality of regularly distributed drainage holes 262 that pass through from top to bottom on the bottom surface.

[0025] Furthermore, when bad weather comes, rain and snow accumulate in the collection frame 260, and the increasing gravity of the collection frame 260 drives the fixed angle of the extension rod 230 to change, and drives the rotating rod 210 to rotate, and then drives the rod wall gear 220 to rotate, and the limit rod 250 is used to limit the tilt angle of the extension rod 230; The discharge trough 261 on the collection frame 260 is used to drain the rain and snow in the collection frame 260 , and the drainage hole 262 is used to clean a small amount of rain and snow in the collection frame 260 .

[0026] In this embodiment, Figure 8 As shown, the cleaning device 300 includes a docking rod 310 that rotates with the rotation of the rotating rod 210, connecting rods 330 disposed on both sides of the docking rod 310, a sliding bar 350 that moves with the connecting rod 330, and a scraper 370 that moves with the sliding bar 350; Specifically, the left and right ends of the docking rod 310 are rotatably connected to the inner walls of the left and right ends of the placement frame 110 respectively, and the outer wall of the docking rod 310 is fixedly connected to the docking gear 320 meshing with the rod wall gear 220 through a bayonet pin. One end of the connecting rod 330 is clamped and fixed at the end position of the docking rod 310, and the other end of the connecting rod 330 is integrally formed with a protruding rod 340.

[0027] Furthermore, the sliding bar 350 is slidably connected to the outer side of the limiting bracket 120, and a limiting groove 351 is provided on the inner wall of the sliding bar 350. The interior of the sliding bar 350 is provided with a strip surface groove 352 that passes through the left and right and is used to provide a moving range for the protruding rod 340. The end position of the sliding bar 350 is clamped and fixed with a fixed strip plate 360, and the end positions of the two fixed strip plates 360 are welded and fixed with a scraper 370.

[0028] Furthermore, the rotation of the rod wall gear 220 will drive the docking gear 320 in the cleaning device 300 to rotate together with the docking rod 310, thereby changing the inclination angle of the connecting rod 330, and then the sliding bar 350 is displaced on the outside of the limiting bracket 120 through the convex rod 340, thereby driving the scraper 370 to clean the outside of the placement frame 110 through the fixed strip plate 360, so that the outside of the laser radar 150 remains clean, and the limiting groove 351 on the sliding bar 350 is used to cooperate with the limiting bracket 120 to limit the movement range of the sliding bar 350, and the strip surface groove 352 is used to limit the movement range of the convex rod 340.

[0029] In this embodiment, Figure 9-10 As shown, the air blowing device 400 includes a jacket bin 410, an air inlet valve 420 and an air outlet pipe 430 disposed on the top surface of the jacket bin 410, a piston plate 440 slidably connected to the inside of the jacket bin 410, a moving horizontal plate 460 moving with the piston plate 440, and a transmission part 470 driving the moving horizontal plate 460 to move; Specifically, the transmission part 470 includes a transmission shaft 471 that rotates along with the rotation of the rod wall gear 220 and a shaft end lever 473 disposed at the end of the transmission shaft 471 .

[0030] Furthermore, the outer sleeve bin 410 is snap-connected and fixed to the inner wall of the placement frame 110, the air inlet valve 420 is threadedly connected to the outer wall of the outer sleeve bin 410, one end of the air outlet pipe 430 is snap-connected and fixed to the outer wall of the outer sleeve bin 410, and the other end is snap-connected and fixed to the nozzle strip 480.

[0031] Furthermore, the piston plate 440 is slidably connected to the inside of the outer sleeve 410 , and a plurality of fixed round rods 450 are clamped and fixed between the piston plate 440 and the movable transverse plate 460 . A plate surface slot 461 is opened on the outer side wall of the movable transverse plate 460 .

[0032] Furthermore, one end of the transmission shaft 471 is rotatably connected to the inner wall of the placement frame 110, and the other end is sleeved with an upper convex bracket 474, which is clamped on the inner bottom surface of the placement frame 110. The outer wall of the transmission shaft 471 is fixedly connected with a shaft gear 472 through a bayonet pin, and the shaft gear 472 is meshed with the rod wall gear 220. The shaft end lever 473 is clamped and fixed at the end position of the transmission shaft 471, and the end convex shaft of the shaft end lever 473 extends to the inside of the plate slot 461.

[0033] Furthermore, when the rod wall gear 220 rotates, it will drive the shaft gear 472 and the transmission shaft 471 to rotate, and drive the shaft end lever 473 to rotate. Then, the contact area between the convex shaft at the end of the rotating shaft end lever 473 and the groove wall of the plate groove 461 changes continuously during rotation, thereby driving the movable cross plate 460 to reciprocate up and down, and the piston plate 440 is moved up and down inside the outer sleeve 410 through the fixed round rod 450, so that the airflow enters the outer sleeve 410 through the intake valve 420, and is discharged from the exhaust pipe 430, thereby cleaning the lens at the end of the camera 140.

