Laser and vision integrated machine based on intelligent laser radar

Abstract

The present invention relates to the field of monitoring device technology, specifically, to an integrated radar and video camera based on an intelligent laser radar. The device comprises a placement device, a drive mechanism disposed outside the placement device, a cleaning device that cooperates with the drive mechanism, an air blowing device disposed within the placement device, and a reset mechanism that drives the drive mechanism. In this intelligent laser radar-based radar and video camera, when rain and snow accumulate within a collection frame, this drives a rotating rod to rotate, which in turn drives a docking rod to rotate. The cleaning device and air blowing device then clear the accumulated snow and rain outside the laser radar and camera, respectively. This reduces the need for additional drive equipment and ensures that the device can be kept clean without human intervention even in inclement weather.

Description

Technical Field

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

[0002] The laser vision all-in-one 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 precision, providing strong guarantees for the safe operation of highways.

[0003] Patent application number CN202321507090.4 discloses an adjustment mechanism for a laser vision all-in-one machine, comprising 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 disposed on the top of the adjustment box assembly, a camera assembly disposed 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 on one side close to the inner wall of the adjustment box assembly. This solves the problem that the existing laser vision all-in-one machine has a fixed overall height and cannot be adjusted. If the height is fixed, it will be very limited when observing different roads, resulting in the use of the laser vision all-in-one 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 rely on manual cleaning, 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-visual integrated machine based on intelligent laser radar to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] The laser radar-based integrated machine includes a placement device, a driving mechanism arranged outside the placement device, a cleaning device that cooperates with the movement of the driving mechanism, an air blowing device arranged inside the placement device, and a reset mechanism that drives the movement of the driving mechanism;

[0009] 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;

[0010] The driving mechanism includes a rotating rod, a rod wall gear provided on the outer side wall of the rotating rod, an extension rod provided on the outer side wall of the rotating rod, a limiting rod connected between the two extension rods, and a collection frame provided at the ends of the two extension rods;

[0011] The cleaning device includes a docking rod that rotates as the rotating rod rotates, connecting rods arranged on both sides of the docking rod, a sliding bar that moves in conjunction with the connecting rod, and a scraper that moves along with the sliding bar;

[0012] The air blowing device includes an outer shell, an air inlet valve and an air outlet pipe arranged on the top surface of the outer shell, a piston plate slidably connected to the interior of the outer shell, a movable horizontal plate moving with the piston plate, and a transmission part driving the movable horizontal plate to move;

[0013] The transmission part includes a transmission shaft that rotates as the rod wall gear rotates and a shaft end shifting rod arranged at the end of the transmission shaft;

[0014] The reset mechanism includes a limiting slide bar, a movable tooth plate slidably connected to the outer side of the limiting slide bar, and a pressure spring that pushes the movable tooth plate upward by its own elastic force.

[0015] In the technical solution of the present invention, a number 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 of the left and right ends of the placement frame, and the heat sink is fixedly connected to the top surface of the placement frame by screws.

[0016] 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 through a bayonet, and the extension rod is welded and fixed at the end position of the rotating rod.

[0017] 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, and the collection frame is fixed between the two mounting blocks by screws. A discharge trough that passes through inside and outside is provided at the right opening of the collection frame, and the bottom end of the collection frame is arc-shaped and has a number of regularly distributed drainage holes that pass through from top to bottom on the bottom surface.

[0018] In the technical solution of the present invention, the left and right ends of the docking rod are respectively rotatably connected to the inner walls of the left and right ends of the placement frame, and the outer wall of the docking rod is fixedly connected to a docking gear that meshes 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 protruding rod.

[0019] In the technical solution of the present invention, the sliding bar is slidably connected to the outer side of the limit bracket, and a limit groove is provided on the inner wall of the sliding bar. The interior of the sliding bar is provided with a strip surface groove that passes through the left and right and is used to provide a moving range for the protruding 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.

[0020] In the technical solution of the present invention, the outer sleeve is 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, one end of the air outlet pipe is fixedly connected to the outer wall of the outer sleeve, and the other end is fixedly connected to the nozzle strip.

[0021] 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.

[0022] 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 shift lever is clamped and fixed at the end position of the transmission shaft, and the end convex shaft of the shaft end shift lever extends to the inside of the slot on the plate surface.

