Laser radar cleaning device and vehicle

Abstract

The embodiment of the utility model provides a laser radar cleaning device and a vehicle, and relates to the technical field of laser radar cleaning. The vehicle comprises the laser radar cleaning device, and the laser radar cleaning device comprises a main wiper, an auxiliary wiper, a first driving part and a second driving part. The main wiper comprises a main wiper arm and a wiper mounting part which are connected, one end of the auxiliary wiper is hinged to the wiper mounting part, the auxiliary wiper can rotate around a first axis relative to the wiper mounting part, the driving end of the first driving part is hinged to the auxiliary wiper, and the driving end of the first driving part can stretch out and draw back to drive the auxiliary wiper to rotate around the first axis. Therefore, the auxiliary wiper is far away from or close to the main wiper arm. The second driving piece is connected with the windshield wiper mounting piece and used for driving the windshield wiper mounting piece to rotate around the second axis. The window mirror is wiped through the auxiliary wiper, and the cleaning effect on stubborn dirt on the laser radar window mirror can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of laser radar cleaning, and in particular to a laser radar cleaning device and a vehicle. Background Art

[0002] In recent years, with the development of the automobile industry, the field of automobile-related technology has also developed rapidly. Users' demand for automobile automation and intelligence is increasing day by day. LiDAR is the core component for automobile automation. Some existing LiDARs are mostly installed on the front of the roof.

[0003] The inventors have discovered that on some existing vehicles, a liquid spraying device is mainly installed above or below or to the left or right of the laser radar. When the system detects that the laser radar is dirty, the corresponding nozzle is controlled to extend to spray cleaning liquid or cleaning gas onto the laser radar window mirror. However, this method is not easy to clean stubborn dirt on the laser radar window mirror. Utility Model Content

[0004] The purpose of the utility model is to provide a laser radar cleaning device, which can improve the cleaning effect of stubborn dirt on the laser radar window mirror.

[0005] The embodiment of the utility model is achieved as follows:

[0006] In a first aspect, the utility model provides a laser radar cleaning device, comprising:

[0007] A main wiper, the main wiper comprising a connected main wiper arm and a wiper mounting member;

[0008] An auxiliary wiper, one end of which is hinged to the wiper mounting member, and the auxiliary wiper can rotate relative to the wiper mounting member around a first axis;

[0009] A first driving member, wherein a driving end of the first driving member is hinged to the auxiliary wiper, and the driving end of the first driving member can be extended and retracted to drive the auxiliary wiper to rotate around a first axis so as to move the auxiliary wiper away from or close to the main wiper arm;

[0010] The second driving member is connected to the wiper mounting member and is used to drive the wiper mounting member to rotate around a second axis. The second axis is parallel to the extension direction of the main wiper arm, and the first axis and the second axis form an angle.

[0011] Through the above-mentioned arrangement, the window mirror can be wiped by the auxiliary wiper, which can improve the cleaning effect of stubborn dirt on the laser radar window mirror.

[0012] In an optional embodiment, the auxiliary wiper has a first side wall and a second side wall opposite to each other in the direction of the first axis, and at least one of the first side wall and the second side wall is provided with a liquid spraying port.

[0013] Through the above-mentioned setting, the cleaning effect of the auxiliary wiper on the laser radar can be improved.

[0014] In an optional embodiment, the auxiliary wiper has relative abutment walls and a cleaning wall, and the auxiliary wiper has a closed position and a cleaning position. When the auxiliary wiper is in the closed position, the abutment wall fits with the wiper mounting piece, and when the auxiliary wiper is in the cleaning position, the cleaning wall is used to fit with the laser radar, and a wiping part is provided on the cleaning wall, and the wiping part is made of natural rubber material.

[0015] Through the above arrangement, it is ensured that the cleaning wall will not scratch the window mirror and the wiping effect of the cleaning wall on the laser radar window can be guaranteed.

[0016] In an optional embodiment, the main wiper wall is provided with a first mounting groove, and the wiper mounting member and the second driving member are arranged in the first mounting groove.

[0017] Through the above arrangement, the space occupied by the laser radar cleaning device can be saved.

