A laser radar wiper mechanism

Abstract

The utility model discloses a laser radar wiper mechanism, track piece, extend along the direction parallel to laser radar window surface, and its track curvature and laser radar window surface arc copy corresponding, moving assembly, parallel to the extension direction of track piece and move, and moving assembly is equipped with the transmission part of track piece coupling, linkage piece, connect in transmission part, wiper assembly, including wiper seat and the wiper strip of fixed in wiper seat, and wiper seat solid establishes in linkage piece, wherein, when moving assembly moves, through transmission part and drive wiper seat synchronous movement, make wiper strip can contact with laser radar window surface and constitute the sliding fit, simultaneously, transmission part drives along track piece, and the curvature change of track piece is converted into the axial displacement of linkage piece, thereby drive wiper seat and drive wiper strip relative laser radar window surface dynamic adjustment, make wiper strip with the basically constant pressure tight deformation amount and adhere laser radar window surface, the utility model relates to intelligent car environment sensing technical field.

Description

Technical Field

[0001] This utility model relates to the field of intelligent vehicle environmental perception technology, and more specifically to a lidar wiper mechanism. Background Technology

[0002] As a core sensor for autonomous driving, the surface of the lidar window must be kept clean.

[0003] Existing technologies typically use the following methods to clean the surface of a lidar window: The wiper blades press directly against the surface of the lidar window and are driven by a motor to swing back and forth or wipe in a straight line.

[0004] Because the surface of the lidar window is a curved surface with continuously changing curvature, the fixed-pressure wiper blade cannot follow the undulations of the surface, resulting in: Insufficient pressure in the recessed area results in "underpressure" and incomplete cleaning. Excessive pressure on the raised area can cause "overpressure," which can easily scratch the optical coating or cause stress cracks. Furthermore, the wiper blades wear out quickly, shortening their lifespan. Utility Model Content

[0005] To address the shortcomings and defects of existing technologies, a lidar wiper mechanism is provided to avoid damage to the lidar window surface caused by excessive pressure from the wiper blade or poor cleaning effect caused by insufficient pressure. It also features a simple structure and long service life.

[0006] A lidar wiper mechanism, comprising: The trajectory component extends in a direction parallel to the surface of the lidar window, and its trajectory curvature corresponds to the arc contour of the lidar window surface. A moving component moves parallel to the extending direction of the track component, and the moving component is provided with a transmission component coupled to the track component; Linkage component, connected to the transmission component; A windshield wiper assembly includes a wiper mount and a wiper blade fixed to the wiper mount, wherein the wiper mount is fixed to the linkage member; When the moving component moves, it drives the wiper mount to move synchronously via a transmission component, allowing the wiper blade to contact and slide against the surface of the lidar window. Simultaneously, the transmission component travels along the trajectory component, converting the curvature change of the trajectory component into the axial displacement of the linkage component, thereby driving the wiper mount to dynamically adjust the distance between the wiper blade and the surface of the lidar window, so that the wiper blade fits the surface of the lidar window with a basically constant amount of pressing deformation.

[0007] With the above structure, the laser radar wiper mechanism of this utility model has the following advantages compared with the prior art: If it is necessary to clean the surface of the lidar window, the moving component can be moved. The wiper mount can be moved synchronously through the linkage. The wiper blade on the wiper mount can contact the surface of the lidar window and form a sliding fit to achieve the cleaning operation of the lidar window surface. Simultaneously, the linkage drives the transmission component to travel along the trajectory component, converting the curvature change of the trajectory component into axial displacement of the linkage component, thereby driving the wiper mount to dynamically adjust the distance of the wiper blade relative to the surface of the lidar window. When it is necessary to clean the recessed area on the surface of the lidar window, the trajectory component corresponds to a recessed curvature in that area. The transmission component then drives the wiper mount and wiper blade to move axially backward. When it is necessary to clean the area on the surface of the lidar window that is raised forward, the trajectory component should also have a forward-raised curvature corresponding to that area. The transmission component can drive the wiper mount and wiper blade to move axially forward. This ensures that the wiper blades adhere to the surface of the lidar window with a relatively constant amount of compression and deformation throughout the process, avoiding damage to the lidar window surface caused by excessive local pressure or poor cleaning effect caused by insufficient pressure, and reducing wear on the wiper blades. In addition, this application has fewer components and a simpler structure, resulting in lower costs.

[0008] As an improvement of this utility model, the trajectory component is a trajectory groove that extends along the length direction parallel to the surface of the lidar window, and in any cross-section along this length direction, the center line of the trajectory groove and the outline of the lidar window surface in that cross-section maintain an equal normal distance.

[0009] As an improvement of this utility model, the trajectory groove is disposed on the front or rear side of the surface of the lidar window.