[0023] In the technical solution of the present invention, the limiting slide bar is clamped and fixed on the inner wall of the placement 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 outer convex circular plate.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. This intelligent laser radar-based integrated radar and vision machine, when rain and snow accumulate inside the collection frame, will drive the rotating rod to rotate, which in turn drives the docking rod to rotate. Then, the accumulated rain and snow on the outside of the laser radar and camera are cleared by the cleaning device and air blowing device respectively, thereby reducing the need for additional drive equipment and ensuring that the equipment can be kept clean without human intervention in severe weather conditions.

[0026] 2. This intelligent laser radar-based integrated laser vision machine uses the elastic force of the pressure spring to drive the movable tooth plate to move, which in turn drives the rotating rod to rotate, restoring the position of the collection frame. This not only improves the automation level of the entire device, but also ensures the rapid reset of the equipment after cleaning, thereby enhancing the reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 It is a schematic cross-sectional view of the overall structure of the present invention;

[0029] Figure 3 It is a schematic cross-sectional view of the structure of the placement device in the present invention;

[0030] Figure 4 For the present invention Figure 3 A magnified schematic diagram of part A;

[0031] Figure 5 Schematic diagram of the structure of the driving mechanism of the present invention;

[0032] Figure 6 It is a schematic cross-sectional view of the structure of the collection frame in the present invention;

[0033] Figure 7 For the present invention Figure 6 An enlarged schematic diagram of part B;

[0034] Figure 8 It is a structural schematic diagram of the cleaning device of the present invention;

[0035] Figure 9 It is a schematic cross-sectional view of the structure of the air blowing device of the present invention;

[0036] Figure 10 Schematic diagram of the structure of the transmission part of the present invention;

[0037] Figure 11 Schematic diagram of the structure of the reset mechanism in the present invention;

[0038] Description of reference numerals:

[0039] 100, placement device; 110, placement frame; 111, vent; 120, limit bracket; 130, heat sink; 140, camera; 150, laser radar;

[0040] 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;

[0041] 300, cleaning device; 310, docking rod; 320, docking gear; 330, connecting rod; 340, protruding rod; 350, sliding bar; 351, limiting slot; 352, strip surface slot; 360, fixed strip plate; 370, scraper;

[0042] 400, air blowing device; 410, outer housing; 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 unit; 471, transmission shaft; 472, shaft gear; 473, shaft end lever; 474, upper protruding bracket; 480, nozzle strip;

[0043] 500, reset mechanism; 510, limit slide bar; 511, convex circular plate; 520, movable tooth plate; 530, pressure spring. DETAILED DESCRIPTION

[0044] The following will provide a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] See also Figures 1-11 As shown, this embodiment provides a technical solution:

[0046] The laser radar-based integrated machine includes a placement device 100, a drive mechanism 200 disposed outside the placement device 100, a cleaning device 300 that cooperates with the drive mechanism 200 for movement, an air blowing device 400 disposed inside the placement device 100, and a reset mechanism 500 that drives the drive mechanism 200 for movement;

[0047] In the present invention, the placement device 100 includes a placement frame 110, a heat sink 130 provided 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;

[0048] Specifically, a number of regularly distributed ventilation holes 111 with an L-shaped longitudinal cross-section are opened on the outer wall of the placement frame 110, and limiting brackets 120 are welded and fixed on the outer walls of the left and right ends of the placement frame 110, and the heat sink 130 is fixed to the top surface of the placement frame 110 by screws.

[0049] 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 entire device in hot weather.

[0050] In this embodiment, Figure 5-Figure 7 As shown, the driving mechanism 200 includes a rotating rod 210, a rod wall gear 220 provided on the outer wall of the rotating rod 210, an extension rod 230 provided 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 provided at the ends of the two extension rods 230;

[0051] Specifically, the left and right ends of the rotating rod 210 are respectively 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 through a pin, and the extension rod 230 is welded and fixed to the end position of the rotating rod 210.

[0052] Furthermore, a mounting block 240 is welded and fixed at the end position of the extension rod 230, and 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. The collection frame 260 is fixed between the two mounting blocks 240 by screws. A discharge groove 261 that passes through the inside and outside is provided at the right opening of the collection frame 260. The bottom end of the collection frame 260 is arc-shaped and has a number of regularly distributed drainage holes 262 that pass through from top to bottom on the bottom surface.

