Water vapor condensation control method, device and system and terminal equipment

Abstract

The invention provides a water vapor condensation control method, device and system and terminal equipment. The control method comprises the following steps: acquiring first data, wherein the first data is used for determining whether the optical detection device meets a first control condition of water vapor condensation; second data are obtained, and the second data comprise multiple pieces of sensing data and are used for determining whether the optical detection device meets a second control condition of water vapor condensation or not; and when the optical detection device meets the first control condition and the second control condition, water vapor condensation treatment of the optical detection device is controlled. According to the scheme, the influence of the water vapor condensation phenomenon on the detection performance and the service life of the optical detection device can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of optical detection technology, and in particular to a method, device, system, and terminal device for controlling water vapor condensation. Background Art

[0002] Optical detection devices can use light as a medium to detect objects. Compared with other light sources, lasers have characteristics such as monochromaticity and good directionality. In scenarios such as intelligent driving (such as unmanned driving, assisted driving, automatic driving, etc.), drones, geographic surveying and mapping, and environmental monitoring, lasers are often used as a medium for object detection. The optical detection device can emit laser light to an area, and part of the laser light can be reflected back to the optical detection device by objects in the area, and the reflected laser light can form an echo laser. The optical detection device can determine the information of the object based on the received echo laser, such as the position, size, shape or distance of the object.

[0003] In actual use, the optical detection device may generate condensation on the window or inside the device as the environment changes. For example, condensation or frost may form on the optical detection device. This may affect the detection performance of the optical detection device.

[0004] Reducing the impact of water vapor condensation on optical detection devices becomes a challenge. Summary of the Invention

[0005] The present disclosure provides a method, device, system, and terminal device for controlling water vapor condensation, so as to reduce the influence of water vapor condensation on an optical detection device.

[0006] In a first aspect, a method for controlling water vapor condensation is provided, comprising acquiring data for determining whether an optical detection device satisfies a control condition for water vapor condensation, and controlling processing of water vapor condensation in the optical detection device when the optical detection device satisfies the control condition.

[0007] The control conditions may include: a first control condition and / or a second control condition. For example, when the first control condition is met, the processing of water vapor condensation on the optical detection device is controlled; or, when the second control condition is met, the processing of water vapor condensation on the optical detection device is controlled; or, when the first control condition and the second control condition are met, the processing of water vapor condensation on the optical detection device is controlled. Accordingly, the acquired data includes first data and / or second data. The first data is used to determine whether the optical detection device meets the first control condition for water vapor condensation, and the second data includes multiple sensor data, and the second data is used to determine whether the optical detection device meets the second control condition for water vapor condensation.

[0008] The first data includes characterization data of the optical detection device when there is a high probability of water vapor condensation. Using the first data to determine the control conditions for water vapor condensation treatment of the optical detection device can take timely measures to control water vapor condensation, thereby reducing the impact of water vapor condensation on the optical detection device.

[0009] Optionally, the first data includes one or more of detection data of the optical detection device, position data, scene data, and the number of restarts of a motor in the optical detection device.

[0010] Optionally, the plurality of sensor data in the second data includes sensor data reflecting the temperature and humidity of the optical detection device. The temperature and humidity may be the temperature and humidity of the environment inside the optical detection device, the temperature and humidity of the environment outside the optical detection device, or both. Sensor data is generally acquired in real time, which helps improve the accuracy and effectiveness of judgments.

[0011] Optionally, the multiple sensor data in the second data include first sensor data and second sensor data. The first sensor data is used to indicate a first temperature of a first environment, and the second sensor data is used to indicate a first humidity of the first environment. The first environment includes an internal environment or an external environment of the optical detection device. The method for controlling water vapor condensation includes: receiving first sensor data and second sensor data, and controlling the processing of water vapor condensation of the optical detection device according to the first sensor data and the second sensor data. For example, based on the first sensor data and the second sensor data, it is determined that the optical detection device meets a second control condition, and when the optical detection device meets the second control condition, the processing of water vapor condensation of the optical detection device is controlled. For another example, based on the first sensor data and the second sensor data, it is determined that the optical detection device meets a second control condition, and when the optical detection device meets the first control condition and the second control condition, the processing of water vapor condensation of the optical detection device is controlled.

[0012] Optionally, the multiple sensor data in the second data also include third sensor data, and the third sensor data is used to indicate the second temperature of a first area of ​​the optical detection device, wherein the first area includes: the internal environment of the optical detection device or a component of the optical detection device. The method for controlling water vapor condensation includes: receiving first sensor data, second sensor data, and third sensor data; and controlling the processing of water vapor condensation of the optical detection device according to the first sensor data, the second sensor data, and the third sensor data. For example, based on the first sensor data, the second sensor data, and the third sensor data, it is determined that the optical detection device meets the second control condition, and when the optical detection device meets the second control condition, the processing of water vapor condensation of the optical detection device is controlled. For another example, based on the first sensor data, the second sensor data, and the third sensor data, it is determined that the optical detection device meets the second control condition, and when the optical detection device meets the first control condition and the second control condition, the processing of water vapor condensation of the optical detection device is controlled.

[0013] Optionally, the component of the optical detection device includes a window or a code disk of the optical detection device.

[0014] Optionally, the control method further includes: determining a water vapor condensation temperature based on the first temperature and the first humidity; and controlling the processing of water vapor condensation in the optical detection device when the water vapor condensation temperature is greater than or equal to the second temperature.

[0015] Optionally, the control method further includes: determining the water vapor condensation temperature based on the first temperature and the first humidity; and controlling the processing of water vapor condensation in the optical detection device when the absolute value of the difference between the water vapor condensation temperature and the second temperature is less than or equal to a temperature difference threshold.

[0016] Optionally, the control method further includes: determining a water vapor condensation temperature based on the first temperature and the first humidity; and determining that the optical detection device meets a second control condition when the water vapor condensation temperature is greater than or equal to a second temperature.

[0017] Optionally, the control method further includes: determining the water vapor condensation temperature based on the first temperature and the first humidity; and determining that the optical detection device meets the second control condition when the absolute value of the difference between the water vapor condensation temperature and the second temperature is less than or equal to a temperature difference threshold.

