Multifunctional laser radar three-dimensional holder scanning device

Abstract

The utility model discloses a multifunctional laser radar three-dimensional holder scanning device, which relates to the technical field of automatic measurement and comprises a holder support provided with a rotary driving device. The rotation driving device comprises a servo motor, the servo motor is electrically connected with the control unit, and the servo motor is in power connection with the radar support through a transmission mechanism; the radar support is provided with a laser radar, and the laser radar is provided with an automatic cleaning device. The radar support is of a U-shaped frame structure, and a first installation hole position is formed in a side plate of the radar support. And / or a second mounting hole site is arranged on the transverse plate of the radar bracket; and the first mounting hole site or the second mounting hole site is connected with the rotary driving device. The radar support provided by the utility model has various installation forms, can be used for installing various forms of laser radars in a matched manner, and has the advantages of compact structure, small and light appearance, stronger adaptability and stronger universality.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic measurement technical field especially relates to a multifunctional laser radar three -dimensional holder scanning device. BACKGROUND

[0002] Laser radar can be applied to many two-dimensional applications, and can also be applied to three-dimensional applications. Generally, three-dimensional laser radar has a complex internal structure and a complicated program development, resulting in increased research and development costs and prolonged research and development cycle. The three-dimensional application of two-dimensional laser radar solves the above problems and has a very stable structure, rapidly applies two-dimensional data collected by two-dimensional laser radar to three-dimensional data, and greatly reduces the development cycle of three-dimensional radar. There are some three-dimensional applications of two-dimensional laser radar on the market, but they have some shortcomings, such as complex structure, inconvenient installation, poor adaptability, high requirements for the size and model of laser radar, poor compatibility, limited rotation angle, insufficient comprehensive data collection, poor precision, poor environmental adaptability, and greatly reduced scanning precision in complex environments such as dust and snow. Therefore, a multifunctional laser radar three-dimensional holder scanning device is urgently needed. SUMMARY

[0003] The utility model aims at providing a multifunctional laser radar three-dimensional holder scanning device to solve the problems of complex structure, inconvenient installation, poor compatibility of laser radar size and model, limited rotation angle, and automatic cleaning in the three-dimensional application technology of existing two-dimensional laser radar mentioned in the background art.

[0004] The utility model adopts the following technical scheme:

[0005] The utility model relates to a multifunctional laser radar three-dimensional holder scanning device, which comprises a holder support, a rotating drive device is arranged on the holder support;

[0006] A radar support, the radar support is a U-shaped frame structure, a first mounting hole position is arranged on the side plate of the radar support; and / or a second mounting hole position is arranged on the horizontal plate of the radar support; the first mounting hole position or the second mounting hole position is connected with the rotating drive device;

[0007] A laser radar, the laser radar is arranged in the radar support;

[0008] An automatic cleaning device, one side of the laser radar is provided with the automatic cleaning device for cleaning the window cover, and the automatic cleaning device is fixedly connected to the radar support.

[0009] Further, the automatic cleaning device comprises a cleaning frame body, a driving component is arranged on the cleaning frame body, a swing arm is arranged on the driving component, and a plurality of first connecting holes are arranged on the swing arm.

[0010] The first connecting holes are detachably connected with the brush through adjustable supporting arms, or the first connecting holes are detachably connected with the brush.

[0011] The driving component is electrically connected with a control panel, and the control panel is arranged on the cleaning frame body.

[0012] Further, a plurality of second connecting holes are arranged on the adjustable supporting arms, and the second connecting holes are connected with the first connecting holes through bolt assemblies.

[0013] Further, the first connecting holes and the second connecting holes are arranged in straight lines.

[0014] Further, the swing arm and the adjustable supporting arm are both in strip-shaped plate structures, and the strip-shaped plates are twisted by 90 degrees to form two vertical planes.

[0015] Further, the cleaning frame body comprises a first fixed plate and a second fixed plate, the first fixed plate and the second fixed plate are arranged in an L shape and vertically, and mounting holes are arranged on the first fixed plate and the second fixed plate.

[0016] Further, the first fixed plate and the second fixed plate are provided with flanges on two sides.

[0017] Further, the rotating driving device comprises a servo motor and a control unit, the servo motor is electrically connected with the control unit, and the servo motor is power-connected with the radar support through a transmission mechanism.

[0018] Further, the transmission mechanism is in a transmission shaft structure, and the transmission mechanism is rotatably connected with the side plate of the holder support through a bearing.