[0018] In an optional embodiment, the first mounting groove includes a first groove section and a second groove section extending along the second axis direction, the first groove section is installed with the second driving member, the second groove section is installed with the wiper mounting member, and the outer wall of the wiper mounting member is at least partially an arc outer wall.

[0019] Through the above arrangement, the wiper mounting component can be more easily rotated in the second groove section.

[0020] In an optional embodiment, the inner wall of the second groove segment is an arc inner wall adapted to the outer wall of the wiper mounting component.

[0021] The above arrangement further facilitates the rotation of the wiper mounting member.

[0022] In an optional embodiment, the wiper mounting member is provided with a second mounting groove, and the first driving member is disposed in the second mounting groove.

[0023] Through the above arrangement, the occupied area of ​​the laser radar cleaning device can be further reduced.

[0024] In an optional embodiment, the first driving member is one of a hydraulic push rod, a pneumatic push rod and a screw motor.

[0025] Through the above arrangement, the first driving member can conveniently drive the auxiliary wiper to rotate around the first axis.

[0026] In an optional embodiment, the first driving member is detachably connected to the wiper mounting member, and / or the second driving member is detachably connected to the main wiper arm.

[0027] The above arrangement facilitates the assembly and disassembly of the first driving member and the second driving member.

[0028] In an optional embodiment, the wiper mounting component has a first inner wall and a second inner wall arranged opposite to each other along a first axis direction, the first inner wall is opposite to the second inner wall, the auxiliary wiper is located between the first inner wall and the second inner wall, and the auxiliary wiper is hinged to the first inner wall and the second inner wall on both sides along the first axis direction.

[0029] Through the above arrangement, it is possible to prevent the connection between the auxiliary wiper and the wiper mounting member from being exposed to the outside.

[0030] In an optional embodiment, the wiper mounting member is disposed at the end of the main wiper arm, and / or one end of the auxiliary wiper is hinged to the end of the wiper mounting member.

[0031] Through the above arrangement, the extended length of the driving end of the first driving member can be reduced, so that the auxiliary wiper can move to contact the window mirror of the laser radar.

[0032] In an optional embodiment, the auxiliary wiper is provided with a third mounting groove, and the driving end of the first driving member is located in the third mounting groove and hinged to the inner wall of the third mounting groove.

[0033] Through the above arrangement, when the auxiliary wiper is in the closed position, the abutting wall can better abut against the wiper mounting component to reduce the space occupied by the auxiliary wiper when it is closed.

[0034] In a second aspect, the utility model provides a vehicle, comprising a laser radar cleaning device according to any one of the aforementioned embodiments.

[0035] The beneficial effects of the embodiment of the utility model are as follows: the embodiment of the utility model provides a laser radar cleaning device and a vehicle, the vehicle includes a laser radar cleaning device, and the laser radar cleaning device includes a main wiper, an auxiliary wiper, a first driving member and a second driving member. The main wiper includes a main wiper arm and a wiper mounting member connected to each other, one end of the auxiliary wiper is hinged to the wiper mounting member, the auxiliary wiper can rotate around a first axis relative to the wiper mounting member, the driving end of the first driving member is hinged to the auxiliary wiper, and the driving end of the first driving member can be extended to drive the auxiliary wiper to rotate around the first axis so that the auxiliary wiper is away from or close to the main wiper arm. The second driving member is connected to the wiper mounting member, and is used to drive the wiper mounting member to rotate around a second axis, the second axis is parallel to the extension direction of the wiper arm, and the first axis and the second axis form an angle. By wiping the window mirror with the auxiliary wiper, the cleaning effect of stubborn dirt on the laser radar window mirror can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the structure of a laser radar cleaning device provided in an embodiment of the utility model;

[0038] Figure 2 A schematic diagram of the structure of the auxiliary wiper provided by the embodiment of the utility model when it is in a closed position;

[0039] Figure 3 A schematic diagram of the structure of the auxiliary wiper provided by the embodiment of the utility model when it is in the cleaning position;

[0040] Figure 4 It is a schematic diagram of the auxiliary wiper provided by the embodiment of the utility model being in three positions when swinging around the second axis.