[0018] Optionally, the water vapor condensation control method further includes: determining the saturated absolute humidity or saturated water vapor pressure at the first temperature based on the first temperature; determining the current absolute humidity or current water vapor pressure based on the second temperature and the first humidity; and controlling the processing of water vapor condensation by the optical detection device when the current absolute humidity is greater than or equal to the saturated absolute humidity, or the current water vapor pressure is greater than or equal to the saturated water vapor pressure. Alternatively, determining that the optical detection device satisfies the second control condition when the current absolute humidity is greater than or equal to the saturated absolute humidity, or the current water vapor pressure is greater than or equal to the saturated water vapor pressure.

[0019] Optionally, the first sensing data is obtained from a temperature sensor of a terminal device where the optical detection device is located, and the second sensing data is obtained from a humidity sensor of the terminal device where the optical detection device is located. The first temperature is the temperature of the external environment of the optical detection device, and the first humidity is the humidity of the external environment of the optical detection device.

[0020] Optionally, the first temperature is the temperature of the internal environment of the optical detection device, the first humidity is the humidity of the internal environment of the optical detection device, and the first sensing data and the third sensing data are obtained from the same temperature sensor in the optical detection device.

[0021] Optionally, the second data includes first sensor data and second sensor data collected at multiple sampling times, the first sensor data is used to indicate a first temperature of a first environment of the optical detection device, and the second sensor data is used to indicate a first humidity of the first environment of the optical detection device, wherein the first environment includes an internal environment or an external environment of the optical detection device. At this time, the above control method includes: determining the amount of water vapor condensation based on the first temperature indicated by the first sensor data and the first humidity indicated by the second sensor data collected at multiple sampling times; when the amount of water vapor condensation reaches or exceeds a condensation amount threshold, controlling the processing of water vapor condensation of the optical detection device.

[0022] Optionally, the control method also includes: determining the amount of water vapor condensation based on the first temperature indicated by the first sensor data and the first humidity indicated by the second sensor data collected at multiple sampling times; when the amount of water vapor condensation reaches or exceeds the condensation amount threshold, determining that the optical detection device meets the second control condition, and when the second control condition is met, controlling the processing of water vapor condensation in the optical detection device.

[0023] Optionally, the first data includes detection data from an optical detection device, and the control method further includes: determining a contamination state of the optical detection device based on the detection data; and when the contamination state indicates that the optical detection device is contaminated, determining that the optical detection device satisfies a first control condition. Contamination of the optical detection device may be caused by condensation. When contamination is detected, controlling the processing of condensation on the optical detection device may resolve the contamination, thereby reducing the impact of condensation on the optical detection device with a certain probability.

[0024] Optionally, the first data includes the number of restarts of a motor of the optical detection device, and the control method further includes: when the number of restarts of the motor reaches or exceeds a restart threshold, determining that the optical detection device meets the first control condition.

[0025] Optionally, the control method further includes: controlling the motor to rotate at a first speed, wherein the first speed is greater than the rotation speed of the motor when the optical detection device is operating normally.

[0026] Optionally, the rotation speed of the motor is controlled by a Hall sensor.

[0027] Optionally, the first data includes position data. The control method further includes: when the position indicated by the position data is a preset position, determining that the optical detection device meets the first control condition.

[0028] Optionally, the control method also includes: determining a preset position based on position data when water vapor condensation occurs in the optical detection device; wherein the position data includes data of the first position, the preset position includes the first position, or the preset position includes the first position where the optical detection device has condensed water vapor a preset number of times.

[0029] Optionally, the control method further includes: sending position data of the optical detection device when water vapor condensation occurs to the server; wherein the position data includes data of a first position; the first position includes the position of the optical detection device when water vapor condensation occurs.

[0030] Optionally, the control method further includes: receiving an indication message, the indication message including data of a preset location determined by the server; and determining the preset location according to the indication message.

[0031] Optionally, the optical detection device is installed on the vehicle, and the preset positions include one or more of the following positions: an indoor parking lot exit, an indoor parking lot entrance, and a car wash location.

[0032] Optionally, the first data includes scene data. The control method further includes: when the scene indicated by the scene data is a preset scene, determining that the optical detection device meets the first control condition.

[0033] Optionally, the control method also includes: determining a preset scene based on scene data when water vapor condensation occurs in the optical detection device; wherein the scene data includes data of the first scene, the preset scene includes the first scene, or the preset scene includes the first scene when the number of times water vapor condensation occurs in the optical detection device reaches a preset number.

[0034] Optionally, the control method further includes: sending scene data when water vapor condensation occurs in the optical detection device to the server; wherein the scene data includes data of a first scene; and the first scene includes the scene in which the optical detection device is located when water vapor condensation occurs.

[0035] Optionally, the control method further includes: receiving an indication message, the indication message including data of a preset scene determined by the server; and determining the preset scene according to the indication message.

[0036] Optionally, the optical detection device is installed on the vehicle, and the preset scenes include: entering an indoor parking lot scene, leaving an indoor parking lot scene, car washing scene, and weather change scene.

[0037] Optionally, the first data includes temperature data of an internal environment of the optical detection device. The control method further includes: when the internal environment of the optical detection device is in a temperature reduction stage, determining that the optical detection device meets a first control condition.

[0038] Optionally, the first data includes temperature data of an external environment of the optical detection device. The control method further includes: when the external environment of the optical detection device is in a temperature rising stage, determining that the optical detection device meets the first control condition.

[0039] Optionally, the first data includes temperature data of an internal environment and temperature data of an external environment of the optical detection device. The control method further includes: determining that the optical detection device meets the first control condition when the absolute value of the temperature difference between the internal environment and the external environment of the optical detection device is greater than or equal to a preset temperature difference.

[0040] Optionally, two or more of the multiple first control conditions can be combined to control the processing of water vapor condensation on the optical detection device. Alternatively, any one or more of the above first control conditions can be combined with the second control condition to control the processing of water vapor condensation on the optical detection device.

