A spherical laser scanner cleaning device

Abstract

The utility model discloses a kind of spherical laser scanner cleaning devices, it is related to stockpile detection device field, including pitching drive assembly, pitching drive assembly is fixed in the lower surface one end of fixed plate, spherical laser scanner is fixed in the lower surface other end of fixed plate, and pitching drive assembly is rotatably connected with cleaning brush subassembly;Upper limit switch is equipped in the pitching drive assembly end of fixed plate upper surface, and lower limit switch is equipped in the side of spherical laser scanner close to pitching drive assembly;Cleaning brush subassembly cleaning state and upper limit switch contact, storage state and lower limit switch contact.By being set and the cleaning device of spherical laser scanner integration, it can be automatically cleaned without disassembling spherical laser scanner, reduce the operation step, improve the convenience.

Description

Technical Field

[0001] This utility model relates to the field of material stacking detection devices, specifically to a spherical laser scanner cleaning device. Background Technology

[0002] Currently, the operation of bucket wheel excavators in coal yards of coal-fired power plants is being upgraded from manual operation in the driver's cab to remote automated operation. Current remote automation systems generally employ laser scanning technology, installing a downward-facing laser scanner at the head of the bucket wheel excavator's boom to create a 3D model of the coal pile, analyze its geometric parameters, and then control the bucket wheel excavator for automatic operation. However, because the coal pile generates a large amount of particulate dust during operation, it easily adheres to the laser scanner's lens, affecting its measurement range and accuracy, ultimately impacting the safety and efficiency of the bucket wheel excavator's automatic control. Currently, cleaning spherical laser scanners often requires disassembling the scanner for cleaning or periodic manual cleaning with water, which is particularly cumbersome in coal yards of coal-fired power plants.

[0003] Chinese Patent Publication No. CN219616206U, Publication Date: September 1, 2023, discloses a Chinese patent entitled "A Laser Scanner Cleaning Device," which includes a connecting cylinder. The connecting cylinder has a connecting groove inside, and a connector is provided at the opening of the groove. An external gear is provided on the connector, and a first driving component is installed inside the connecting groove. A connecting frame is provided on the inner wall of the connector, and the connecting frame is connected to a slider via a moving component. A support rod is fixedly installed on the slider, and a cleaning plate is installed on the support rod. Dust collection boxes are provided at both ends of the connecting cylinder, and a slag discharge component is provided at the bottom of each dust collection box. A dust collection hood is provided inside each dust collection box, and a ventilation component is also provided at one end of the dust collection box. A filter plate is provided inside the dust collection box, and an arc-shaped rack plate is installed on the filter plate. A second driving component is installed inside the dust collection box. This cleaning device requires the laser scanner to be disassembled for cleaning, increasing the operation steps and making it cumbersome. Utility Model Content

[0004] This invention provides a cleaning device for a spherical laser scanner. By integrating the cleaning device with the spherical laser scanner, it is possible to automatically clean the scanner without disassembling it, reducing the number of steps and improving convenience.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: It includes a pitch drive assembly, which is fixed to one end of the lower surface of a fixed plate. A spherical laser scanner is fixed to the other end of the lower surface of the fixed plate. A cleaning brush assembly is rotatably connected to the pitch drive assembly. An upper limit switch is provided on the upper surface of the fixed plate at the pitch drive assembly end, and a lower limit switch is provided on the pitch drive assembly near the spherical laser scanner side. The cleaning brush assembly contacts the upper limit switch in the cleaning state and the lower limit switch in the retracted state. (The cleaning brush assembly includes a bracket, and the bracket contacts the upper and lower limit switches; therefore, the cleaning brush contacts the upper and lower limit switches.)

[0006] Preferably, the top of the spherical laser scanner is fixed to one end of the lower surface of the mounting plate via a scanner holder, and the spherical laser scanner is a downward-facing hemisphere. This fixing method ensures that the spherical laser scanner remains stable during the cleaning process.