[0041] Icons: 1-laser radar cleaning device; 100-main wiper; 110-main wiper arm; 111-first mounting groove; 1111-first groove section; 1112-second groove section; 120-wiper mounting member; 121-second mounting groove; 122-first inner wall; 123-second inner wall; 200-auxiliary wiper; 210-abutment wall; 220-cleaning wall; 221-wiping part; 230-first side wall; 240-second side wall; 250-liquid spray port; 260-third mounting groove; 300-first driving member; 400-second driving member; a-first axis direction; b-second axis direction. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of 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.

[0044] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0045] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] The specific structure of a laser radar cleaning device provided by an embodiment of the utility model and the corresponding technical effects it brings are described in detail below in conjunction with the patent drawings.

[0049] Please refer to Figure 1-Figure 4 A laser radar cleaning device 1 provided in an embodiment of the utility model includes a main wiper 100, an auxiliary wiper 200, a first driving member 300 and a second driving member 400.

[0050] The main wiper 100 includes a main wiper arm 110 and a wiper mounting component 120 that are connected to each other. One end of the auxiliary wiper 200 is hinged to the wiper mounting component 120. The auxiliary wiper 200 can rotate around a first axis relative to the wiper mounting component 120. It can be understood that the first axis should be understood as the axis at the hinge between the auxiliary wiper 200 and the wiper mounting component 120.

[0051] The driving end of the first driving member 300 is hinged to the auxiliary wiper 200 , and the driving end of the first driving member 300 can be extended and retracted to drive the auxiliary wiper 200 to rotate around the first axis, so that the auxiliary wiper 200 is away from or close to the main wiper arm 110 .

[0052] The second driving member 400 is connected to the wiper mounting member 120, and is used for driving the wiper mounting member 120 to rotate around a second axis. It can be understood that the second axis is the rotation axis of the driving end of the second driving member 400, the second axis is parallel to the extension direction of the wiper arm, and the first axis and the second axis form an angle.

[0053] In this embodiment, the first axis is perpendicular to the second axis, and the second axis is parallel to the extension direction of the main wiper arm 110. Of course, the verticality in this embodiment should not be understood as being limited to being completely vertical, and verticality can be understood as being approximately vertical. Similarly, the parallelism in this embodiment should be understood as being approximately parallel, and should not be limited to being completely strictly parallel.

[0054] It should be noted that the main wiper arm 110 is the wiper at the front windshield of the vehicle, that is, the main wiper 100 in the laser radar cleaning device 1 provided in this embodiment is installed at the front windshield, and the auxiliary wiper 200, the first driving member 300 and the second driving member 400 are integrated on the main wiper arm 110 on the front windshield of the vehicle.

[0055] It can be understood that when the main wiper arm 110 is set on the front windshield of the vehicle and rotates a certain angle, the main wiper arm 110 rotates to a preset position to approach the laser radar on the roof, and the auxiliary wiper 200 has a closed position and a cleaning position. When the auxiliary wiper 200 is in the closed position, the driving end of the first driving member 300 is retracted to the extreme position. When the auxiliary wiper 200 is in the cleaning position, the driving end of the first driving member 300 extends a preset distance, and then the auxiliary wiper 200 rotates a preset angle. At this time, the auxiliary wiper 200 can be abutted against the window mirror of the laser radar, and then under the drive of the second driving member 400, the wiper mounting member 120 is repeatedly rotated clockwise or counterclockwise around the second axis, so that the auxiliary wiper 200 can swing, and then wipe the window mirror of the laser radar.

[0056] It can be understood that wiping the window mirror by the auxiliary wiper 200 can improve the cleaning effect of stubborn dirt on the laser radar window mirror.

[0057] Optionally, in order to further improve the cleaning effect of stubborn dirt on the window mirror of the laser radar, the auxiliary wiper 200 has a first side wall 230 and a second side wall 240 relative to each other in the first axial direction a, and at least one of the first side wall 230 and the second side wall 240 is provided with a liquid spray port 250. It can be understood that in the process of the auxiliary wiper 200 wiping the laser radar, the liquid spray port 250 can spray cleaning fluid to the window mirror of the laser radar, thereby improving the cleaning effect of the auxiliary wiper 200 on the laser radar.