[0041] Optionally, controlling the processing of water vapor condensation in the optical detection device includes one or more of the following: sending a heating instruction, which is used to control the heating processing of the window of the optical detection device; sending a blowing instruction, which is used to control the blowing processing of the window of the optical detection device; sending a speed instruction, which is used to control the motor of the optical detection device to rotate at a first speed; sending an alarm indication, which is used to indicate the presence of water vapor condensation in the optical detection device.

[0042] In a second aspect, the present disclosure provides a method for controlling water vapor condensation, which is used to control water vapor condensation in an optical detection device. The optical detection device includes a rotating mechanism and a motor that drives the rotating mechanism to rotate. The control method includes: obtaining the number of restarts of the motor; when the number of restarts reaches or exceeds a restart threshold, controlling the rotation speed of the motor.

[0043] Optionally, the motor is controlled to rotate at a first speed, wherein the first speed is greater than the rotation speed of the motor when the optical detection device operates normally.

[0044] Optionally, increase the rotation speed of the motor.

[0045] Optionally, the rotation speed of the motor is controlled by a Hall sensor.

[0046] Optionally, any one or more control methods in the second aspect may be combined with any one or more methods in the first aspect to control the processing of water vapor condensation in the optical detection device.

[0047] In a third aspect, a device for controlling water vapor condensation is provided, comprising a device for executing any one of the control methods of the first aspect or the second aspect above.

[0048] In a fourth aspect, a device for controlling water vapor condensation is provided, comprising a processor for calling instructions stored in a memory, wherein when the instructions are called by the processor, the processor executes any one of the control methods of the first or second aspect above.

[0049] In a fifth aspect, a water vapor condensation control system is provided, comprising a water vapor condensation control device and at least two sensors, wherein the control device is used to execute any one of the control methods of the first aspect or the second aspect, and obtain multiple sensing data from the at least two sensors.

[0050] Optionally, the at least two sensors include a temperature sensor and a humidity sensor of the terminal device.

[0051] In a sixth aspect, a terminal device is provided, comprising the water vapor condensation control system provided in the fifth aspect.

[0052] Optionally, the terminal device includes a vehicle (such as a car or a flying car, etc.), a drone, or a robot.

[0053] In a seventh aspect, a computer-readable storage medium is provided, comprising instructions stored thereon, wherein when the instructions are called by a processor, any one of the control methods of the first aspect or the second aspect above is executed.

[0054] In an eighth aspect, a computer program (or computer program product) is provided, comprising instructions, which, when called by a processor, execute any one of the control methods of the first or second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 An exemplary application scenario of an optical detection device provided in an embodiment of the present disclosure is shown;

[0056] Figure 2 Schematic diagrams of exemplary appearances and structures of some laser radars provided in the embodiments of the present disclosure are shown;

[0057] Figure 3 An exemplary structure of a laser radar provided in an embodiment of the present disclosure is shown;

[0058] Figure 4 An exemplary structure of a photoelectric encoder provided in an embodiment of the present disclosure is shown;

[0059] Figure 5 An exemplary structure of a water vapor condensation control system provided in an embodiment of the present disclosure is shown;

[0060] Figure 6 An exemplary process of a method for controlling water vapor condensation provided in an embodiment of the present disclosure is shown;

[0061] Figure 7 An exemplary process of another method for controlling water vapor condensation provided in an embodiment of the present disclosure is shown;

[0062] Figure 8 An exemplary process of another method for controlling water vapor condensation provided in an embodiment of the present disclosure is shown;

[0063] Figure 9 An exemplary process of another method for controlling water vapor condensation provided in an embodiment of the present disclosure is shown;

[0064] Figure 10 An exemplary structure of a water vapor condensation control device provided in an embodiment of the present disclosure is shown;

[0065] Figure 11 An exemplary structure of a water vapor condensation control device provided in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0066] Optical detection devices can be installed on terminal devices such as vehicles, drones, robots, surveying and mapping equipment, or testing equipment. For example, in intelligent driving scenarios, a vehicle is equipped with a lidar (LiDAR). As the vehicle moves, the LiDAR repeatedly detects objects and transmits the detection results to the vehicle's processor. Based on the LiDAR detection results, the vehicle's processor determines data about objects around the vehicle, such as pedestrians, buildings, lane markings, roadblocks, and other vehicles. Based on this object data, the vehicle's processor can control the vehicle to perform driving maneuvers such as braking, cutting in, and changing lanes. For another example, in a forest mapping scenario, a drone equipped with an optical detection device can fly through a forest. As the drone flies, the optical detection device performs multiple detections of the forest. Based on the results of these multiple detections and the drone's flight location, the mapping processor can generate a multidimensional map of the forest.

[0067] During use, the optical detection device may experience condensation of water vapor (water vapor for short) as the environment in which it is located changes. For example, water vapor condenses in the optical detection device, forming objects such as condensation or frost on the surface of the optical detection device. These objects may affect the detection performance of the optical detection device. Therefore, the present disclosure provides some solutions, including a method, device, system, terminal equipment, computer program (or computer program product) or computer storage medium for controlling water vapor condensation. In the solution provided by the present disclosure, the occurrence of water vapor condensation can be determined in a timely manner, and the condensed water vapor (such as condensation or frost, etc.) in the optical detection device can be processed in a timely manner, or, it can be predicted that water vapor condensation may occur, and the water vapor in the optical detection device can be pre-treated to reduce the probability of water vapor condensation. In the water vapor condensation control solution provided by the present disclosure, the influence of water vapor condensation on the performance of the optical detection device can be reduced, and the optical detection device can be provided with high detection performance.

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, some implementation methods will be described below with reference to the accompanying drawings.

[0069] Figure 1 An exemplary application scenario of an optical detection device provided in an embodiment of the present disclosure is shown.