[0007] Preferably, the cleaning brush assembly includes several supports, a cleaning brush support, a cleaning brush, and a cleaning brush drive unit. One end of each support is fixedly connected to the rotation axis of the pitch drive assembly, and the other end is connected to the cleaning brush drive unit. Each support includes two L-shaped plates. The L-shaped plates are fixed together at one end facing the rotation axis, while the upper L-shaped plate at the other end is fixed to the upper surface of the cleaning brush drive unit, and the lower L-shaped plate is fixed to the lower surface of the cleaning brush drive assembly. The bends of the L-shaped plates are all obtuse angles. This support structure effectively supports the cleaning brush drive unit, and the obtuse angle design of the L-shaped plates ensures that the cleaning brush assembly can extend under the spherical laser scanner during cleaning, thereby ensuring cleaning quality.

[0008] Preferably, several supports are positioned facing the spherical laser scanner in the cleaning state, and several cleaning brush supports are connected above the cleaning brush drive unit. The cleaning brush drive unit is connected to the several cleaning brush supports via a drive shaft, and drives the several cleaning brush supports and cleaning brushes to rotate around the spherical laser scanner. This ensures that the cleaning brushes can thoroughly clean the scanner surface, achieving an all-around cleaning effect and further improving the thoroughness of the cleaning.

[0009] Preferably, several cleaning brush holders are arc-shaped, with their bottom ends interconnected to form an upward-opening hemisphere, on the inner side of which cleaning brushes are located. The cleaning brushes are replaceable, reducing equipment maintenance costs and facilitating the replacement of different materials or types of cleaning brushes according to varying cleaning needs. The center of connection between the bottom ends of the several cleaning brush holders and the center of the spherical laser scanner are aligned on the same vertical line. The hemispherical design of the cleaning brush holders better conforms to the shape of the spherical laser scanner, ensuring close contact between the cleaning brushes and the scanner surface, thus improving cleaning effectiveness.

[0010] Preferably, the pitch drive assembly includes a pitch drive unit, a bearing housing, a bearing, a rotating shaft, a gravity gear, a drive gear, and a motor mounting bracket. The pitch drive unit is fixed to one end of the lower surface of the mounting plate, and the output end is connected to the drive gear. The pitch drive unit is fixed to the motor mounting bracket, which is also fixed to the lower surface of the mounting plate. The mounting bracket has a through hole for the output shaft of the pitch drive unit to pass through and connect to the drive gear. The pitch drive unit is preferably a worm gear reducer motor. Using a worm gear reducer motor as the pitch drive unit provides stable power output and has a reduction function, making the pitch movement of the cleaning brush assembly smoother and improving the stability and safety of the cleaning process.

[0011] Preferably, the drive gear and the reciprocating gear mesh, with the reciprocating gear fixed on the rotating shaft. The two ends of the rotating shaft are connected by bearings and bearing housings. The diameter of the drive gear is smaller than that of the reciprocating gear. The drive gear is positioned directly above the reciprocating gear, which is fitted onto the rotating shaft. This gear transmission design enables precise pitching motion of the cleaning brush assembly, allowing the cleaning brush to accurately reach the set cleaning position. The larger diameter of the reciprocating gear compared to the drive gear further slows down the rotation speed without reducing torque, resulting in a smoother and more precise cleaning process.

[0012] Preferably, the bearing housing is fixed to the lower surface of the fixed plate, and several brackets are respectively set at both ends of the rotating shaft. This ensures the stability of the cleaning brush assembly during pitching motion and prevents the cleaning effect from being affected by the wobbling of the brackets.

[0013] Preferably, one side of the bearing housing has a lower limit switch on the side facing the spherical scanner, with the lower limit switch facing downwards and in contact with the bracket during cleaning. After the spherical lens laser scanner stops scanning, the host computer clicks the start cleaning command, which is sent to the PLC. The PLC then instructs the pitch drive component to move, driving the cleaning brush assembly towards the spherical laser scanner until the cleaning brush touches the upper lens. At this point, the bracket triggers the lower limit switch, and the lower limit switch signal is sent to the PLC. The PLC then instructs the stop function to start the cleaning brush assembly for cleaning. This avoids damage to the spherical laser scanner caused by excessive movement. PLC control of the cleaning process achieves automated cleaning, improving cleaning efficiency and accuracy.