[0034] In this embodiment, Fig.11 As shown, the reset mechanism 500 includes a limiting slide bar 510, a moving tooth plate 520 slidably connected to the outer side of the limiting slide bar 510, and a pressure spring 530 that pushes the moving tooth plate 520 to move upward by its own elastic force; Specifically, the limiting slide bar 510 is clamped and fixed on the inner wall of the placement frame 110, and an outer convex circular plate 511 is integrally formed on the outer wall of the limiting slide bar 510. The movable tooth plate 520 is slidably connected to the outer side of the limiting slide bar 510 through the horizontal plates at the upper and lower ends. One end of the pressure spring 530 is welded to the bottom surface of the top horizontal plate of the movable tooth plate 520, and the other end is welded to the top surface of the outer convex circular plate 511.

[0035] Furthermore, when the rotating rod 210 rotates, it will also drive the movable tooth plate 520 to move downward, thereby squeezing the pressure spring 530, thereby increasing the elastic potential energy of the pressure spring 530. Afterwards, when the rain and snow in the collection frame 260 are drained, the movable tooth plate 520 will be driven by the elastic force of the pressure spring 530 to move upward, thereby restoring the structure in the cleaning device 300.

[0036] Finally, it should be noted that the camera 140 and laser radar 150 involved in the present invention are universal standard parts or parts known to technical personnel in this field, and their structures and principles are known to technical personnel in this field through technical manuals or conventional experimental methods. In the idle space of this device, the camera 140 and the laser radar 150 are connected to the external power supply through wires. The specific connection method should refer to the working principle of the present invention. The electrical connection between each electrical component is completed in a sequential working order, and the detailed connection methods are all well-known technologies in the field.

[0037] When the laser radar-based integrated machine of the present invention is in use, when bad weather comes, rain and snow accumulate in the collection frame 260, and the collection frame 260 with increasing gravity drives the fixed angle of the extension rod 230 to change, drives the rotating rod 210 to rotate, and then drives the rod wall gear 220 to rotate; Subsequently, the rotation of the rod wall gear 220 drives the docking gear 320 in the cleaning device 300 to rotate together with the docking rod 310, thereby changing the inclination angle of the connecting rod 330, and then the sliding bar 350 is displaced on the outside of the limiting bracket 120 through the convex rod 340, thereby driving the scraper 370 to clean the outside of the placement frame 110 through the fixed strip plate 360, and keeping the outside of the camera 140 and the laser radar 150 clean; When the rod wall gear 220 rotates, it drives the shaft body gear 472 and the transmission shaft 471 to rotate, and drives the shaft end lever 473 to rotate; Next, the contact area between the convex shaft at the end of the rotating shaft end lever 473 and the groove wall of the plate surface groove 461 is continuously changed during rotation, thereby driving the movable horizontal plate 460 to reciprocate up and down, and the piston plate 440 is moved up and down inside the outer sleeve 410 through the fixed round rod 450, so that the airflow enters the outer sleeve 410 through the inlet valve 420 and is discharged from the outlet pipe 430, thereby cleaning the water stains and dust on the outside of the camera 140 and the laser radar 150; When the rotating rod 210 rotates, it will also drive the movable tooth plate 520 to move downward, and squeeze the pressure spring 530, thereby increasing the elastic potential energy of the pressure spring 530. Afterwards, when the rain and snow in the collection frame 260 are drained, the movable tooth plate 520 will be driven by the elastic force of the pressure spring 530 to move upward, and the structure in the cleaning device 300 will be restored.

[0038] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the specification and its equivalents.

Claims

1. A laser-visual integrated device based on an intelligent laser radar, comprising a placement device (100), a driving mechanism (200) arranged outside the placement device (100), a cleaning device (300) that cooperates with the driving mechanism (200) to move, an air blowing device (400) arranged inside the placement device (100), and a reset mechanism (500) that drives the driving mechanism (200) to move; The placement device (100) comprises a placement frame (110), a heat sink (130) arranged on the top surface of the placement frame (110), and a camera (140) and a laser radar (150) fixedly connected to the outer wall of the placement frame (110) by screws; Features: The driving mechanism (200) comprises a rotating rod (210), a rod wall gear (220) arranged on the outer wall of the rotating rod (210), an extension rod (230) arranged on the outer wall of the rotating rod (210), a limit rod (250) connected between the two extension rods (230), and a collection frame (260) arranged at the ends of the two extension rods (230); The cleaning device (300) comprises a docking rod (310) that rotates as the rotating rod (210) rotates, connecting rods (330) arranged on both sides of the docking rod (310), a sliding bar (350) that moves in coordination with the connecting rod (330), and a scraper (370) that moves together with the sliding bar (350); The air blowing device (400) comprises an outer casing (410), an air inlet valve (420) and an air outlet pipe (430) arranged on the top surface of the outer casing (410), a piston plate (440) slidably connected to the interior of the outer casing (410), a movable horizontal plate (460) moving along with the piston plate (440), and a transmission part (470) driving the movable horizontal plate (460) to move; The transmission part (470) comprises a transmission shaft (471) that rotates as the rod wall gear (220) rotates, and a shaft end shifting rod (473) disposed at the end of the transmission shaft (471); The reset mechanism (500) comprises a limiting sliding rod (510), a movable tooth plate (520) slidably connected to the outside of the limiting sliding rod (510), and a pressure spring (530) that pushes the movable tooth plate (520) upward by its own elastic force.