[0058] Optionally, the auxiliary wiper 200 has a relative abutment wall 210 and a cleaning wall 220. When the auxiliary wiper 200 is in a closed position, the abutment wall 210 is in contact with the wiper mounting part 120. When the auxiliary wiper 200 is in a cleaning position, the cleaning wall 220 is used to be in contact with the window mirror of the laser radar. That is to say, when the main wiper 100 is installed on the front windshield of the vehicle and the auxiliary wiper 200 is in the cleaning position, and the vehicle is equipped with a laser radar, the cleaning wall 220 of the auxiliary wiper 200 is in contact with the window mirror of the laser radar. In order to ensure that the cleaning wall 220 does not scratch the window mirror and to ensure the wiping effect of the cleaning wall 220 on the laser radar window, a wiping portion 221 is provided on the cleaning wall 220, and the wiping portion 221 is made of natural rubber material.

[0059] It is understandable that the natural rubber material has good elasticity and wear resistance, which can ensure that the wiping portion 221 will not scratch the window mirror while wiping the laser radar window mirror. Of course, in some other embodiments, the wiping portion 221 can also be made of synthetic rubber material, such as nitrile rubber or thermoplastic elastomer.

[0060] The main wiper wall is provided with a first mounting groove 111, and the wiper mounting member 120 and the second driving member 400 are arranged in the first mounting groove 111. Since the wiper mounting member 120 and the second driving member 400 are arranged in the first mounting groove 111, the space occupied by the laser radar cleaning device 1 can be saved.

[0061] In detail, the first installation groove 111 includes a first groove section 1111 and a second groove section 1112 extending along the second axial direction b. The first groove section 1111 is used to install the second driving member 400 , and the second groove section 1112 is used to install the wiper mounting member 120 .

[0062] Optionally, the outer wall of the wiper mounting component 120 is at least partially an arc-shaped outer wall. For example, in the present embodiment, the interface of the wiper mounting component 120 is semicircular, wherein the arc-shaped outer wall is located in the second groove section 1112. It can be understood that since the wiper mounting component 120 will rotate around the second axis driven by the second driving component 400, therefore, since the outer wall of the wiper mounting component 120 is at least partially an arc-shaped outer wall, the wiper mounting component 120 can be more easily rotated in the second groove section 1112.

[0063] Optionally, in order to further facilitate the rotation of the wiper mounting member 120 , the inner wall of the second groove section 1112 is an arc inner wall that matches the outer wall of the wiper mounting member 120 .

[0064] Optionally, the wiper mounting member 120 is provided with a second mounting groove 121, and the first driving member 300 is arranged in the second mounting groove 121. It can be understood that the occupation area of ​​the laser radar cleaning device 1 can be further reduced by setting the second mounting groove 121 and setting the first driving member 300 in the second mounting groove 121.

[0065] Optionally, the first driving member 300 is detachably connected to the wiper mounting member 120, and the second driving member 400 is detachably connected to the main wiper arm 110, so that the user can easily detach and assemble the first driving member 300 and the second driving member 400.

[0066] Optionally, the first driving member 300 is one of a hydraulic push rod, a pneumatic push rod and a screw motor.

[0067] Optionally, the wiper mounting component 120 has a first inner wall 122 and a second inner wall 123 arranged opposite to each other along the first axial direction a, the first inner wall 122 is opposite to the second inner wall 123, the auxiliary wiper 200 is located between the first inner wall 122 and the second inner wall 123, and the auxiliary wiper 200 is hinged to the first inner wall 122 and the second inner wall 123 on both sides along the first axial direction a. It can be understood that since the auxiliary wiper 200 is located between the first inner wall 122 and the second inner wall 123, the connection between the auxiliary wiper 200 and the wiper mounting component 120 is not easily exposed to the outside.

[0068] Optionally, the wiper mounting member 120 is disposed at the end of the main wiper arm 110, and one end of the auxiliary wiper 200 is hinged to the end of the wiper mounting member 120. It should be noted that the end of the main wiper arm 110 should be understood as the end that is free to move when the main wiper arm 110 is installed on the front windshield, and the end of the wiper mounting member 120 should be understood as the end that is away from the main wiper arm 110 and connected to the front windshield of the vehicle. It can be understood that since the wiper mounting member 120 is disposed at the end of the main wiper arm 110, and one end of the auxiliary wiper 200 is hinged to the end of the wiper mounting member 120, when the main wiper arm 110 moves to a preset position close to the laser radar, the length of the driving end of the first driving member 300 extending out can be reduced, so that the auxiliary wiper 200 can move to contact the window mirror of the laser radar.