[0014] Preferably, the upper limit switch is positioned away from the spherical laser scanner, and in the retracted state, it contacts the cleaning brush drive unit. After cleaning is complete, the host computer clicks the stop cleaning command, the PLC controls the cleaning brush drive motor to stop, and controls the pitch drive component to move in the opposite direction away from the spherical lens until the cleaning brush drive unit triggers the upper limit switch, and the upper limit switch signal is sent to the PLC. The PLC then instructs to stop. The upper limit switch is relatively long, ensuring that the cleaning brush drive unit moves to the retracted position without colliding with the pitch drive unit or other components. This protects the structural integrity of the cleaning device, extends its service life, and also improves its safety and reliability.

[0015] Beneficial effects: This utility model's spherical laser scanner cleaning device is integrated with the spherical laser scanner, enabling automated cleaning without disassembling the equipment. This significantly reduces the number of cleaning steps, improves convenience, and saves time and labor costs. The cleaning device can remotely and automatically clean dust from the lens surface, reducing the time and effort required for on-site cleaning and improving work efficiency. It is especially suitable for hard-to-reach or hazardous environments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one structure of the present utility model.

[0017] Figure 2 This is another structural schematic diagram of the present invention.

[0018] Reference numerals: 101. Spherical laser scanner; 102. Cleaning brush; 103. Cleaning brush bracket; 104. Cleaning brush drive unit; 105. Bracket; 106. Bearing housing; 107. Bearing; 108. Rotating shaft; 109. Gravity gear; 110. Drive gear; 111. Motor mounting bracket; 112. Tilting drive unit; 113. Upper limit switch; 114. Fixing plate; 115. Lower limit switch; 116. Scanner bracket. Detailed Implementation

[0019] The spherical laser scanner cleaning device provided by this utility model achieves automated cleaning integrated with the scanner through precise transmission of the pitch drive component, intelligent control of the limit switch and stable support structure. Lens cleaning can be completed without disassembling the device, which greatly improves the convenience and safety of cleaning, and is especially suitable for scenarios where on-site operation is difficult.

[0020] exist Figure 1In the illustrated embodiment, the spherical laser scanner cleaning device of this invention uses a fixed plate 114 as the basic support structure, integrating the spherical laser scanner 101 and the cleaning components into one unit, enabling automated cleaning without disassembling the device. The lower surface of the fixed plate 114 has a "two-end distribution" layout: one end fixes the spherical laser scanner 101, and the other end is equipped with a pitch drive component, which is rotatably connected to the cleaning brush component via a rotating shaft 108. The upper surface of the fixed plate 114 is also equipped with an upper limit switch 113, and the bearing seat 106 is equipped with a lower limit switch 115, corresponding to the cleaning state and the storage state of the cleaning brush component, respectively. The switch trigger signals enable precise control of the cleaning process, avoiding over-cleaning or component collision, and ensuring safe operation of the equipment.

[0021] exist Figure 1 In the preferred embodiment shown, the fixing method of the spherical laser scanner 101 lays the foundation for cleaning stability. The top of the scanner is fixed to one end of the lower surface of the fixing plate 114 by a scanner bracket 116. The scanner bracket 116 is made of high-strength material, which can provide rigid support for the scanner and prevent the pressure generated when the cleaning brush assembly contacts the scanner from causing it to shift or shake. At the same time, the scanner is designed as a downward-facing hemispherical shape. This structure completely exposes the lens surface without any obstructing parts, and the cleaning brush assembly can directly contact the entire lens area, eliminating cleaning dead corners. Compared with upward or side-mounted installation methods, the downward-facing hemispherical shape can also reduce the natural accumulation of dust during daily use, reduce the cleaning frequency, and allow dust to fall naturally during cleaning without secondary contamination of the lens surface, further improving the cleaning effect. The spherical laser scanner 101 and the scanner bracket 116 occupy the left half of the lower surface of the fixing plate 114, and the pitch drive assembly occupies the right half of the lower surface of the fixing plate 114, realizing an integrated design.