[0070] Please refer to Figure 1 For example, using a laser radar as an optical detection device and a vehicle as a terminal device, a laser radar 110 can be installed on a vehicle 120 to detect objects around the vehicle 120. The range of objects that the laser radar 110 can detect depends on the installation location and performance of the laser radar. Figure 1 The solid and dashed lines illustrate some possible LiDAR installation locations. For example, LiDAR installation locations on a vehicle include, but are not limited to: the top of the vehicle (e.g., the front, rear, or other locations on the roof), near the headlights, hidden within the headlights, on both sides of the vehicle, in the front bumper, within the grille, above the front windshield, above the rear window, on the side fenders, on the front wheel arches, on the front hood, on the trunk lid, below the trunk, or in locations within the cabin where external detection is possible through the front windshield. Furthermore, one or more LiDARs can be installed on a vehicle. During vehicle design, the number and location of LiDARs can be determined based on various factors, including sensing performance, safety, cost, appearance, or engineering. For example, one LiDAR can be installed on the front of the roof. Another example is one LiDAR installed on each side of the vehicle, near the headlights. Another example is one LiDAR installed on the front of the roof and one LiDAR installed on each fender.

[0071] LiDAR can include one or more types of LiDAR, such as mechanical LiDAR, semi-solid-state LiDAR, or solid-state LiDAR. A semi-solid-state LiDAR can be, for example, a micro electromechanical system (MEMS) LiDAR, a rotating mirror LiDAR, or a prism LiDAR. A solid-state LiDAR can be an optical phase array (OPA) LiDAR, or a flash LiDAR. When a vehicle is equipped with multiple LiDARs, the types of LiDARs can be the same or different, and the shapes can be the same or different.

[0072] Figure 2 Schematic diagrams of exemplary external structures of some laser radars provided in the embodiments of the present disclosure are shown.

[0073] Please refer to Figure 2 (a) LiDAR 200 includes a housing 210 and LiDAR components disposed within the housing 210. Housing 210 is typically provided with a mirror structure 220 (e.g., a window or filter cover). The mirror structure can be used to filter out ambient light outside the operating laser band of the LiDAR. Furthermore, as part of the housing, the mirror structure can also protect the internal components, for example, by physically isolating the internal and external environments of the LiDAR, minimizing interference from external foreign matter (e.g., dust, rain, etc.). Figure 2 (a) is only an example, and the present disclosure does not limit the shapes of the housing 210 and the mirror structure 220. For example, Figure 2 Any of the shapes and structures in (b)-(d), in addition, other designs can also be made.

[0074] Figure 3 An exemplary structure of a laser radar provided in an embodiment of the present disclosure is shown.

[0075] Please refer to Figure 3 The laser radar 300 includes a laser emitting system 310, a laser receiving system 320, and a control and processing system 330. Optionally, the laser radar 300 also includes a scanning system 340. For example, a mechanical laser radar or a semi-solid laser radar may also include a scanning system 340. The laser emitting system 310 is used to emit laser light. After the laser light encounters the object 10, it is reflected from the surface of the object to the laser radar 300. The laser receiving system 320 receives the reflected laser light and converts it into an electrical signal, which is provided to the control and processing system 330. The control and processing system 330 receives the electrical signal and processes the electrical signal to obtain data of the object, such as data such as the distance, position, or speed of the object, or data such as the three-dimensional structure of the object.

[0076] The laser emission system 310 includes an excitation source (e.g., a driver circuit), a laser, and an emission optical element. Driven by the excitation source, the laser emits laser light, which then exits through the emission optical element. The laser receiving system 320 primarily includes an optical receiving element and a detector. The optical receiving element collects light energy reflected from an object and focuses it on the detector's photosensitive surface. The detector utilizes the photoelectric effect to convert the light signal into an electrical signal. This electrical signal is analog, while the control and processing system 330 typically processes digital signals. Therefore, the laser radar 300 may also include a pre-processing circuit, such as an analog-to-digital converter (ADC), to convert the analog signal into a digital signal and provide it to the control and processing system 330. For example, the pre-processing circuit may include a time-to-digital converter (TDC). When the control and processing system 330 controls the laser emission via the driver circuit, it can synchronize a timing signal to the TDC. The echo is then converted by the detector into an electrical signal, which is then provided to the TDC through conversion, such as amplification into a voltage and comparison with a reference voltage to determine whether light has entered. Based on the received electrical signal, the TDC can time the echo arrival time and provide the time data to the control and processing system 330. For example, the preprocessing circuit can also include an analog front-end circuit for channel selection and analog signal amplification. The transmitting and receiving optical elements include, for example, one or more optical elements such as lenses, reflectors, and filters. The transmitting and receiving optical elements can be independent optical elements or can be fully or partially multiplexed.

[0077] The control and processing system 330 may include a data processing circuit and a light source control circuit. The data processing circuit is used to process electrical signals to obtain object data. For example, the data processing circuit may include an application-specific integrated circuit (ASIC), a hardware circuit implemented using a programmable logic device (PLD), such as a field-programmable gate array (FPGA), a microcontroller unit (MCU), or a digital signal processor (DSP). Such data processing circuits can improve data processing efficiency. For example, the data processing circuit may include a central processing unit (CPU). The light source control circuit is used to send control instructions to the excitation source to control the excitation source to drive the laser to emit light, thereby achieving pulsed laser emission. For example, a timing signal may be sent to control the laser emission timing. For example, by configuring one or more of the pulse interval, pulse intensity, and pulse width, encoding functionality can be added to enhance anti-interference capabilities. The light source control circuit and data processing circuit can be integrated together, for example, into a main control chip, or they can be independent or partially independent chips. When the optical detection device 300 includes a scanning system 340, the control and processing system 330 may also include a scanning control circuit for controlling the scanning system. The scanning control circuit may be integrated with one or all of the light source control circuit and the data processing circuit. For example, the scanning control circuit, the light source control circuit, and the data processing circuit may be integrated into a main control chip; or they may be independent chips; this is not limited in the present embodiment. In some embodiments, the control and processing system 330 may be implemented as a system on chip (SOC) or an ASIC.