[0069] Of course, in some other embodiments, the wiper mounting component 120 may also be disposed at other positions of the main wiper arm 110 , and one end of the auxiliary wiper 200 may also be hinged to other positions of the wiper mounting component 120 .

[0070] Optionally, the auxiliary wiper 200 is provided with a third mounting groove 260. Specifically, the abutting wall 210 of the auxiliary wiper 200 is provided with the third mounting groove 260, and the driving end of the first driving member 300 is located in the third mounting groove 260 and is hinged to the inner wall of the third mounting groove 260. It can be understood that since the driving end of the first driving member 300 is located in the third mounting groove 260, when the auxiliary wiper 200 is in the closed position, the abutting wall 210 can better abut against the wiper mounting member 120.

[0071] In this embodiment, since the main wiper arm 110 is provided with a first mounting groove 111, and the wiper mounting member 120 and the second driving member 400 are arranged in the first mounting groove 111, the wiper mounting member 120 is provided with a second mounting groove 121, and the first driving member 300 is arranged in the second mounting groove 121, the auxiliary wiper arm is provided with a third mounting groove 260, the driving end of the first driving member 300 is arranged in the third mounting groove 260 and is hinged to the inner wall of the third mounting groove 260, and, when the auxiliary wiper 200 is in a closed state, the abutting wall 210 of the auxiliary wiper 200 also abuts against the main wiper 100, ensuring that when the auxiliary wiper 200 is in a closed state, the laser radar cleaning device 1 occupies a smaller space.

[0072] The embodiment of the utility model further provides a vehicle, including the above-mentioned laser radar cleaning device 1, wherein the main wiper arm 110 of the laser radar cleaning device 1 is a wiper for the front windshield, and optionally, the laser radar is arranged at the top of the vehicle. It should be noted that since the vehicle provided by this embodiment includes the above-mentioned laser radar cleaning device 1, the vehicle also has the beneficial effects of the laser radar cleaning device 1, and therefore, the beneficial effects of the vehicle will not be described in detail here.

[0073] In summary, the embodiment of the utility model provides a laser radar cleaning device 1 and a vehicle, the vehicle includes the laser radar cleaning device 1, and the laser radar cleaning device 1 includes a main wiper 100, an auxiliary wiper 200, a first driving member 300 and a second driving member 400. The main wiper 100 includes a main wiper arm 110 and a wiper mounting member 120 connected to each other, one end of the auxiliary wiper 200 is hinged to the wiper mounting member 120, and the auxiliary wiper 200 can rotate around a first axis relative to the wiper mounting member 120, and the driving end of the first driving member 300 is hinged to the auxiliary wiper 200, and the driving end of the first driving member 300 can be extended to drive the auxiliary wiper 200 to rotate around the first axis, so that the auxiliary wiper 200 is away from or close to the main wiper arm 110. The second driving member 400 is connected to the wiper mounting member 120, and is used to drive the wiper mounting member 120 to rotate around a second axis, the second axis is parallel to the extension direction of the wiper arm, and the first axis and the second axis form an angle. When the main wiper arm 110 is arranged on the front windshield of the vehicle and rotates a certain angle, the main wiper arm 110 rotates to a preset position to be close to the laser radar on the roof, and the auxiliary wiper 200 has a closed position and a cleaning position. When the auxiliary wiper 200 is in the closed position, the driving end of the first driving member 300 is retracted to the limit position. When the auxiliary wiper 200 is in the cleaning position, the driving end of the first driving member 300 extends a preset distance, and the auxiliary wiper 200 rotates a preset angle. At this time, the auxiliary wiper 200 can be abutted against the window mirror of the laser radar, and then under the drive of the second driving member 400, the wiper mounting member 120 is repeatedly rotated clockwise or counterclockwise around the second axis, so that the auxiliary wiper 200 can swing, and then wipe the window mirror of the laser radar. By wiping the window mirror with the auxiliary wiper 200, the cleaning effect of stubborn dirt on the laser radar window mirror can be improved.