[0022] exist Figure 1In the preferred embodiment shown, the support structure 105 of the cleaning brush assembly is key to achieving stable support and flexible cleaning. The support 105 consists of two L-shaped plates, one end of which is fixed to the rotation shaft 108 of the pitch drive assembly, and the other end is fixed to the upper and lower surfaces of the cleaning brush drive unit 104, forming a "clamping" support structure. This dual fixing method evenly distributes the torque generated when the cleaning brush 102 rotates, preventing the drive unit from tilting or loosening, and ensuring that the cleaning brush 102 always moves along a preset trajectory. Crucially, the bends of the L-shaped plates are designed with obtuse angles. This detail solves the problem of motion interference in the cleaning brush assembly: when the cleaning brush assembly rotates towards the scanner, the obtuse angle structure allows the support 105 to naturally extend below the scanner, easily covering the low area of ​​the hemispherical scanner. If a right-angle design were used, the support 105 would easily collide with the bottom of the scanner, failing to reach the low-lying blind spots. The obtuse angle design allows the cleaning brush 102 to closely fit the lower curved surface of the scanner, ensuring thorough cleaning without any omissions and completely eliminating cleaning blind spots in the traditional support 105 structure.

[0023] exist Figure 1 and Figure 2 In the preferred embodiment shown, the driving and rotation design of the cleaning brush assembly further enhances the comprehensiveness and thoroughness of cleaning. In the cleaning state, the bracket 105 is positioned towards the spherical laser scanner 101, allowing the cleaning brush 102 to be initially close to the scanner surface without additional adjustments, thus shortening cleaning preparation time. The cleaning brush driving unit 104 is connected to several cleaning brush brackets 103 via a drive shaft. Upon startup, it drives the cleaning brush brackets 103 and the cleaning brush 102 to rotate around the scanner. This rotational cleaning method allows the cleaning brush 102 to rub evenly along the hemispherical surface of the scanner, ensuring that every part of the lens surface is fully contacted by the bristles. Rotational cleaning achieves "surface coverage," effectively removing dust and fine stains from the lens surface and preventing a decrease in scanning accuracy due to uneven cleaning. Simultaneously, the rotation speed of the driving unit can be adjusted by the control system, selecting an appropriate speed for different levels of dirt, ensuring cleaning effectiveness while avoiding damage to the lens coating caused by high-speed rotation.

[0024] exist Figure 1In the preferred embodiment shown, the arc-shaped design of the cleaning brush holder 103 and the replaceable cleaning brush 102 optimize the device performance in terms of both adaptability and maintenance costs. Several cleaning brush holders 103 are arc-shaped, and their bottom ends connect to form an upward-opening hemisphere. This shape perfectly matches the shape of the spherical laser scanner 101, allowing the cleaning brush 102 to fit tightly against the scanner surface. Each bristle receives uniform force, preventing localized bristle suspension due to mismatched holder shapes, ensuring consistent cleaning pressure, and improving stain removal efficiency. More importantly, the bottom connection center of the cleaning brush holder 103 is on the same vertical line as the center of the scanner sphere. This precise positioning ensures that the cleaning brush 102 always rotates around the scanner sphere's center, with no trajectory deviation, further guaranteeing the uniformity of cleaning. In addition, the cleaning brush 102 is designed to be replaceable. When the bristles wear out or become stained with stubborn dirt, there is no need to replace the entire bracket assembly. You only need to remove the old cleaning brush 102 and replace it with a new one, which greatly reduces maintenance costs. At the same time, different cleaning brushes 102 (such as soft bristles or microfiber brushes) can be replaced according to the material of the scanner lens (such as optical glass or special coating), which avoids damage to the lens caused by a single cleaning brush 102 and balances cleaning effect and equipment protection.

[0025] In the actual cleaning process, all components work together to achieve automated operation: When cleaning is required, the host computer sends a cleaning command to the PLC. The PLC controls the pitch drive component to start, driving the rotating shaft 108 to rotate, and the cleaning brush component rotates towards the spherical laser scanner 101. When the cleaning brush component reaches the preset cleaning position, it contacts the lower limit switch 115. The switch sends a signal to the PLC, the pitch drive component stops moving, and the cleaning brush component maintains a stable cleaning posture. Subsequently, the cleaning brush drive unit 104 starts, driving the cleaning brush 102 to rotate around the scanner, starting full-area cleaning. After cleaning is completed, the PLC controls the cleaning brush drive unit 104 to stop, and simultaneously controls the pitch drive component to rotate in the opposite direction, moving the cleaning brush component towards the storage position until it contacts the upper limit switch 113. The drive component stops, and the cleaning brush component returns to the storage state. The entire process requires no manual intervention, achieving fully automated cleaning.

