A laser radar scans a vehicle

Abstract

The utility model provides a kind of laser radar scanning vehicle's sample extractor, including frame body, mobile device and laser radar device.Frame body, including column and crossbeam.Crossbeam is installed on column;Mobile device, controlled along crossbeam moves, and mobile device is equipped with cantilever that protrudes crossbeam, and the other end of cantilever is equipped with sample extractor rod, for inserting the sample of grain heap in grain cart;Laser radar device, is hung and is installed in cantilever, and is configured as in the process that mobile device moves along crossbeam, the carriage of grain cart parked in specified area is scanned.The sample extractor of the application uses laser radar as core scanning unit, fundamentally improves the acquisition accuracy and system stability of vehicle size profile information.Laser radar measures the distance information of each point directly by actively emitting laser beam to the carriage of grain cart and receiving returned signal.

Description

Technical Field

[0001] This application relates to the field of sampling machines, and more specifically, to a sampling machine for scanning vehicles using lidar. Background Technology

[0002] Currently, most automated sampler machines produced and used in the market employ a visual recognition solution for their vehicle identification and positioning units. This involves using cameras installed on the sampler's cantilever or other locations to capture images of the grain transport vehicles, and then using image recognition algorithms to estimate the vehicle's cargo box dimensions, outline, and position. However, camera-based recognition solutions suffer from inaccurate size recognition. Utility Model Content

[0003] This application provides a sampler for scanning vehicles with lidar, which can improve scanning accuracy.

[0004] Specifically, this application is implemented through the following technical solution: This application provides a sampler for scanning vehicles using lidar, comprising: The frame includes uprights and crossbeams, with the crossbeams mounted on the uprights; A mobile device, controlled to move along the crossbeam, is equipped with a cantilever extending out of the crossbeam, and a sampling rod is installed at the other end of the cantilever for inserting into the grain pile in the grain transport vehicle to take samples. A lidar unit, suspended from the cantilever, is configured to scan the cargo compartments of grain trucks parked in a designated area as the mobile device moves along the crossbeam.

[0005] Optionally, the lidar device includes: The housing has a mounting groove on its lower surface; A lidar probe is housed within the housing, and its bottom end has an optical sensing surface; A protective door is slidably mounted in the mounting slot and is used to open and close the opening of the mounting slot; The cleaning component is fixed to the inside of the protective door; When the protective door is closed in a controlled manner, the cleaning component moves with it and scrapes the optical sensing surface of the lidar probe to remove any adhering substances.

[0006] Optionally, the lidar probe is mounted on the housing via a telescopic assembly, including a first position and a second position. In the first position, the lidar probe is located within the mounting slot, and in the second position, the lidar probe extends out of the mounting slot.

[0007] Optionally, the mounting slot is provided with a vertical baffle to divide the mounting slot into adjacent cleaning chambers and processing chambers, the lidar probe is located in the cleaning chamber, and the cleaning component is a cleaning brush; The protective door is configured to slide from the cleaning chamber through the baffle into the processing chamber when closed; A vibrating plate is vertically fixed at the top of the processing chamber and extends downwards. The projection of the vibrating plate on the cleaning component partially coincides with the cleaning component. When the protective door, carrying the cleaning brush, slides into the processing chamber, the cleaning brush interferes with the vibrating plate and achieves self-cleaning through deformation and reset vibration.

[0008] Optionally, when the protective door is closed, the cleaning brush is located on the side of the vibrating plate away from the cleaning chamber; The processing chamber is equipped with a vibration motor. The output end of the vibration motor is connected to the side of the vibrating plate near the cleaning chamber. The vibration motor is used to drive the vibrating plate to reciprocate in the direction away from the cleaning chamber and transmit the vibration to the cleaning brush, thereby shaking the dust into the processing chamber.

[0009] Optionally, a fan is also provided in the processing chamber; The fan is located on the side of the vibrating plate that faces away from the cleaning chamber, and its air outlet faces vertically downward. The dust shaken off by the vibration of the diaphragm is driven by the downward airflow generated by the fan and discharged from the opening at the bottom of the processing chamber.