[0019] Compared with the prior art, the automatic cleaning device has the beneficial technical effects that:

[0020] The radar support is provided with first mounting hole positions and second mounting hole positions, has multiple installation forms, can be adapted to install multiple forms of laser radars, has the advantages of compact structure, small and light appearance, stronger adaptability, and stronger universality. Meanwhile, the automatic cleaning device can also be adapted to automatically clean multiple forms of laser radars, and the device also has the advantages of large overall rotation scanning angle and wide space scanning area. BRIEF DESCRIPTION OF DRAWINGS

[0021] The utility model will be further described in connection with the drawings.

[0022] Figure 1 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device structure diagram Figure One ;

[0023] Figure 2 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device structure diagram Figure Two ;

[0024] Figure 3 For example one one of the utility model multifunctional laser radar three-dimensional holder scanning device control unit structure diagram;

[0025] Figure 4 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device radar support structure diagram;

[0026] Figure 5 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device automatic cleaning device structure diagram Figure One ;

[0027] Figure 6 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device automatic cleaning device structure diagram Figure Two ;

[0028] Figure 7 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device automatic cleaning device left view;

[0029] Figure 8 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device drive component structure diagram;

[0030] Figure 9 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device cleaning frame structure diagram;

[0031] Figure 10 For example one of the utility model multifunctional laser radar three-dimensional holder scanning device installation and use effect;

[0032] Figure 11 For example two of the utility model multifunctional laser radar three-dimensional holder scanning device radar support structure diagram;

[0033] Figure 12 For example two of the utility model multifunctional laser radar three-dimensional holder scanning device structure diagram Figure One ;

[0034] Figure 13For example two of the utility model multifunctional laser radar three-dimensional holder scanning device structure schematic diagram Figure Two ;

[0035] Figure 14 For example two of the utility model multifunctional laser radar three-dimensional holder scanning device installation effect drawing;

[0036] Figure 15 For example three of the utility model multifunctional laser radar three-dimensional holder scanning device in radar support structure schematic diagram;

[0037] Figure 16 For example four of the utility model multifunctional laser radar three-dimensional holder scanning device automatic cleaning device structure schematic diagram;

[0038] Figure 17 For example four of the utility model multifunctional laser radar three-dimensional holder scanning device automatic cleaning device is adapted to rectangular laser radar installation effect drawing.

[0039] Figure mark explanation: 1, laser radar;1-1, window cover;2, radar support;2-1, first mounting hole position;2-2, second mounting hole position;3, automatic cleaning device;3-1, cleaning frame body;3-1-1, first fixed plate;3-1-2, second fixed plate;3-1-3, baffle;3-2, drive part;3-2-1, butt joint plate;3-3, swing arm;3-3-1, first connecting hole;3-4, adjustable support arm;3-4-1, second connecting hole;3-5, brush;3-6, control board;4, holder support;5, rotary drive device;5-1, servo motor;5-2, control unit;5-3, transmission mechanism;6, rectangular laser radar;6-1, plane window cover. DETAILED DESCRIPTION

[0040] In order to make the technical problems, technical schemes and beneficial effects to be solved by the utility model more clearly, the following will be further described in detail by combining with the drawings and examples.

[0041] Example one

[0042] For example, as Figure 1 And Figure 2As shown, the multifunctional laser radar three-dimensional holder scanning device disclosed in the embodiment comprises a holder support 4, a rotating driving device 5 is arranged on the holder support 4, the rotating driving device 5 comprises a servo motor 5-1 and a control unit 5-2, the servo motor 5-1 is electrically connected with the control unit 5-2, and the servo motor 5-1 is power-connected with the radar support 2 through a transmission mechanism 5-3. The radar support 2 is fixedly connected with a laser radar 1. One side of the laser radar 1 is provided with an automatic cleaning device 3 for cleaning a window cover 1-1, and the automatic cleaning device 3 is fixedly connected on the radar support 2 through a bolt assembly.

[0043] The transmission mechanism 5-3 is a transmission shaft structure with a bearing, one end of the transmission shaft is fixedly connected with the output end of the servo motor 5-1, and the other end of the transmission shaft is fixedly connected with the radar support 2; and the transmission shaft is rotatably connected on the holder support 4 through the bearing.

[0044] The servo motor 5-1 is a high-precision large-torque servo motor, the transmission mechanism 5-3 can be controlled to rotate forward or reversely through the instruction issued by the control unit 5-2, and can be stopped or started at any position; and the rotation angle and the rotation speed can be controlled, and the rotation angle position and the speed are fed back in real time, so that the laser radar 1 is rotated to any position for scanning.

[0045] As shown in Figure 3 The control unit 5-2 is composed of an industrial control computer and a switching power supply. The control unit 5-2 is electrically connected with the servo motor 5 and the laser radar 1 through a cable to realize the power supply and data transmission functions.