[0053] Furthermore, when bad weather comes, rain and snow accumulate in the collection frame 260. The increasing gravity of the collection frame 260 will drive the fixed angle of the extension rod 230 to change, thereby driving the rotating rod 210 to rotate, and further driving the rod wall gear 220 to rotate. The limit rod 250 is used to limit the tilt angle of the extension rod 230.

[0054] 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 .

[0055] In this embodiment, Figure 8 As shown, the cleaning device 300 includes a docking rod 310 that rotates as the rotating rod 210 rotates, connecting rods 330 provided on both sides of the docking rod 310, a sliding bar 350 that moves in conjunction with the connecting rod 330, and a scraper 370 that moves along with the sliding bar 350;

[0056] 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 that meshes with the rod wall gear 220 through a 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.

[0057] 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.

[0058] 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 protruding rod 340, thereby driving the scraper 370 to clean the outside of the placement frame 110 through the fixed strip 360, and keeping the outside of the laser radar 150 clean. 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 protruding rod 340.

[0059] In this embodiment, Figure 9-10 As shown, the air blowing device 400 includes an outer shell 410, an air inlet valve 420 and an air outlet pipe 430 provided on the top surface of the outer shell 410, a piston plate 440 slidably connected to the interior of the outer shell 410, a movable horizontal plate 460 that moves with the piston plate 440, and a transmission part 470 that drives the movable horizontal plate 460 to move;

[0060] Specifically, the transmission part 470 includes a transmission shaft 471 that rotates as the rod wall gear 220 rotates, and a shaft end shifting rod 473 provided at the end of the transmission shaft 471 .

[0061] Furthermore, the outer sleeve 410 is 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 410, and one end of the air outlet pipe 430 is fixedly connected to the outer wall of the outer sleeve 410, and the other end is fixedly connected to the nozzle strip 480.

[0062] Furthermore, the piston plate 440 is slidably connected to the interior 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 .

[0063] 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 to a shaft gear 472 through a bayonet, and the shaft gear 472 is engaged 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.

[0064] 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 cam at the end of the rotating shaft end lever 473 and the wall of the plate slot 461 changes continuously during rotation, thereby driving the movable cross plate 460 to move 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 air flow enters the outer sleeve 410 through the air inlet valve 420, and is discharged from the air outlet pipe 430, thereby cleaning the lens at the end of the camera 140.

[0065] In this embodiment, Figure 11 As shown, the reset mechanism 500 includes a limiting slide bar 510, a movable tooth plate 520 slidably connected to the outer side of the limiting slide bar 510, and a pressure spring 530 that pushes the movable tooth plate 520 upward by its own elastic force;

[0066] 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.

[0067] Furthermore, when the rotating rod 210 rotates, it will also drive the movable tooth plate 520 to move downward, 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, allowing the structure in the cleaning device 300 to recover.

[0068] Finally, it should be noted that the camera 140 and laser radar 150 involved in the present invention are universal standard parts or components known to those skilled in the art. Their structures and principles are known to those skilled in the art 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 art.

[0069] When the intelligent laser radar-based integrated radar and vision device of the present invention is in use, when bad weather comes, rain and snow accumulate in the collection frame 260. The increasing gravity of the collection frame 260 will drive the fixed angle of the extension rod 230 to change, thereby driving the rotating rod 210 to rotate, and further driving the rod wall gear 220 to rotate;

[0070] Subsequently, the rotation of the rod wall gear 220 drives the docking gear 320 and the docking rod 310 in the cleaning device 300 to rotate, thereby changing the inclination angle of the connecting rod 330. In turn, the sliding bar 350 is displaced outside the limiting bracket 120 via the protruding rod 340, thereby driving the scraper 370 to clean the outside of the placement frame 110 via the fixed strip 360, thereby keeping the outside of the camera 140 and the laser radar 150 clean.

[0071] 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;

[0072] Next, the contact area between the convex shaft at the end of the rotating shaft end lever 473 and the wall of the plate surface slot 461 continuously changes during rotation, thereby driving the movable horizontal plate 460 to reciprocate up and down. The fixed round rod 450 allows the piston plate 440 to move up and down inside the outer sleeve 410, thereby allowing air to enter the outer sleeve 410 through the air inlet valve 420 and be discharged through the air outlet pipe 430, thereby cleaning water stains and dust on the outside of the camera 140 and the laser radar 150.

[0073] When the rotating rod 210 rotates, it will also drive the movable tooth plate 520 to move downward, 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, allowing the structure in the cleaning device 300 to recover.