[0010] Optionally, the optical sensing surface of the lidar probe is an outwardly convex hemispherical surface; The bristles of the cleaning brush are formed with upward-opening semi-circular notches, the shape of which is adapted to the hemisphere to cover the lower part of the hemisphere during cleaning. The vibrating plate is a downwardly convex semi-circular plate-like structure; The radius of the semi-circular vibrating plate is larger than the radius of the semi-circular notch on the cleaning brush, so that when the cleaning brush passes through, its bristles can effectively interfere with the vibrating plate.

[0011] Optionally, the side wall of the mounting groove is provided with a guide rail, and the protective door is slidably mounted on the guide rail; An electric push rod is fixed to one end of the mounting slot, and its output end is fixedly connected to the protective door. The electric push rod is configured to drive the protective door to slide along the guide rail through the telescopic movement of its output end, thereby opening or closing the mounting slot.

[0012] This application provides a LiDAR-based sampling machine for scanning vehicles, comprising a frame, a mobile device, and a LiDAR. The LiDAR actively emits a laser beam towards the cargo compartment of the grain transport vehicle and receives the returned signal, directly measuring the distance information of each point. During the scanning process as the cantilever moves along the crossbeam, the LiDAR continuously collects millions of such spatial points, ultimately fusing them to generate a high-precision model of the cargo compartment dimensions. This process is a direct physical ranging, and its results are unaffected by ambient light intensity, cargo compartment color, or shadow distribution. Compared to traditional cameras that estimate three-dimensional dimensions from two-dimensional images, the LiDAR solution in this application can directly output accurate three-dimensional geometric data. This provides a reliable data foundation for subsequent calculations of sampling point locations, ensuring the representativeness and accuracy of the sampling points. Attached Figure Description

[0013] Figure 1 This is the sampler shown in an exemplary embodiment of this application; Figure 2 This is a schematic diagram of a lidar device shown in an exemplary embodiment of this application. Figure 1 ; Figure 3 This is a schematic diagram of a lidar device shown in an exemplary embodiment of this application. Figure 2 ; Figure 4 This is an enlarged view of the mounting slot shown in an exemplary embodiment of this application; Figure 5 This is a schematic diagram of a vibrating plate and a cleaning brush shown in an exemplary embodiment of this application; Figure 6 This is a schematic diagram of the bottom of the mounting slot shown in an exemplary embodiment of this application.

[0014] The components are as follows: 100, frame; 110, column; 120, crossbeam; 200, mobile equipment; 210, cantilever; 220, sampling rod; 300, lidar unit; 310, housing; 311, mounting slot; 311a, cleaning chamber; 311b, processing chamber; 311c, baffle; 320, lidar probe; 321, optical sensing surface; 330, protective door; 340, cleaning component; 341, cleaning brush; 350, vibrating plate; 360, fan; 400, electric push rod. Detailed Implementation

[0015] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0016] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0017] Please refer to Figure 1 This application provides a sampler for scanning vehicles using lidar, including a frame 100, a mobile device 200, and a lidar unit 300. The frame 100 includes a column 110 and a crossbeam 120. The crossbeam 120 is mounted on the column 110. The mobile device 200 is controlled to move along the crossbeam 120. The mobile device 200 is equipped with a cantilever 210 extending out of the crossbeam 120, and a sampling rod 220 is mounted at the other end of the cantilever 210 for inserting into the grain pile in the grain transport vehicle for sampling. The lidar unit 300 is suspended from the cantilever 210 and configured to scan the cargo compartment of the grain transport vehicle parked in a designated area as the mobile device 200 moves along the crossbeam 120.

[0018] This embodiment fundamentally improves the accuracy of vehicle size contour information acquisition and system stability by employing a lidar as the core scanning unit. The lidar actively emits laser beams towards the grain truck's cargo compartment and receives the returned signals, directly measuring the distance to each point. During the scanning process as the cantilever 210 moves along the crossbeam 120, the lidar continuously collects millions of such spatial points, ultimately fusing them to generate a high-precision cargo compartment size model. This process is direct physical ranging, and its results are unaffected by ambient light intensity, cargo compartment color, or shadow distribution. Compared to traditional cameras that estimate three-dimensional dimensions using two-dimensional images, the lidar solution in this embodiment can directly output accurate three-dimensional geometric data. This provides a reliable data foundation for subsequent calculations of sampling point locations, ensuring the representativeness and accuracy of the sampling points.