[0026] exist Figure 2In the preferred embodiment shown, the pitch drive assembly serves as the power source for the pitch movement of the cleaning brush assembly, and its structural design directly determines the stability and safety of the cleaning action. The core of the pitch drive assembly is the pitch drive unit 112, which is preferably a worm gear reducer motor, fixed to one end of the lower surface of the fixing plate 114 via a motor mounting bracket 111. The motor mounting bracket 111 is made of rigid material, and its shape is adapted to the pitch drive unit 112, firmly fixing the motor and preventing positional displacement due to vibration during operation. The motor mounting bracket 111 has a dedicated through hole through which the output shaft of the pitch drive unit 112 passes and connects to the drive gear 110. The diameter of the through hole precisely matches the diameter of the output shaft, ensuring no radial wobble during output shaft rotation and guaranteeing stable meshing of the drive gear 110. The choice of a worm gear reducer motor offers advantages in both power and control: on the one hand, it can provide a continuous and stable power output to meet the torque required for the pitching motion of the cleaning brush assembly, maintaining smooth movement even when the cleaning brush 102 encounters resistance in contact with the scanner surface; on the other hand, the reduction function can convert the high speed of the motor into the low speed pitching motion of the cleaning brush assembly, preventing the cleaning brush 102 from colliding with the scanner lens or the mounting plate 114 due to excessively fast movement, reducing mechanical impact damage to the equipment, and allowing operators sufficient time to respond to abnormal situations, thus improving the safety of the cleaning process.

[0027] exist Figure 2 In the preferred embodiment shown, the meshing transmission between the drive gear 110 and the reciprocating gear 109 is crucial for achieving precise pitch positioning of the cleaning brush assembly. The drive gear 110 is fixed on the output shaft of the pitch drive unit 112 and meshes with the reciprocating gear 109, which is sleeved on the rotating shaft 108. The diameter of the drive gear 110 is smaller than that of the reciprocating gear 109. This gear ratio design further optimizes the transmission speed based on the worm gear reduction: the larger diameter of the reciprocating gear 109 means that while the drive gear 110 rotates multiple times, the reciprocating gear 109 only rotates once, thereby reducing the pitch speed to a lower level and making the pitch movement of the cleaning brush assembly smoother. Especially at the critical moment when the cleaning brush 102 approaches the scanner lens, the slow movement allows the cleaning brush 102 to gently adhere to the lens surface, preventing the bristles from scratching the lens coating due to inertia. Meanwhile, the gear transmission method features precise transmission ratio and no slippage, ensuring that the power of the pitch drive unit 112 is accurately transmitted to the rotating shaft 108. This allows the cleaning brush assembly to accurately reach the preset cleaning position, preventing the cleaning brush 102 from deviating from the target area or getting too close to the lens due to transmission errors. The drive gear 110 is positioned directly above the reciprocating gear 109. This vertically aligned layout ensures that the two gears are evenly stressed when meshing, reducing localized wear on the gear teeth and extending gear life. It also ensures that the rotating shaft 108 is balanced under stress, preventing bending and deformation of the rotating shaft 108 due to gear misalignment, further improving transmission stability.