[0074] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to make and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the description and its equivalents.

Claims

1. A laser radar-based integrated machine, comprising a placement device (100), a driving mechanism (200) disposed outside the placement device (100), a cleaning device (300) that cooperates with the driving mechanism (200) for movement, an air blowing device (400) disposed 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), a camera (140) and a laser radar (150) fixedly connected to the outer wall of the placement frame (110) by screws; and limiting brackets (120) are welded and fixed to the outer walls of the left and right ends of the placement frame (110); Its characteristics are: 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 limiting 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 left and right ends of the rotating rod (210) are respectively rotatably connected to the inner walls of the left and right ends of the placement frame (110); The cleaning device (300) comprises a docking rod (310) that rotates as the rotating rod (210) rotates, a connecting rod (330) provided on both sides of the docking rod (310), a sliding bar (350) that moves in conjunction with the connecting rod (330), and a scraper (370) that moves along with the sliding bar (350); the left and right ends of the docking rod (310) are respectively rotatably connected to the inner side walls of the left and right ends of the placement frame (110); the sliding bar (350) is slidably connected to the outer side of the limiting bracket (120); The air blowing device (400) includes an outer shell (410), an air inlet valve (420) and an air outlet pipe (430) arranged on the top surface of the outer shell (410), a piston plate (440) slidably connected to the interior of the outer shell (410), a movable transverse plate (460) moving along with the piston plate (440), and a transmission part (470) driving the movable transverse plate (460) to move; the outer shell (410) is fixedly connected to the inner side wall of the placement frame (110) by snapping; 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); The transmission part (470) includes a transmission shaft (471) that rotates as the rod wall gear (220) rotates, and an end lever (473) provided at the end of the transmission shaft (471); 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) through a bayonet, the shaft gear (472) is meshed with the rod wall gear (220), and the 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); The reset mechanism (500) includes a limiting slide bar (510), a movable tooth plate (520) slidably connected to the outside of the limiting slide bar (510), and a pressure spring (530) that pushes the movable tooth plate (520) upward by its own elastic force; the limiting slide bar (510) is 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 outside 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).

2. The integrated laser radar and vision device based on the intelligent laser radar according to claim 1, characterized in that: A plurality of regularly distributed vent holes (111) with an L-shaped longitudinal cross section are provided on the outer side wall of the placement frame (110), and the heat sink (130) is fixedly connected to the top surface of the placement frame (110) by screws.

3. The integrated laser radar and vision device based on the intelligent laser radar according to claim 1, characterized in that: The rod wall gear (220) is fixedly connected to the outer side wall of the rotating rod (210) via a bayonet pin, and the extension rod (230) is welded and fixed to the end position of the rotating rod (210).

4. The integrated laser radar and vision device according to claim 1, characterized in that: A mounting block (240) is welded and fixed at the end position of the extension rod (230), and 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. The collection frame (260) is fixedly connected between the two mounting blocks (240) by screws. A discharge groove (261) that passes through inside and outside is provided at the right open end of the collection frame (260). The bottom end of the collection frame (260) is arc-shaped and has a plurality of regularly distributed drainage holes (262) that pass through from top to bottom.

5. The integrated laser radar and vision device based on the intelligent laser radar according to claim 2, characterized in that: A docking gear (320) meshing with the rod wall gear (220) is fixedly connected to the outer wall of the docking rod (310) via a bayonet pin. One end of the connecting rod (330) is fixedly engaged with the end of the docking rod (310). The other end of the connecting rod (330) is integrally formed with a protruding rod (340).

6. The integrated laser radar and vision device based on the intelligent laser radar according to claim 5, characterized in that: A limiting slot (351) is provided on the inner side wall of the sliding bar (350), and a strip surface slot (352) is provided inside the sliding bar (350) and is passed through from left to right and is used to provide a moving range for the protruding rod (340). A fixed strip plate (360) is fixedly connected at the end position of the sliding bar (350), and a scraper (370) is welded and fixed at the end positions of the two fixed strip plates (360).

7. The integrated laser radar and vision device according to claim 1, characterized in that: The air inlet valve (420) is threadedly connected to the outer wall of the outer casing (410); one end of the air outlet pipe (430) is clamped and fixed to the outer wall of the outer casing (410), and the other end is clamped and fixed to the nozzle strip (480).

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