[0019] The sampling machine operates as follows: First, according to the program settings, the cantilever 210 is raised, and the mobile device 200 moves to the middle position of the crossbeam 120. During this process, the lidar suspended below the cantilever 210 scans the vehicle to obtain the precise size and outline of the vehicle compartment. Finally, the sampling machine samples the grain according to the program settings.

[0020] Please refer to Figure 2 , Figure 3 and Figure 4In one embodiment, the lidar device 300 includes: a housing 310, a lidar probe 320, and a protective door 330. A mounting groove 311 is formed on the lower surface of the housing 310; the lidar probe 320 is disposed within the housing 310, and its bottom end has an optical sensing surface 321; the protective door 330 is slidably mounted on the mounting groove 311 and is used to open and close the opening of the mounting groove 311; a cleaning component 340 is fixed to the inner side of the protective door 330; wherein, when the protective door 330 is closed in a controlled manner, the cleaning component 340 moves with it and scrapes the optical sensing surface 321 of the lidar probe 320 to remove any adhering substances. Because the lidar housing 310 has a mounting groove 311 on its lower surface, although its optical sensing surface 321 is somewhat protected by the groove when not in operation, dust will still accumulate due to gravity settling and airflow. If not cleaned, the laser signal will be attenuated. This structure integrates the protective door 330 and the cleaning component 340, enabling both physical protection and surface cleaning functions to be achieved simultaneously with a single closing action. When the protective door 330 is closed in a controlled manner, the cleaning component 340, fixed inside, moves with the door and directly scrapes across the optical sensing surface 321, mechanically removing any adhering substances. This embodiment utilizes the inherent operating flow of the equipment for maintenance, featuring a compact structure, high degree of automation, and effective maintenance of the optical window, ensuring the lidar continuously acquires high-quality scanning data. The optical sensing surface 321 of the lidar probe 320 can be circular or flat. The baffle 311c has a notch for the cleaning brush 341 to pass through smoothly.

[0021] In one embodiment, the lidar probe 320 is mounted on the housing 310 via a telescopic assembly, including a first position and a second position. In the first position, the lidar probe 320 is located within the mounting groove 311, and in the second position, the lidar probe 320 extends out of the mounting groove 311. When the probe is in the retracted first position, its entirety is contained within the mounting groove 311 and protected by the housing 310 and the protective door 330, which is beneficial for impact and dust prevention. When scanning is required, the probe extends to the second position, at which point its optical sensing surface 321 completely protrudes from the mounting groove 311. This action ensures that the lidar's transmission and reception field of view are not obstructed by the side wall of the mounting groove 311, obtaining an unobstructed and complete scanning field of view. This allows the laser beam to cover the vehicle compartment at a more optimal angle, which is particularly beneficial for scanning the edges and corners of the vehicle compartment.

[0022] Combination Figure 4 and Figure 5In one embodiment, a vertical baffle 311c is provided in the mounting slot 311, dividing the mounting slot 311 into adjacent cleaning chambers 311a and processing chambers 311b. A lidar probe 320 is located in the cleaning chamber 311a, and the cleaning component 340 is a cleaning brush 341. A protective door 330 is configured to slide from the cleaning chamber 311a through the baffle 311c into the processing chamber 311b when closed. A vibrating plate 350 is vertically fixed to the top of the processing chamber 311b and extends downwards. The projection of the vibrating plate 350 on the cleaning component 340 partially overlaps with the cleaning component 340. When the protective door 330, carrying the cleaning brush 341, slides into the processing chamber 311b, the cleaning brush 341 interferes with the vibrating plate 350, achieving self-cleaning through deformation and resetting vibration. The baffle 311c divides the space into the cleaning chamber 311a and the processing chamber 311b. When the protective door 330, carrying the newly cleaned, dust-laden cleaning brush 341, slides from the cleaning chamber 311a into the processing chamber 311b, the downward-extending vibrating plate 350 mechanically interferes with the cleaning brush 341. The brush bristles are forced to bend and deform as they pass through the vibrating plate 350, and then quickly return to their original position afterward. This "deformation-reset" process generates vibration sufficient to shake off some loosely attached dust from the bristles. This process requires no additional power and can be achieved simply by the normal movement of the protective door 330, thus maintaining the cleanliness of the cleaning brush 341 to a certain extent and ensuring effective cleaning for the next cycle.