[0028] exist Figure 2 In the preferred embodiment shown, the mating design of the rotating shaft 108 and the bearing seat 106 provides stable support for the pitch movement of the cleaning brush assembly. Both ends of the rotating shaft 108 are mounted in the bearing seat 106 via bearings 107, and the bearing seat 106 is fixed to the lower surface of the fixing plate 114, forming a symmetrical support structure. The presence of the bearings 107 significantly reduces the frictional resistance when the rotating shaft 108 rotates, making the rotation smoother, reducing transmission jamming caused by excessive friction, ensuring continuous and uninterrupted pitch movement of the cleaning brush assembly, and preventing scratches on the lens surface caused by jamming. Several brackets 105 are respectively and symmetrically distributed at both ends of the rotating shaft 108. This layout evenly distributes the weight of the cleaning brush drive unit 104 and the cleaning brush 102 to both ends of the rotating shaft 108, avoiding uneven force distribution on one side and resulting in deflection deformation. When the cleaning brush assembly tilts, the supports 105 at both ends synchronously move the cleaning brush 102, ensuring that the cleaning brush 102 always remains horizontal and does not tilt. This guarantees uniform contact pressure between the cleaning brush 102 and the scanner lens surface, preventing incomplete cleaning in certain areas or damage to the lens due to excessive pressure. The robust connection between the bearing seat 106 and the fixing plate 114 further enhances the stability of the support structure. Even during equipment transportation or in vibration environments, it prevents the bearing seat 106 from shifting, ensuring the fixed position of the rotating shaft 108 and providing a foundation for the accuracy of the cleaning action.

[0029] exist Figure 1In the preferred embodiment shown, the lower limit switch 115 and the upper limit switch 113 form an automated safety control system for the cleaning process, enabling precise start and stop of cleaning actions and equipment protection. The lower limit switch 115 is installed on the side of the bearing seat 106 facing the spherical scanner and is set downwards. Its trigger position corresponds to the cleaning state of the cleaning brush assembly. When the spherical laser scanner 101 stops scanning, the operator clicks the start cleaning command through the host computer. The command is sent to the PLC, which then controls the pitch drive assembly to move towards the spherical laser scanner 101. That is, the worm gear reducer motor moves, driving the drive gear 110 to drive the heavy-duty gear 109 and the rotating shaft 108 to rotate. The bracket 105 also rotates with the rotating shaft 108, thereby moving the cleaning brush 102 towards the spherical lens. When the cleaning brush 102 gently touches the lens surface, the bracket 105 just contacts the lower limit switch 115, triggering the switch to send a signal to the PLC. Upon receiving the signal, the PLC immediately instructs the pitch drive assembly to stop moving and simultaneously activates the cleaning brush drive unit 104 to begin rotating cleaning of the lens surface. This involves the cleaning brush drive motor starting, causing the cleaning brush holder 103 and the cleaning brush 102 to move in a circular motion around the spherical lens. The cleaning brush 102 cleans away any deposits on the spherical lens, achieving automatic cleaning. During this process, the triggering of the lower limit switch 115 precisely controls the contact distance between the cleaning brush 102 and the lens, preventing physical damage to the lens due to excessive movement of the cleaning brush 102, while ensuring that the cleaning brush 102 fits tightly against the lens surface to guarantee cleaning effectiveness. Through the automated control of the PLC, the entire cleaning start-up process requires no manual monitoring, reducing operator effort and improving cleaning efficiency and accuracy.

[0030] exist Figure 2In the preferred embodiment shown, the upper limit switch 113 is installed on the upper surface of the fixed plate 114 near the end of the pitch drive assembly and is oriented away from the spherical laser scanner 101. Its trigger position corresponds to the retracted state of the cleaning brush assembly. After cleaning is completed, the operator clicks the stop cleaning command on the host computer. The PLC first controls the cleaning brush drive unit 104 to stop rotating, and then controls the pitch drive assembly to move in the opposite direction, moving the cleaning brush assembly away from the lens of the spherical laser scanner 101. That is, it controls the pitch drive unit 112 to move in the opposite direction. The moving gear drives the heavy moving gear 109 and the rotating shaft 108 to rotate in the opposite direction, thereby driving the bracket 105 to pitch. The cleaning brush bracket 103 and the cleaning brush 102 move away from the spherical lens. As the cleaning brush assembly moves to the retracted position, the cleaning brush drive unit 104 gradually approaches the upper limit switch 113. When the cleaning brush drive unit 104 contacts the upper limit switch 113, the switch sends a signal to the PLC. The PLC commands the pitch drive assembly to stop moving, and the cleaning brush assembly returns to the retracted state. The upper limit switch 113 is designed to be relatively long, ensuring that the cleaning brush drive unit 104 accurately contacts the switch when moving towards the storage position, regardless of any initial position deviation. This prevents the bracket 105 from continuing to move due to the switch being too short, thus avoiding collisions with other components such as the pitch drive unit 112 and the motor. This design protects the structural integrity of the cleaning device, preventing damage to components due to collisions, extending the equipment's lifespan, and also improving the equipment's safety and reliability. It ensures that the equipment returns to a safe storage state after each cleaning, without affecting subsequent scanning operations.