[0010] As an improvement of this utility model, a connecting body is fixedly provided at the end of the linkage component; The transmission component is a bushing that rotates around its own axis and is supported by the connecting body. Its outer circumferential surface is in tangential contact with the two opposite sidewalls of the track groove to form a rolling pair, so that the translational motion of the moving component is converted into the displacement of the linkage component through the rolling coupling between the bushing and the track groove.

[0011] As an improvement of this utility model, the linkage extends along the width direction of the lidar window; The center line of the wiper blade coincides with the projection of the center axis of the bushing along the length of the linkage.

[0012] As an improvement of this utility model, the wiper mount is provided with a front-to-back extending mounting groove. The front part of the wiper blade is provided with a T-shaped connecting part extending along the length of the wiper blade. A connecting block is provided inside the assembly slot, and the connecting block is provided with a T-shaped embedding slot. The T-shaped connector is inserted into the T-shaped recess to connect the wiper blade to the connector block. The connecting block is embedded in the assembly slot to enable a detachable connection between the wiper blade and the wiper mount.

[0013] As an improvement of this utility model, the moving component further includes a lead screw and a moving block. The lead screw is arranged parallel to the extension direction of the track component and is driven to rotate by a motor. The moving block is equipped with a lead screw nut, which is connected to the lead screw drive. The linkage component is mounted on the moving block. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is a partial structural schematic diagram of the wiper assembly, moving assembly, and track component of this utility model.

[0016] Figure 3 This is the utility model Figure 2 Schematic diagram of the cross-sectional structure along the AA direction.

[0017] Figure 4 This is a structural schematic diagram of the wiper assembly of this utility model.

[0018] Figure 5 This is the utility model Figure 4 A schematic diagram of the structure of the components in an explosive state.

[0019] Figure 6 This is a schematic diagram of the moving block and the wiper assembly in the second embodiment of this utility model.

[0020] Figure 7 This is a cross-sectional structural diagram of the second embodiment of the present invention.

[0021] The figure shows: 1. Moving block; 1.1. Lead screw nut; 2. Wiper mount; 2.1. Linkage component; 2.2. Assembly slot; 2.21. Slot; 2.21. Snap-fit ​​part; 2.3. Hole; 3. Wiper blade; 3.1. T-shaped connecting part; 4. Track component; 5. Transmission component; 5.1. Bushing; 5.2. Blind hole; 6. LiDAR window surface; 7. Connecting block; 7.1. T-shaped embedded slot; 7.2. Cylindrical connecting body; 8. First elastic component; 9. Stopping component; 10. Second elastic component. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] Please see Figure 1-5 The image shown is the first embodiment of this utility model. The trajectory component 4 extends along a direction parallel to the surface 6 of the lidar window, and its trajectory curvature corresponds to the arc of the lidar window surface 6. The moving component moves parallel to the extension direction of the track member 4, and the moving component is provided with a transmission member 5 coupled to the track member 4; Linkage component 2.1 is connected to transmission component 5; The wiper assembly includes a wiper mount 2 and a wiper blade 3 fixed to the wiper mount 2, wherein the wiper mount 2 is fixed to the linkage 2.1; If it is necessary to clean the surface 6 of the lidar window, the moving component is moved, and the wiper mount 2 is moved synchronously through the linkage 2.1. The wiper blade 3 on the wiper mount 2 can contact the surface 6 of the lidar window and form a sliding fit to achieve the cleaning operation of the surface 6 of the lidar window. Simultaneously, the linkage 2.1 drives the transmission component 5 to travel along the trajectory component 4, converting the curvature change of the trajectory component 4 into the axial displacement of the linkage 2.1, thereby driving the wiper mount 2 to dynamically adjust the distance of the wiper blade 3 relative to the lidar window surface 6. When it is necessary to clean the area of ​​the rearward concave surface 6 of the lidar window, the trajectory component 4 corresponds to the rearward concave curvature of this area. The transmission component 5 can drive the wiper mount 2 and the wiper blade 3 to move axially backward. When it is necessary to clean the area where the lidar window surface 6 protrudes forward, the track component 4 corresponds to the curvature of the area that also protrudes forward. The transmission component 5 can drive the wiper mount 2 and the wiper blade 3 to move axially forward. This ensures that the wiper blade 3 is in close contact with the lidar window surface 6 with a basically constant amount of compression deformation throughout the process, avoiding damage to the lidar window surface 6 caused by local overpressure or poor cleaning effect caused by underpressure, and reducing wear on the wiper blade 3. In addition, this application has fewer components and a simpler structure, resulting in lower costs.