[0023] In one embodiment, with the protective door 330 closed, the cleaning brush 341 is located on the side of the vibrating plate 350 away from the cleaning chamber 311a. A vibration motor is installed in the processing chamber 311b, with its output connected to the side of the vibrating plate 350 closest to the cleaning chamber 311a. The vibration motor drives the vibrating plate 350 to reciprocate in the direction away from the cleaning chamber 311a, transmitting the vibration to the cleaning brush 341, thereby shaking dust off into the processing chamber 311b. When the protective door 330 is fully closed and the cleaning brush 341 is located behind the vibrating plate 350 inside the processing chamber 311b, the vibration motor is activated. The vibration motor drives the vibrating plate 350 to reciprocate in the direction away from the cleaning chamber 311a, i.e., towards the interior of the processing chamber 311b. This vibration is directly transmitted to the adjacent cleaning brush 341 through contact, causing the brush bristles to vibrate more violently and thoroughly. This active, enhanced vibration can effectively shake off fine dust that is difficult to remove from deep within the bristles through simple mechanical interference. Since the vibration direction is designed to face away from the clean cleaning chamber 311a and the bottom opening of the treatment chamber 311b, the shaken-off dust is naturally discharged downwards under the action of gravity.

[0024] In one embodiment, a fan 360 is also provided inside the processing chamber 311b. The fan 360 is located on the side of the vibrating plate 350 facing away from the cleaning chamber 311a, and its air outlet faces vertically downward. Dust shaken off by the vibration of the vibrating plate 350 is driven by the downward airflow generated by the fan 360 and discharged from the opening at the bottom of the processing chamber 311b. The fan 360 is located behind the vibrating plate 350 and generates a vertically downward airflow. This airflow forms an "air curtain." When the vibrating motor operates and shakes dust off the cleaning brush 341, the dust is immediately captured and enveloped by the downward airflow generated by the fan 360. The airflow guides the dust, causing it to be efficiently discharged along a predetermined path, i.e., through the opening at the bottom of the processing chamber 311b. This design effectively prevents lighter dust from floating and spreading within the chamber, or even returning to the clean area under certain airflow disturbances, ensuring the thoroughness of the cleaning process.

[0025] Combination Figure 4 and Figure 5 In one embodiment, the optical sensing surface 321 of the lidar probe 320 is an outwardly convex hemispherical surface; the bristles of the cleaning brush 341 have upwardly opening semi-circular notches, the shape of which matches the hemispherical surface to cover the lower part of the hemispherical surface during cleaning; the vibrator 350 is a downwardly convex semi-circular plate-like structure; wherein, the radius of the semi-circular vibrator 350 is larger than the radius of the semi-circular notch on the cleaning brush 341, so that when the cleaning brush 341 passes through, its bristles can effectively interfere with the vibrator 350. The shape of the semi-circular notch of the cleaning brush 341 matches the height of the probe's hemispherical surface, so that the bristles can maintain uniform and sufficient contact with the curved surface during cleaning, ensuring thorough cleaning of the entire convex curved surface without dead angles, avoiding the uneven contact problem that may occur with planar cleaning tools on curved surfaces. Secondly, the vibrator 350 is also designed as a corresponding semi-circle, and its radius is larger than the radius of the notch on the cleaning brush 341. This ensures that when the cleaning brush 341 passes through the vibrating plate 350, the roots and tips of the bristles can effectively interfere with the curved surface of the vibrating plate 350, thereby generating sufficient deformation.

[0026] Combination Figure 5 and Figure 6The mounting slot 311 has a guide rail on its side wall, and the protective door 330 is slidably mounted on the guide rail. An electric push rod 400 is fixed to one end of the mounting slot 311, and its output end is fixedly connected to the protective door 330. The electric push rod 400 is configured to drive the protective door 330 to slide along the guide rail through the telescopic movement of its output end, thereby opening or closing the mounting slot 311. The guide rail provides precise guidance and support for the movement of the protective door 330, ensuring smooth, unobstructed sliding and a fixed trajectory, which is crucial for ensuring that the cleaning component 340 accurately scrapes the optical sensing surface 321 each time. The electric push rod 400, as a power source, directly converts the linear telescopic movement of its output end into the linear movement of the protective door 330. This driving method is simple in structure and convenient to control.