[0031] In practical applications, such as the spherical laser scanner 101 used in the coal yard of a coal-fired power plant, the lens easily accumulates dust due to the high level of environmental dust, affecting scanning accuracy. In this case, operators do not need to climb to the scanner's installation location to disassemble the equipment. They only need to send a cleaning command from the ground via a host computer, and the PLC will control the cleaning device to start according to preset logic: the pitch drive component moves the cleaning brush component smoothly towards the lens, the lower limit switch 115 precisely controls the contact distance, and after the cleaning brush 102 rotates and cleans, the upper limit switch 113 ensures the component returns to its storage position. The entire process is automated, saving manual operation time, avoiding the safety risks of working at heights, ensuring stable cleaning results, and guaranteeing the scanner's scanning accuracy.

[0032] This invention constructs a highly efficient automated cleaning system through the integrated layout of the fixing plate 114, the stable fixation of the scanner, and the rigid support and rotation drive of the cleaning brush assembly. This system can complete full-area cleaning without disassembling the spherical laser scanner 101, reducing operational steps and improving convenience. At the same time, meticulous design ensures both cleaning effectiveness and equipment safety, making it particularly suitable for hard-to-reach or hazardous environments, such as coal yards in coal-fired power plants, providing a reliable guarantee for the long-term stable operation of the spherical laser scanner 101.

Claims

1. A spherical laser scanner cleaning device, characterized in that, It includes a pitch drive assembly, which is fixed to one end of the lower surface of the fixed plate, and a spherical laser scanner is fixed to the other end of the lower surface of the fixed plate. The pitch drive assembly is rotatably connected to a cleaning brush assembly. The upper surface of the fixed plate is provided with an upper limit switch at the pitch drive assembly end, and a lower limit switch is provided on the pitch drive assembly side near the spherical laser scanner. The cleaning brush assembly is in contact with the upper limit switch when cleaning and with the lower limit switch when stored.

2. A spherical laser scanner cleaning device according to claim 1, characterized in that, The top of the spherical laser scanner is fixed to one end of the lower surface of the mounting plate via a scanner bracket. The spherical laser scanner is a downward-facing hemisphere.

3. A spherical laser scanner cleaning device according to claim 1, wherein, The cleaning brush assembly includes several brackets, one end of which is fixedly connected to the rotation axis of the pitch drive assembly, and the other end is connected to the cleaning brush drive unit.

4. A spherical laser scanner cleaning device according to claim 3, wherein, Several supports are positioned facing the spherical laser scanner in the cleaning state, and several cleaning brush supports are connected above the cleaning brush drive unit.

5. A spherical laser scanner cleaning device according to claim 4, wherein, Several cleaning brush holders are arc-shaped, and their bottom ends are connected to form an upward-facing hemisphere, with cleaning brushes on the inside.

6. A spherical laser scanner cleaning device according to claim 1 or 3, characterized in that, The pitch drive assembly includes a pitch drive unit, which is fixed to one end of the lower surface of the fixed plate, and the output end is connected to a drive gear.

7. A spherical laser scanner cleaning device according to claim 6, wherein, The drive gear and the reciprocating gear mesh, and the reciprocating gear is fixed on the rotating shaft. The two ends of the rotating shaft are connected by bearings and bearing housings.

8. A spherical laser scanner cleaning device according to claim 7, characterized in that, The bearing housing is fixed to the lower surface of the fixed plate, and several brackets are respectively set at both ends of the rotating shaft.

9. A spherical laser scanner cleaning device according to claim 7, characterized in that, One side of the bearing housing has a lower limit switch on the side facing the spherical scanner. The lower limit switch is set downwards and contacts the bracket in the cleaning state.

10. A spherical laser scanner cleaning device according to claim 8, characterized in that, The upper limit switch is positioned away from the spherical laser scanner, and the device is in contact with the stand when retracted.

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