[0024] Please see Figure 2 As shown, the track component 4 is a track groove that extends along the length direction parallel to the surface 6 of the lidar window. In any cross-section along this length direction, the center line of the track groove and the outline of the lidar window surface 6 in this cross-section maintain an equal normal distance, which is beneficial to manufacturing and has a good guiding effect. In this application, the trajectory groove is located on the rear side of the lidar window surface 6. In some embodiments, the trajectory groove may also be located on the front side of the lidar window surface 6 to meet various structural arrangement requirements.

[0025] Please see Figure 3 As shown, a connecting body is fixedly provided at the end of the linkage 2.1; The transmission component 5 is a bushing 5.1, which rotates around its own axis and is supported on the connecting body. Its outer circumferential surface and the two opposite sidewalls of the track groove are in tangential contact at the same time to form a rolling pair. This allows the translational motion of the moving component to be converted into the displacement of the linkage component 2.1 through the rolling coupling between the bushing 5.1 and the track groove. After the above improvement, the resistance, noise and vibration of the movement of the transmission component 5 can be reduced, and the contact process between the wiper blade 3 and the surface 6 of the lidar window can be made more stable.

[0026] Please see Figure 3 As shown, linkage 2.1 extends along the width direction of the lidar window; The centerline of the wiper blade 3 and the center axis of the bushing 5.1 are projected along the length of the linkage 2.1. After the above improvement, the axial movement of the linkage 2.1 and the adjustment distance between the wiper blade 3 and the lidar window surface 6 are kept consistent, so that the device can operate stably and reliably.

[0027] Please see Figure 4-5 As shown, the wiper mount 2 has a mounting groove 2.2 that extends front and rear. The front part of the wiper blade 3 is provided with a T-shaped connecting part 3.1 extending along the length of the wiper blade 3. A connecting block 7 is provided inside the assembly slot 2.2, and the connecting block 7 is provided with a T-shaped embedding slot 7.1. The T-shaped connector 3.1 is inserted into the T-shaped recess 7.1 to connect the wiper blade 3 to the connecting block 7. The connecting block 7 is embedded in the assembly groove 2.2 to realize the detachable connection between the wiper blade 3 and the wiper mount 2. After the above improvement, the wiper blade 3 is detachable relative to the wiper mount 2, and the damaged wiper blade 3 can be replaced. In some embodiments, the two side walls of the assembly groove 2.2 are provided with slots 2.21, which extend along the insertion direction of the connecting block 7, and the inner side of the slots 2.21 has an inwardly converging locking portion 2.211. The connecting block 7 is provided with a cylindrical connector 7.2. When the connecting block 7 is inserted into the assembly groove 2.2, the cylindrical connector 7.2 enters the slot 2.21. After passing the snap-fit ​​part 2.211, the cylindrical connector 7.2 is restricted in the slot 2.21 to achieve the fixation of the connecting block 7 and the assembly groove 2.2. When disassembly is required, the connecting block 7 can be moved in the opposite direction by force, so that the cylindrical connector 7.2 can be disassembled from the slot 2.21, and the connecting block 7 can be removed.

[0028] Please see Figure 1 , Figure 2 As shown, the moving assembly also includes a lead screw and a moving block 1. The lead screw is arranged parallel to the extension direction of the track component 4 and is driven to rotate by a motor. The moving block 1 is equipped with a lead screw nut 1.1, which is connected to the lead screw drive. Linkage component 2.1 is mounted on movable block 1, and transmission component 5 is connected to the tail end of linkage component 2.1. The linear motion process of the moving component is as follows: the rotation of the lead screw drives the moving block 1 to move left and right through the lead screw nut 1.1, the moving block 1 drives the linkage 2.1 to move synchronously, and the linkage 2.1 drives the transmission component 5 to move synchronously. The moving component with the above structure has the characteristics of high operational reliability.

[0029] Please see Figure 6-7 The image shown is a second embodiment of this application. The pivot shaft is connected to the transmission unit in a circumferentially rotatable manner, and switches between an unfolded position and a retracted position as the pivot shaft rotates. When the wiper mount 2 is in the extended position and the moving assembly is in motion, the wiper blade 3 can contact the surface 6 of the lidar window and form a sliding engagement. After the cleaning operation is completed, the wiper mount 2 can be rotated to the storage position with the pivot. At this time, the wiper mount 2 and the wiper blade 3 will not block the laser beam emitted by the lidar in space, nor will they generate additional wind resistance. In the second embodiment, the movable block 1 is provided with a first elastic element 8. The first elastic element 8 is a torsion spring, with one end abutting against the moving block 1 and the other end abutting against the left side surface of the wiper mount 2. The first elastic element 8 continuously presses against the wiper mount 2, driving it and the pivot shaft to rotate clockwise to enter the unfolded position; The movable block 1 is also provided with a stop 9. When the wiper mount 2 rotates clockwise to the preset unfolding position, the stop 9 rigidly abuts against the wiper mount 2 to form a mechanical limit and prevent excessive rotation. The first elastic element 8 and the stop 9 work together to allow the wiper mount 2 to enter the preset unfolding position. It has the characteristics of reliable operation and long service life. The actuator can also be connected to the pivot shaft drive to switch between the unfolded and retracted positions.