[0027] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A sampler for scanning vehicles using lidar, characterized in that, include: The frame (100) includes uprights (110) and crossbeams (120), the crossbeams (120) being mounted on the uprights (110); Mobile device (200) is controlled to move along the crossbeam (120). The mobile device (200) is equipped with a cantilever (210) extending out of the crossbeam (120). A sampling rod (220) is installed at the other end of the cantilever (210) for inserting into the grain pile in the grain transport vehicle to take samples. A lidar unit (300), suspended from the cantilever (210), is configured to scan the cargo compartments of grain trucks parked in a designated area as the mobile device (200) moves along the crossbeam (120).

2. The laser radar scanning vehicle sampler as described in claim 1, characterized in that, The lidar unit (300) includes: The housing (310) has a mounting groove (311) on its lower surface. A lidar probe (320) is disposed inside the housing (310), and has an optical sensing surface (321) at its bottom end. A protective door (330) is slidably mounted in the mounting groove (311) and is used to open and close the opening of the mounting groove (311); The cleaning component (340) is fixed to the inside of the protective door (330); When the protective door (330) is closed in a controlled manner, the cleaning component (340) moves with it and scrapes the optical sensing surface (321) of the lidar probe (320) to remove the deposits on it.

3. The laser radar scanning vehicle sampler as described in claim 2, characterized in that, The lidar probe (320) is mounted on the housing (310) via a telescopic assembly, including a first position and a second position. In the first position, the lidar probe (320) is located in the mounting groove (311), and in the second position, the lidar probe (320) extends out of the mounting groove (311).

4. The laser radar scanning vehicle sampler as described in claim 2, characterized in that, The mounting slot (311) is provided with a vertical baffle (311c) that divides the mounting slot (311) into adjacent cleaning chambers (311a) and processing chambers (311b). The laser radar probe (320) is located in the cleaning chamber (311a), and the cleaning component (340) is a cleaning brush (341). The protective door (330) is configured to slide from the cleaning chamber (311a) through the baffle (311c) into the processing chamber (311b) when closed. A vibrating plate (350) is vertically fixed to the top of the processing chamber (311b) and extends downward. The projection of the vibrating plate (350) on the cleaning member (340) partially coincides with the cleaning member (340). When the protective door (330) slides into the processing chamber (311b) carrying the cleaning brush (341), the cleaning brush (341) interferes with the vibrating plate (350) and achieves self-cleaning through deformation and reset vibration.

5. The laser radar scanning vehicle sampler as described in claim 4, characterized in that, With the protective door (330) closed, the cleaning brush (341) is located on the side of the vibrating plate (350) away from the cleaning chamber (311a); The processing chamber (311b) is equipped with a vibration motor. The output end of the vibration motor is connected to the side of the vibrating plate (350) near the cleaning chamber (311a). The vibration motor is used to drive the vibrating plate (350) to reciprocate in the direction away from the cleaning chamber (311a) and transmit the vibration to the cleaning brush (341), thereby shaking the dust into the processing chamber (311b).

6. The laser radar scanning vehicle sampler as described in claim 5, characterized in that, A fan (360) is also installed inside the processing chamber (311b); The fan (360) is located on the side of the vibrating plate (350) facing away from the cleaning chamber (311a), and its air outlet faces vertically downward; The dust shaken off by the vibration of the diaphragm (350) is driven by the downward airflow generated by the fan (360) and discharged from the opening at the bottom of the processing chamber (311b).

7. The laser radar scanning vehicle sampler as described in claim 4, characterized in that, The optical sensing surface (321) of the lidar probe (320) is an outwardly convex hemispherical surface; The bristles of the cleaning brush (341) are formed with upward-opening semi-circular notches, the shape of which is adapted to the hemisphere to cover the lower part of the hemisphere during cleaning. The vibrating plate (350) is a downwardly protruding semi-circular plate structure; The radius of the semi-circular vibrating plate (350) is larger than the radius of the semi-circular notch on the cleaning brush (341) so that when the cleaning brush (341) passes through, its bristles can effectively interfere with the vibrating plate (350).

8. The laser radar scanning vehicle sampler as described in claim 2, characterized in that, The side wall of the mounting groove (311) is provided with a guide rail, and the protective door (330) is slidably mounted on the guide rail; An electric push rod (400) is fixed at one end of the mounting groove (311), and its output end is fixedly connected to the protective door (330); The electric push rod (400) is configured to drive the protective door (330) to slide along the guide rail by the telescopic movement of its output end, so as to open or close the mounting slot (311).

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