[0078] The mechanical laser radar or semi-solid laser radar may also include a scanning system 340, and the scanning control circuit may control the scanning system 340 to drive the optical element to rotate to realize laser scanning. The scanning system 340 may include a mechanical scanning mechanism or a micro-electromechanical scanning mechanism. For example, in a mechanical scanning mechanism, a motor drives a rotating mechanism to rotate an optical element (such as a reflective prism); in a micro-electromechanical scanning mechanism, an electromagnetic or electrostatic drive drives the galvanometer to rotate, and the rotation may be a two-dimensional rotation, thereby forming a swing of the galvanometer. In order to more accurately control the scanning system, an encoder is provided in the scanning system to accurately measure the scanning parameters and provide feedback for the motion control of the scanning system, wherein the scanning parameters may be one or more parameters such as rotation direction, angular displacement, angular velocity, etc. Taking a photoelectric encoder as an example, Figure 4 FIG. 1 shows an exemplary structure of a photoelectric encoder provided by an embodiment of the present disclosure. Figure 4 As shown, the photoelectric encoder 400 includes a code disk (or grating disk) 410, a baffle (or fixed grating) 420, a light emitting element 430, a light receiving element 440, and a rotating shaft 450. Light emitted by the light emitting element 430 passes through the code disk 410 and the baffle 420 and is received by the light receiving element 440. The receiving element 440 is a photosensor that converts the light signal into an electrical signal. The rotating shaft 450 can be coaxial with the rotating structure in the scanning system or rotate with it. The rotation of the scanning system can drive the code disk 410 to rotate. The light flux received by the light receiving element 440 changes with the rotation. The electrical signal obtained from the light receiving element 440 is used to obtain data of the rotating structure in the scanning system, such as one or more of the rotation speed, angular displacement, and rotation direction. The obtained data is used to provide feedback for the motion control of the scanning system, thereby more accurately controlling the motion of the scanning system. However, when condensation or frost forms on the laser radar's code disk, it will affect the accuracy of the motion control of the scanning system. In severe cases, it may cause control disorder of the scanning system, such as an error in the commutation angle of the scanning system's motor, resulting in disordered motor speed control.

[0079] The disclosed embodiments utilize condensation control conditions to control the handling of condensation in an optical detection device, thereby reducing the impact of condensation on the optical detection device. For example, in some embodiments, a condensation control method and system are provided that utilizes acquired data to determine whether the optical detection device satisfies the condensation control conditions; and when the optical detection device satisfies the control conditions, the condensation handling of the optical detection device is controlled.

[0080] The following description is given with reference to the accompanying drawings.

[0081] Figure 5 An exemplary structure of a water vapor condensation control system provided by an embodiment of the present disclosure is shown.

[0082] like Figure 5As shown, the water vapor condensation control system is located in a terminal device 500 and includes a control device 510, a temperature sensor 520, a humidity sensor 530, and an optical detection device 540. The control device 510 is configured to obtain temperature data (e.g., first sensor data) and humidity data (e.g., second sensor data) from the temperature sensor 520 and the humidity sensor 530, respectively, and to use the temperature data and humidity data to control the processing of water vapor condensation on the optical detection device 540. That is, the control device 510 is configured to execute a water vapor condensation control method to reduce the impact of water vapor condensation on the optical detection device 540. The optical detection device 540 is installed on the terminal device and is configured to detect objects around the terminal device. The control device 510 can be independent of the optical detection device 540 and be a processor or control circuit of the terminal device 500; or the control device 510 can be integrated into the optical detection device 540 and be a processor or control circuit of the optical detection device 540. In some embodiments, the terminal device 500 further includes a communication device 550 for communicating with the server 20, for example, transmitting the first sensor data and the second sensor data to the server 20, which then executes the method for controlling condensation. In this case, the control device 510 is used to perform other control functions and forward the first sensor data and the second sensor data, and to forward the server 20's control instructions for processing condensation on the optical detection device 550 to the optical detection device 550 or other devices that perform condensation processing. Alternatively, the method for controlling condensation may still be executed by the control device 510, but the control device 510 may obtain more data through the communication device 550 to more accurately or promptly control the processing of condensation. This will be described in more detail in subsequent embodiments.

[0083] Taking the terminal device as an example of a vehicle and the optical detection device as a lidar, the above control device can be an on-board processor or control circuit, such as a domain controller (DCU), an electronic control unit (ECU), a vehicle central computer (VCC), a zone controller (zonal / zone ECU, or, zone control unit, ZCU), a micro control unit (MCU), or a vehicle control unit (VCU). Domain controllers include, for example, a vehicle domain controller (VDC), a cockpit domain controller (CDC), or an advanced driving assistance system / autonomous driving (ADAS / AD) domain controller (ADC).

[0084] The communication between the temperature sensor 520 , the humidity sensor 530 , the optical detection device 540 , and the communication device 550 and the control device 510 may be achieved through wired or wireless communication. Taking the terminal device as a vehicle and the optical detection device as a lidar as an example, wired communication methods include, for example, controller area network (CAN) bus, controller area network with flexible data rate (CAN FD) bus, local interconnect network (LIN) bus, Flex Ray bus, media oriented systems transport (MOST) bus, low voltage differential signaling (LVDS) bus, time triggered protocol / class C (TTP / C) bus, or Ethernet bus; wireless communication methods include, for example, wireless sensor networks (such as Bluetooth, StarFlash, or ZigBee), wireless local area networks (such as WLAN, or WiFi), short-range point-to-point communication, cellular networks (such as 3G, 4G, or 5G), near field communication technology (such as 5G), and so on. communication, NFC), etc.; the communication device 850 and the server 20 may communicate via any one or more of the above wireless communication methods, such as a cellular network; in addition, the communication methods between the temperature sensor 520, the humidity sensor 530, the optical detection device 540 and the communication device 550 and the control device 510 may be the same or different; in short, the present disclosure does not impose any restrictions on the communication method.

[0085] The method for controlling water vapor condensation will be described below with reference to the accompanying drawings.

[0086] Figure 6 An exemplary process of a method for controlling water vapor condensation provided by an embodiment of the present disclosure is shown.

[0087] The method may be executed by a control device 510, which may be located in the terminal device 500 or in the server 20. Figure 6 As shown, the method includes at least the following steps:

[0088] S610: Acquire first data and second data, where the first data is used to determine whether the optical detection device meets a first control condition for water vapor condensation, and the second data includes a plurality of sensing data and is used to determine whether the optical detection device meets a second control condition for water vapor condensation;

[0089] S620: When the optical detection device satisfies the first control condition and the second control condition, controlling the processing of water vapor condensation of the optical detection device.