[0030] In the second embodiment, The transmission part is provided with a blind hole 5.2 for the tail end of the pivot shaft to be inserted. The wiper mount 2 is provided with a through hole 2.3 running from front to back. The front end of the 2.3 hole is a large-diameter section, and the rear end is a small-diameter section. After passing through the moving block 1, the front end of the pivot shaft enters the hole 2.3 and is connected to the small-diameter section of the hole 2.3 by an interference fit. A bearing is installed inside the large-diameter section of the bore 2.3. The bearing is sleeved on the outside of the pivot shaft. The outer side of the bearing contacts the inner wall of the large-diameter section of the bore 2.3, and the right side abuts against the front end of the small-diameter section. A plate is also provided on the moving block 1 at the front end of the wiper mount 2. A second elastic element 10 is provided between the plate and the bearing. The second elastic element 10 applies a rearward force to the wiper mount 2 by pressing against the bearing, so that the tail end of the pivot shaft is kept pressed against the blind hole 5.2 on the connector, thereby achieving reliable linkage.

[0031] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within its protection scope.

Claims

1. A lidar wiper mechanism, characterized in that, include: The trajectory component (4) extends in a direction parallel to the surface (6) of the lidar window, and its trajectory curvature corresponds to the arc contour of the lidar window surface (6). The moving component moves parallel to the extension direction of the track member (4), and the moving component is provided with a transmission member (5) coupled to the track member (4). Linkage component (2.1) is connected to the transmission component (5); The wiper assembly includes a wiper mount (2) and a wiper blade (3) fixed to the wiper mount (2), wherein the wiper mount (2) is fixed to the linkage (2.1). When the moving component moves, the transmission component (5) drives the wiper mount (2) to move synchronously, so that the wiper blade (3) can contact the surface (6) of the lidar window and form a sliding fit. At the same time, the transmission component (5) travels along the trajectory component (4) and converts the curvature change of the trajectory component (4) into the axial displacement of the linkage component (2.1), thereby driving the wiper mount (2) to drive the wiper blade (3) to dynamically adjust the distance relative to the laser radar window surface (6), so that the wiper blade (3) fits the laser radar window surface (6) with a basically constant amount of pressing deformation.

2. The lidar wiper mechanism according to claim 1, characterized in that: The trajectory component (4) is a trajectory groove that extends along the length direction parallel to the surface (6) of the lidar window. In any cross-section along this length direction, the center line of the trajectory groove and the outline of the lidar window surface (6) in this cross-section maintain an equal normal distance.

3. The lidar wiper mechanism according to claim 2, characterized in that: The trajectory groove is located on the front or rear side of the lidar window surface (6).

4. A lidar wiper mechanism according to claim 2, characterized in that: The linkage component (2.1) has a connecting body fixed at its end; The transmission component (5) is a bushing (5.1). The bushing (5.1) rotates around its own axis and is supported on the connecting body. Its outer circumferential surface is in tangential contact with the two opposite sidewalls of the track groove to form a rolling pair. The translational motion of the moving component is converted into the displacement of the linkage component (2.1) through the rolling coupling between the bushing (5.1) and the track groove.

5. A lidar wiper mechanism according to claim 4, characterized in that: The linkage (2.1) extends along the width direction of the lidar window; The centerline of the wiper blade (3) coincides with the projection of the center axis of the bushing (5.1) along the length direction of the linkage (2.1).

6. A lidar wiper mechanism according to claim 2, characterized in that: The wiper mount (2) has a front and rear extending mounting groove (2.2). The wiper blade (3) has a T-shaped connecting part (3.1) extending along the length of the wiper blade (3) at its front. The assembly slot (2.2) is provided with a connecting block (7), and the connecting block (7) is provided with a T-shaped embedding slot (7.1). The T-shaped connector (3.1) is inserted into the T-shaped recess (7.1) to connect the wiper blade (3) to the connecting block (7). The connecting block (7) is embedded in the assembly groove (2.2) to realize the detachable connection between the wiper blade (3) and the wiper seat (2).

7. A lidar wiper mechanism according to claim 1, characterized in that: The moving component also includes a lead screw and a moving block (1). The lead screw is arranged parallel to the extension direction of the track component (4) and is driven to rotate by a motor. The moving block (1) is provided with a lead screw nut (1.1), which is connected to the lead screw drive. The linkage (2.1) is mounted on the movable block (1).

Images