[0046] As shown in Figure 4 The radar support 2 is a U-shaped frame structure, a first mounting hole position 2-1 is arranged on the side plate of the radar support 2, the first mounting hole position 2-1 is fixedly connected with the transmission shaft of the transmission mechanism 5-3, the transmission shaft of the transmission mechanism 5-3 drives the radar support 2 to rotate, thereby driving the laser radar 1 to rotate.

[0047] As shown in Figures 5 to 9 The automatic cleaning device 3 comprises a cleaning frame body 3-1, a driving part 3-2 is arranged on the cleaning frame body 3-1, and the driving part 3-2 is electrically connected with a control panel 3-6. A swing arm 3-3 is arranged on the driving part 3-2, a plurality of first connecting holes 3-3-1 are arranged on the swing arm 3-3, and the first connecting holes 3-3-1 are detachably connected with a brush 3-5 through an adjustable supporting arm 3-4.

[0048] Specifically, the adjustable support arm 3-4 is provided with a plurality of second connecting holes 3-4-1, the second connecting holes 3-4-1 are connected together with the first connecting hole 3-3-1 through a bolt assembly, and the angle of the adjustable support arm 3-4 can be adjusted by loosening the bolt to adapt to different inclined angles of the window cover 1-1, and the angle adjusting brush 3-5 can also be used to adjust the close degree of the window cover 1-1 to prevent scratching.

[0049] In the embodiment, the first connecting hole 3-3-1 and the second connecting hole 3-4-1 are arranged in a straight line. The swing arm 3-3 and the adjustable support arm 3-4 are both strip-shaped plate structures, and the strip-shaped plate is twisted by 90 degrees to form two perpendicular planes.

[0050] In the embodiment, the driving component 3-2 is a steering engine. The output end of the steering engine is provided with a hole-equipped butt joint plate 3-2-1, and the butt joint plate 3-2-1 is detachably connected with the swing arm 3-3 through a bolt assembly.

[0051] The control panel 3-6 is embedded on the cleaning frame body 3-1 and connected with the driving component 3-2 through a cable. The driving component 3-2 is controlled to rotate by sending a command through the control panel 3-6, thereby driving the swing arm 3-3, the adjustable support arm 3-4 and the brush 3-5 to rotate to clean the window cover 1-1. At the same time, the control panel 3-6 can control the rotation angle and speed of the driving component 3-2, so as to control the wiping speed and rotation angle of the brush 3-5.

[0052] The cleaning frame body 3-1 comprises a first fixed plate 3-1-1 and a second fixed plate 3-1-2, and the first fixed plate 3-1-1 and the second fixed plate 3-1-2 are arranged in an L shape and vertically. The first fixed plate 3-1-1 and the second fixed plate 3-1-2 are both provided with mounting holes for butt joint installation. The two sides of the first fixed plate 3-1-1 and the second fixed plate 3-1-2 are provided with a stop edge 3-1-3 to assist installation and stability.

[0053] As shown in Figure 10 As shown in Figures 1 to 10 The action process of the utility model is as follows:

[0054] Firstly, the holder 4 is installed on the wall or other installation surface, the control unit 5-2 sends a command, the servo motor 5-1 starts and rotates to swing, thereby driving the laser radar 1 on the radar support 2 to swing vertically, and the scanning range of the laser radar 1 itself is a two-dimensional data of a plane, which can achieve a space scanning effect under the action of swinging. When the window cover of the laser radar 1 is blocked by rain, snow or dust, the control panel 3-6 sends a command to control the driving mechanism 3-2 to rotate, thereby driving the swing arm 3-3, the adjustable support arm 3-4 and the brush 3-5 to rotate to clean the window cover 1-1.

[0055] Example 2

[0056] like Figures 11 to 14 As shown, in this embodiment, the radar bracket 2 has a U-shaped frame structure, and a second mounting hole 2-2 is provided on the horizontal plate of the radar bracket 2; the second mounting hole 2-2 is fixedly connected to the transmission shaft of the transmission mechanism 5-3. When the servo motor 5-1 starts, it drives the lidar 1 on the radar bracket 2 to rotate on the horizontal plane, achieving a spatial scanning effect. In this embodiment, other technical features and connection relationships are the same as in Embodiment 1, and will not be described in detail here.