[0090] The above describes a method for controlling condensation in an optical detection device, taking the case where the optical detection device satisfies the first control condition and the second control condition as an example. In other embodiments, the processing of condensation in the optical detection device may be controlled when the optical detection device satisfies the first control condition; in this case, step S610 includes: obtaining first data, the first data being used to determine whether the optical detection device satisfies the first control condition for condensation; and step S620 includes: controlling the processing of condensation in the optical detection device when the first control condition is satisfied. Alternatively, in other embodiments, the processing of condensation in the optical detection device may be controlled when the optical detection device satisfies the second control condition; in this case, step 610 includes: obtaining second data, the second data including multiple sensor data and being used to determine whether the optical detection device satisfies the second control condition for condensation; and step S620 includes: controlling the processing of condensation in the optical detection device when the second control condition is satisfied.

[0091] In step S610 above, the first data includes characterizing data of the optical detection device when there is a high probability of condensation. By using the first data to determine the control conditions for performing condensation treatment on the optical detection device, timely measures can be taken to control condensation, thereby reducing the impact of condensation on the optical detection device. In some scenarios, condensation treatment can be performed on the optical detection device in advance before condensation occurs to reduce the probability of condensation. For example, the first data includes one or more of the detection data of the optical detection device, position data, scene data, and the number of restarts of the motor of the optical detection device.

[0092] The second data includes sensor data reflecting the temperature and humidity of the internal environment and / or external environment of the optical detection device. The sensor data includes, for example, data collected by the sensor, for example, the temperature data may include temperature data collected by the temperature sensor, and the humidity data may include humidity data collected by the humidity sensor. The acquisition of sensor data is real-time, so by using the sensor data to determine whether water vapor condensation has occurred in the optical detection device or to predict that water vapor condensation is about to occur, measures can be taken in time to control water vapor condensation, thereby reducing the impact of water vapor condensation on the optical detection device. If the second control condition determined by the second data is combined with the first control condition determined by the first data, the accuracy of the judgment of the water vapor condensation state can be improved, and misjudgment and unnecessary water vapor condensation processing can be reduced.

[0093] The processing of water vapor condensation includes, for example, one or more of the following: heating the window of the optical detection device to accelerate the evaporation of condensed water vapor; blowing the window of the optical detection device to accelerate the evaporation of condensed water vapor, and even blowing the condensed water vapor away from the window; controlling the motor of the optical detection device to rotate at a certain speed (for example, called a first speed), thereby bringing about air flow, accelerating the evaporation of condensed water vapor, or shaking off the condensed water vapor; alarm processing, such as alerting the user or background maintenance personnel, so that the user or maintenance personnel are promptly informed of the occurrence of water vapor condensation, so as to take timely measures to reduce the impact of water vapor condensation, such as timely cleaning, sending for repair, taking over the vehicle during automatic driving, turning off the assisted driving function that relies on the detection capability of the lidar, and performing confidence processing on the detection data of the lidar.

[0094] Accordingly, in step S620 above, controlling the processing of condensation on the optical detection device includes one or more of the following: sending a heating instruction for controlling the heating of the window of the optical detection device; sending a blowing instruction for controlling the blowing of the window of the optical detection device; sending a speed instruction for controlling the rotation of the motor of the optical detection device at a first speed; and sending an alarm indication (or signal) for indicating the presence of condensation on the optical detection device. The heating instruction can be sent by the control device to a controller for controlling heating, which can be located within the optical detection device or independent of the optical detection device (e.g., an ECU). A resistor can be provided within the window, and the controller controls the heating of the window by energizing the resistor. The blowing instruction can be sent by the control device to a controller for controlling the blowing, and the controller can be located inside the optical detection device or independent of the optical detection device (such as an ECU); in addition, the blowing process can include blowing the inner surface of the window and blowing the outer surface of the window; if the optical detection device is installed at a position of the terminal device with a blowing process function, the terminal device's existing blowing process function can be reused. For example, if the optical detection device is installed above the front windshield of the vehicle, the blowing process for the front windshield can be reused, thereby saving hardware resources. The speed instruction can be sent by the control device to the optical detection device, and the optical detection device includes a rotating mechanism and a motor driving the rotating mechanism to rotate. The speed instruction is used to control the motor to rotate at a first speed or increase the rotation speed of the motor, or control the rotating mechanism or code disk to rotate at a first speed or increase the rotation speed of the rotating mechanism or code disk; optionally, when the optical detection device is installed with a Hall sensor and a photoelectric encoder, the optical detection device can use the Hall sensor to control the rotation speed of the motor based on the speed instruction. In some embodiments, the code disk of the photoelectric encoder rotates with the motor, and the rotation of the motor drives the code disk to rotate, thereby utilizing centrifugal force to shake off the condensed water vapor on the code disk. For example, when the code disk is installed on the rotor of the motor, controlling the rotation of the motor, or even increasing the rotation speed of the motor, can utilize centrifugal force to shake off the condensation on the code disk; in other embodiments, the rotation of the motor can drive the rotation of the rotating mechanism of the optical detection device, thereby utilizing the rotating wind to accelerate the removal of condensed water vapor. The alarm indication can be sent by the control device to the communication device, and by the communication device to the user's portable terminal (such as a mobile phone, computer, or smart wearable device, etc.). Or the alarm indication can be sent by the control device to the communication device, and by the communication device to the server, and by the server to the user's handheld terminal (such as a mobile phone, computer, or smart wearable device, etc.), or by the server to the maintenance personnel.Or the alarm indication can be sent by the control device to the human-computer interaction device of the terminal device (for example, a display device or a speaker device) to alert the user through the human-computer interaction device (for example, an interface alarm or a voice alarm); wherein, the control device can directly control the human-computer interaction device, that is, directly send the alarm indication to the human-computer interaction device, for example, the control device is a cockpit domain controller; or the control device can send the alarm indication to the human-computer interaction device through other devices (the device is used to control the human-computer interaction device).

[0095] In some embodiments, heating treatment and / or blowing treatment can also be performed on components outside the window or the entire optical detection device, for example, heating elements or blowing elements are placed in the space under the code disk, and heating instructions and / or blowing instructions are sent when the first control condition and / or the second control condition are met.