2. The laser radar-based integrated machine according to claim 1, characterized in that: The outer wall of the placement frame (110) is provided with a plurality of regularly distributed vent holes (111) with an L-shaped longitudinal cross section. Limiting brackets (120) are welded and fixed to the outer walls at both ends of the placement frame (110). The heat sink (130) is fixedly connected to the top surface of the placement frame (110) by screws.

3. The laser radar-based integrated machine according to claim 1, characterized in that: The left and right ends of the rotating rod (210) are rotatably connected to the inner side walls of the left and right ends of the placement frame (110), respectively; the rod wall gear (220) is fixedly connected to the outer side wall of the rotating rod (210) via a bayonet; and the extension rod (230) is welded and fixed to the end position of the rotating rod (210).

4. The laser radar-based integrated machine according to claim 1, characterized in that: A mounting block (240) is welded and fixed at the end of the extension rod (230), the left and right ends of the limit rod (250) are respectively clamped and fixed to the extension rods (230) on the left and right sides, the collection frame (260) is fixedly connected between the two mounting blocks (240) by screws, and a discharge groove (261) that passes through inside and outside is provided at the right open portion of the collection frame (260), and the bottom end of the collection frame (260) is arc-shaped and has a plurality of regularly distributed and vertically penetrating discharge holes (262) on the bottom surface.

5. The laser radar-based integrated machine according to claim 2, characterized in that: The left and right ends of the docking rod (310) are rotatably connected to the inner side walls of the left and right ends of the placement frame (110), respectively; the outer side wall of the docking rod (310) is fixedly connected to a docking gear (320) meshing with the rod wall gear (220) via a bayonet; one end of the connecting rod (330) is fixedly engaged at the end position of the docking rod (310), and the other end of the connecting rod (330) is integrally formed with a protruding rod (340).

6. The laser radar-based integrated machine according to claim 5, characterized in that: The sliding bar (350) is slidably connected to the outer side of the limiting bracket (120), a limiting slot (351) is provided on the inner side wall of the sliding bar (350), a strip surface slot (352) is provided inside the sliding bar (350) and runs through the left and right sides and is used to provide a moving range for the protruding rod (340), a fixed strip plate (360) is clamped and fixed at the end position of the sliding bar (350), and a scraper plate (370) is welded and fixed at the end positions of the two fixed strip plates (360).

7. The laser radar-based integrated machine according to claim 1, characterized in that: The outer sleeve bin (410) is snap-fitted and fixedly connected to the inner wall of the placement frame (110); the air inlet valve (420) is threadedly connected to the outer wall of the outer sleeve bin (410); one end of the air outlet pipe (430) is snap-fitted and fixedly connected to the outer wall of the outer sleeve bin (410); and the other end is snap-fitted and fixedly connected to the nozzle strip (480).

8. The laser radar-based integrated machine according to claim 1, characterized in that: The piston plate (440) is slidably connected to the interior of the outer sleeve (410); a plurality of fixed round rods (450) are clamped and fixed between the piston plate (440) and the movable transverse plate (460); and a plate surface slot (461) is provided on the outer side wall of the movable transverse plate (460).

9. The laser radar-based integrated machine according to claim 1, characterized in that: One end of the transmission shaft (471) is rotatably connected to the inner wall of the placement frame (110), and the other end is sleeved with an upper convex bracket (474), the upper convex bracket (474) is clamped on the inner bottom surface of the placement frame (110), and the outer wall of the transmission shaft (471) is fixedly connected to a shaft gear (472) via a bayonet, the shaft gear (472) is meshed with the rod wall gear (220), and the shaft end lever (473) is clamped and fixed at the end position of the transmission shaft (471), and the end convex shaft of the shaft end lever (473) extends to the inside of the plate surface slot (461).

10. The integrated laser radar and vision device based on intelligent laser radar according to claim 1, characterized in that: The limiting slide bar (510) is clamped and fixed on the inner wall of the placement frame (110); an outer convex circular plate (511) is integrally formed on the outer wall of the limiting slide bar (510); the movable tooth plate (520) is slidably connected to the outer side of the limiting slide bar (510) via the transverse plates at the upper and lower ends; one end of the pressure spring (530) is welded to the bottom surface of the top transverse plate of the movable tooth plate (520), and the other end is welded to the top surface of the convex circular plate (511).

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