[0057] Example 3

[0058] like Figure 15 As shown, in this embodiment, a first mounting hole 2-1 is provided on the side plate of the radar bracket 2, and a second mounting hole 2-2 is provided on the horizontal plate of the radar bracket 2. The first mounting hole 2-1 or the second mounting hole 2-2 is fixedly connected to the drive shaft of the transmission mechanism 5-3. In this embodiment, other technical features and connection relationships are the same as in Embodiment 1 or Embodiment 2, and will not be described in detail here.

[0059] Example 4

[0060] like Figure 16 As shown, in this embodiment, the first connecting hole 3-3-1 and the brush 3-5 are directly detached and connected. The brush 3-5 is directly installed on the first connecting hole 3-3-1 on the swing arm 3-3 and screwed together with screws for wiping the lidar in the form of a flat window cover.

[0061] like Figure 17 As shown, to illustrate the effect of installing a rectangular lidar 6, in this embodiment, the brush 3-5 is attached to the planar window cover 6-1 of the rectangular lidar 6. The control board 3-6 issues commands to control the drive component 3-2 to reciprocate left and right, thereby driving the brush 3-5 to clean the planar window cover 6-1 of the rectangular lidar 6. In this embodiment, other technical features, connections, etc., are the same as in Embodiment 1, Embodiment 2, or Embodiment 3, and will not be described in detail here.

[0062] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A multifunctional laser radar three-dimensional gimbal scanning device, characterized in that: Comprising A gimbal support (4) is provided with a rotating drive device (5); A radar support (2) is a U-shaped bracket structure, a side plate of the radar support (2) is provided with a first mounting hole (2-1); and / or a transverse plate of the radar support (2) is provided with a second mounting hole (2-2); the first mounting hole (2-1) or the second mounting hole (2-2) is connected with the rotating drive device (5); A laser radar (1) is arranged in the radar support (2); An automatic cleaning device (3) is arranged on one side of the laser radar (1) for cleaning the window cover (1-1), and the automatic cleaning device (3) is fixedly connected to the radar support (2).

2. The multifunctional laser radar three-dimensional holder scanning device according to claim 1, characterized in that: The automatic cleaning device (3) comprises a cleaning frame body (3-1), a driving component (3-2) is arranged on the cleaning frame body (3-1), a swing arm (3-3) is arranged on the driving component (3-2), and a plurality of first connecting holes (3-3-1) are arranged on the swing arm (3-3); The first connecting hole (3-3-1) is detachably connected with a brush (3-5) through an adjustable supporting arm (3-4), or the first connecting hole (3-3-1) is detachably connected with the brush (3-5); The driving component (3-2) is electrically connected with a control panel (3-6), and the control panel (3-6) is arranged on the cleaning frame body (3-1).

3. The multi-functional laser radar three-dimensional gimbal scanning device according to claim 2, characterized in that: A plurality of second connecting holes (3-4-1) are arranged on the adjustable supporting arm (3-4), and the second connecting holes (3-4-1) are connected with the first connecting holes (3-3-1) through a bolt assembly.

4. The multi-functional laser radar three-dimensional holder scanning apparatus according to claim 3, characterized by: The first connecting hole (3-3-1) and the second connecting hole (3-4-1) are arranged in a straight line.

5. The multi-functional laser radar three-dimensional gimbal scanning apparatus according to claim 2, characterized by: The swing arm (3-3) and the adjustable supporting arm (3-4) are both in a strip-shaped plate structure, and the strip-shaped plate is twisted by 90 degrees to form two perpendicular planes.

6. The multi-functional laser radar three-dimensional holder scanning apparatus according to claim 2, characterized by: The cleaning frame body (3-1) comprises a first fixed plate (3-1-1) and a second fixed plate (3-1-2), the first fixed plate (3-1-1) and the second fixed plate (3-1-2) are arranged in an L shape and perpendicularly, and mounting holes are arranged on the first fixed plate (3-1-1) and the second fixed plate (3-1-2).

7. The multi-functional laser radar three-dimensional gimbal scanning apparatus according to claim 6, characterized by: The first fixed plate (3-1-1) and the second fixed plate (3-1-2) are provided with a stop edge (3-1-3) on both sides.

8. The multi-functional laser radar three-dimensional gimbal scanning apparatus according to claim 1, characterized by: The rotating drive device (5) comprises a servo motor (5-1) and a control unit (5-2), the servo motor (5-1) is electrically connected with the control unit (5-2), and the servo motor (5-1) is power-connected with the radar support (2) through a transmission mechanism (5-3).

9. The multi-functional laser radar three-dimensional gimbal scanning apparatus according to claim 8, characterized by: The transmission mechanism (5-3) is a transmission shaft structure, and the transmission mechanism (5-3) is rotatably connected to the side plate of the gimbal support (4) through a bearing.

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