[0096] Several cases of the first data and the first control condition of water vapor condensation are described below:

[0097] In the first case, the first data includes detection data of the optical detection device, and the above control method further includes: determining the dirtiness of the optical detection device based on the detection data; and determining that the optical detection device satisfies the first control condition when the dirtiness indicates that the optical detection device is dirty. During the use of the optical detection device, as the environment in which it is located changes, objects may adhere to the optical detection device, causing the optical detection device to become dirty. For example, in rainy, snowy, or windy weather, objects such as water stains, mud stains, oil stains, or dust may adhere to the surface of the window of the optical detection device, causing the optical detection device to become dirty. For another example, when water vapor condensation occurs on the window of the optical detection device, condensation or frost may adhere to the surface of the window. The dirtiness of the optical detection device may be caused by water vapor condensation. When dirtiness is detected, controlling the processing of water vapor condensation on the optical detection device may resolve the dirtiness caused by water vapor condensation, thereby reducing the impact of water vapor condensation on the optical detection device with a certain probability. In some embodiments of the present disclosure, this first control condition can be combined with other first control conditions or second control conditions to serve as a prerequisite for controlling the processing of condensation by the optical detection device. This can reduce false positives due to dirt not caused by condensation (e.g., dirt caused by mud, dust, or oil), and reduce unnecessary condensation processing.

[0098] In the second scenario, the first data includes the number of restarts of the motor of the optical detection device. The above control method further includes: when the number of motor restarts reaches or exceeds a restart threshold, determining that the optical detection device satisfies the first control condition. In an optical detection device with a scanning system, motor restarts may be caused by condensation on the code wheel. Controlling the handling of condensation in the optical detection device by determining motor restarts may resolve motor restarts caused by condensation, thereby reducing the impact of condensation on the optical detection device with a certain probability.

[0099] The present disclosure does not limit the size of the restart threshold, which can be specifically configured according to the control needs of water vapor condensation, for example, 3-5 times (which may or may not include boundary values). In some embodiments, when the optical detection device meets the first control condition, the processing of water vapor condensation in the optical detection device can be directly controlled. At this time, the processing may include the above-mentioned sending speed instructions. In other embodiments, combined with other first control conditions or second control conditions, they are jointly used as a prerequisite for controlling the processing of water vapor condensation in the optical detection device. In this way, the misjudgment of motor restart caused by other reasons can be reduced, and unnecessary water vapor condensation processing can be reduced. In some embodiments, the speed of the motor can be increased, for example, the rotation speed of the motor can be controlled (such as the first speed) to be greater than the speed of the optical detection device when it is working normally. At this time, the processing of water vapor condensation on the code disk can be accelerated, and the impact on motor control can be reduced more quickly.

[0100] In a third scenario, the first data includes one or more of position data and scene data. The control method further includes: determining that the optical detection device satisfies the first control condition when the position indicated by the position data is a preset position. Alternatively, the control method further includes: determining that the optical detection device satisfies the first control condition when the scene indicated by the scene data is a preset scene. Alternatively, the control method further includes: determining that the optical detection device satisfies the first control condition when the position indicated by the position data is a preset position and the scene indicated by the scene data is a preset scene.

[0101] Take the terminal device as a vehicle and the optical detection device as a lidar as an example.

[0102] The preset position includes, for example, one or more of the following positions: an indoor parking lot exit, an indoor parking lot entrance, and a car wash location. The preset position can be determined based on the position data of the optical detection device when water vapor condensation occurs. The position data is used to indicate the position of the optical detection device at which water vapor condensation has a high probability of occurring, and includes, for example, coordinate data, such as longitude and latitude coordinates. The position data includes, for example, data of a first position, and the first position includes the position of the optical detection device when water vapor condensation occurs. In some embodiments, please refer to Figure 5, the control device 510 can obtain the current vehicle position data through the communication device 550. The position data can be used to indicate the first position, in this case, the first position is the current vehicle position. When the optical detection device is in operation, the preset position can be obtained by recording the data of the position where water vapor condensation occurs. In some embodiments, the preset position includes the first position; in other embodiments, the preset position includes the first position where water vapor condensation occurs a preset number of times in the optical detection device; in this way, the setting of the preset number can determine the corresponding position as the preset position when water vapor condensation occurs a certain number of times, thereby increasing the accuracy of the preset position setting and improving the accuracy of water vapor condensation prediction.

[0103] The step of determining the preset position can be performed by the control device executing the control method described above, or the control device can send the data of the first position to a server, which is then executed by the server and sends the data of the preset position to the terminal device where the optical detection device is located. In this case, the method further includes: sending the data of the first position to the server. For example, the server can send an instruction message to the control device of the terminal device, the instruction message including the data of the preset position determined by the server; and the control device determines the preset position based on the instruction message. In some embodiments, the instruction message can be sent actively or passively by the server. For example, the server can determine the preset position based on the data of the first position sent by the control device and send an instruction message to the control device based on the determined preset position; or the server can receive a preset position acquisition request sent by the control device and send an instruction message to the control device; or the server can actively send an instruction message to the control device. In some embodiments, the control device is located in a first terminal device (e.g., a first vehicle), and the server can determine the preset position based on the data of the first position reported by a second terminal device (including one or more second terminal devices) and send the data of the preset position to the control device of the first terminal device. Optionally, the server may determine that the number of times water vapor condensation occurs at the first location reaches a preset number based on the data of the first location reported multiple times by the same terminal device, thereby determining the first location as the preset location; or, the server may determine that the number of times water vapor condensation occurs at the first location reaches a preset number based on the data of the first location reported multiple times by different terminal devices, thereby determining the first location as the preset location.