[0074] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A laser radar cleaning device, characterized in that: include: A main wiper (100), the main wiper (100) comprising a main wiper arm (110) and a wiper mounting member (120) connected to each other; An auxiliary wiper (200), one end of the auxiliary wiper (200) being hinged to the wiper mounting member (120), and the auxiliary wiper (200) being capable of rotating around a first axis relative to the wiper mounting member (120); A first driving member (300), wherein a driving end of the first driving member (300) is hinged to the auxiliary wiper (200), and the driving end of the first driving member (300) is capable of being telescopic to drive the auxiliary wiper (200) to rotate around the first axis, so that the auxiliary wiper (200) moves away from or close to the main wiper arm (110); A second driving member (400), the second driving member (400) is connected to the wiper mounting member (120), and is used to drive the wiper mounting member (120) to rotate around a second axis, the second axis is parallel to the extension direction of the main wiper arm (110), and the first axis and the second axis form an angle.

2. The laser radar cleaning device according to claim 1, characterized in that: The auxiliary wiper (200) has a first side wall (230) and a second side wall (240) opposite to each other in the first axial direction (a), and at least one of the first side wall (230) and the second side wall (240) is provided with a liquid spraying port (250).

3. The laser radar cleaning device according to claim 1, characterized in that: The auxiliary wiper (200) has a relative abutment wall (210) and a cleaning wall (220), and the auxiliary wiper (200) has a closed position and a cleaning position. When the auxiliary wiper (200) is in the closed position, the abutment wall (210) is in contact with the wiper mounting member (120), and when the auxiliary wiper (200) is in the cleaning position, the cleaning wall (220) is used to be in contact with the laser radar, and a wiping portion (221) is provided on the cleaning wall (220), and the wiping portion (221) is made of natural rubber material.

4. The laser radar cleaning device according to claim 1, characterized in that: The main wiper arm is provided with a first installation groove (111), and the wiper installation component (120) and the second driving component (400) are arranged in the first installation groove (111).

5. The laser radar cleaning device according to claim 4, characterized in that: The first mounting groove (111) comprises a first groove section (1111) and a second groove section (1112) extending along the second axial direction (b); the first groove section (1111) is used to mount the second driving member (400); the second groove section (1112) is used to mount the wiper mounting member (120); and the outer wall of the wiper mounting member (120) is at least partially an arc outer wall.

6. The laser radar cleaning device according to claim 5, characterized in that: The inner wall of the second groove section (1112) is an arc inner wall that matches the outer wall of the wiper mounting component (120).

7. The laser radar cleaning device according to claim 1, characterized in that: The wiper mounting member (120) is provided with a second mounting groove (121), and the first driving member (300) is arranged in the second mounting groove (121).

8. The laser radar cleaning device according to claim 1, characterized in that: The first driving member (300) is one of a hydraulic push rod, a pneumatic push rod and a lead screw motor.

9. The laser radar cleaning device according to claim 1, characterized in that: The first driving member (300) is detachably connected to the wiper mounting member (120), and / or the second driving member (400) is detachably connected to the main wiper arm (110).

10. The laser radar cleaning device according to claim 1, characterized in that: The wiper mounting component (120) comprises a first inner wall (122) and a second inner wall (123) which are arranged opposite to each other along a first axial direction (a), the first inner wall (122) is opposite to the second inner wall (123), the auxiliary wiper (200) is located between the first inner wall (122) and the second inner wall (123), and the auxiliary wiper (200) is hinged to the first inner wall (122) and the second inner wall (123) on both sides along the first axial direction (a), respectively.

11. The laser radar cleaning device according to claim 1, characterized in that: The wiper mounting member (120) is arranged at the end of the main wiper arm (110), and / or one end of the auxiliary wiper (200) is hinged to the end of the wiper mounting member (120).

12. The laser radar cleaning device according to claim 1, characterized in that: The auxiliary wiper (200) is provided with a third installation groove (260), and the driving end of the first driving member (300) is located in the third installation groove (260) and is hinged to the inner wall of the third installation groove (260).

13. A vehicle, characterized in that: A laser radar cleaning device comprising any one of claims 1-12.

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