[0104] The preset scenes include, for example, one or more of the following scenes: scenes of entering an indoor parking lot, scenes of leaving an indoor parking lot, car wash scenes, and weather change scenes. Weather change scenes include, for example: from sunny days to sudden rain or snowfall, etc. The preset scenes can be determined based on the scene data of the optical detection device when water vapor condensation occurs. The scene data is used to indicate the optical detection device in a scene where there is a high probability of water vapor condensation. Taking the scene of entering or leaving an indoor parking lot as an example, the scene data includes, for example, image data, which is used to characterize the entrance or exit of the indoor parking lot; or the scene data includes, for example, a wireless signal, which is emitted by the gate at the entrance or exit of the indoor parking lot and is used to control the gate to open or close. Taking the scene of car wash as an example, the scene data includes, for example, image data, which is used to characterize the car wash environment. Taking the scene of weather change as an example, the scene data includes, for example, weather data. In some embodiments, please refer to Figure 5 , the control device 510 can obtain weather data through the communication device 550, or the control device 510 can obtain the status of the air conditioner in the cabin of the vehicle (such as the opening status and / or temperature data) from the air conditioning control device through the vehicle bus. In some embodiments, the weather data can be combined with the above preset positions or other preset scenes to determine whether the optical detection device meets the first control condition, thereby increasing the accuracy of water vapor condensation control. For example, when the weather data shows that the temperature is high or the state of the air conditioner is in a cooling state, and the vehicle is at the entrance or exit of an indoor parking lot, it is determined that the optical detection device meets the first control condition. For another example, when the weather data shows that the temperature is high or the state of the air conditioner is in a cooling state, and the vehicle is in a scene of entering an indoor parking lot or leaving an indoor parking lot, it is determined that the optical detection device meets the first control condition.

[0105] The scene data, for example, includes data for a first scene, which includes the scene in which the optical detection device was located when condensation occurred. While the optical detection device is operating, a preset scene can be obtained by recording data about the scene in which condensation occurred. In some embodiments, the preset scene includes the first scene; in other embodiments, the preset scene includes the first scene in which condensation occurred a preset number of times on the optical detection device. Thus, the preset number of times can be set to determine the corresponding scene as the preset scene when condensation occurs a certain number of times, thereby increasing the accuracy of the preset scene setting and improving the accuracy of condensation prediction.

[0106] The step of determining the preset scene can be performed by the control device executing the control method described above, or the control device can send the data of the first scene to a server, which is executed by the server and sends the data of the preset scene to the terminal device where the optical detection device is located. In this case, the method further includes: sending the data of the first scene to the server. For example, the server can send an instruction message to the control device of the terminal device, the instruction message including the data of the preset scene determined by the server; the control device determines the preset scene based on the instruction message. In some embodiments, the instruction message can be sent actively or passively by the server. For example, the server can determine the preset scene based on the data of the first scene sent by the control device and send an instruction message to the control device based on the determined preset scene; or the server can receive a preset scene acquisition request sent by the control device and send an instruction message to the control device; or the server can actively send the instruction message to the control device. In some embodiments, the control device is located in a first terminal device (e.g., a first vehicle), and the server can determine the preset scene based on the data of the first scene reported by a second terminal device (including one or more second terminal devices) and send the data of the preset scene to the control device of the first terminal device. Optionally, the server may determine that the number of times water vapor condensation occurs in the first scene reaches a preset number based on the data of the first scene reported multiple times by the same terminal device, thereby determining the first scene as the preset scene; or, the server may determine that the number of times water vapor condensation occurs in the first scene reaches a preset number based on the data of the first scene reported multiple times by different terminal devices, thereby determining the first scene as the preset scene.

[0107] In the above embodiments, the server can obtain data of the first position or the first scene from multiple terminal devices, thereby discovering that when the terminal device appears at the position or the scene, there is a high probability that water vapor condensation will occur, thereby increasing the accuracy of the setting of the preset position or preset scene, or increasing the probability of water vapor condensation occurring at the preset position or the preset scene, increasing the accuracy of water vapor condensation control, and further reducing unnecessary water vapor condensation processing. In some embodiments, the terminal devices can also interact with the recorded data of the first position or the first scene, thereby using the data of the first position or the first scene obtained from other terminal devices to determine the preset position or preset scene, so as to increase the accuracy of the setting of the preset position or preset scene, increase the accuracy of water vapor condensation control, and further reduce unnecessary water vapor condensation processing. The embodiment of the present disclosure does not limit the value of the preset number of times, and it can be set as needed. Setting a smaller value is conducive to more timely processing of water vapor condensation; setting a larger value is conducive to improving the accuracy of water vapor condensation control.

[0108] The external environment of an optical detection device can change. For example, with automotive LiDAR, the vehicle's ambient temperature can drop and humidity can increase with changing weather (such as sudden rain or snow). Another example is when a vehicle enters or exits an indoor parking lot (such as a basement), the ambient temperature drops when entering the parking lot and rises when exiting. These scenarios are prone to condensation. By using locations or scenarios prone to condensation as the primary control condition, timely measures can be taken to control condensation when it occurs, reducing its probability.

[0109] In a fourth scenario, the first data includes temperature data of the optical detection device's internal environment, and the control method further includes: determining that the optical detection device satisfies the first control condition when the optical detection device's internal environment is in a cooling phase. Alternatively, the first data includes temperature data of the optical detection device's internal environment and temperature data of its external environment, and the control method further includes: determining that the optical detection device satisfies the first control condition when the absolute value of the temperature difference between the optical detection device's internal and external environments is greater than or equal to a preset temperature difference. Alternatively, the first data includes temperature data of the optical detection device's external environment, and the control method further includes: determining that the optical detection device satisfies the first control condition when the optical detection device's external environment is in a heating phase. Condensation may occur when high-temperature, high-humidity air encounters a lower-temperature object. For example, when a terminal device equipped with an optical detection device (such as a vehicle or industrial robot) moves, the environment in which the optical detection device is located changes. When the optical detection device moves from a high-temperature, high-humidity environment to a low-temperature environment, the surface (including the window) will first cool down. Since the temperature and humidity in the inner cavity of the optical detection device are still relatively high, water vapor in the inner cavity may condense on the inner surface of the optical detection device (such as the inner surface of the window). When the optical detection device moves from a low-temperature environment to a high-temperature, high-humidity environment, the surface temperature of the optical detection device is relatively low, and water vapor in the environment may condense on the outer surface of the optical detection device (such as the outer surface of the window). By using the temperature change of the environment as the first control condition, the ambient temperature can be used to timely control the treatment of water vapor condensation in the optical detection device, thereby reducing the impact of water vapor condensation on the optical detection device.

[0110] Two or more of the above-mentioned first control conditions can be combined to control the processing of water vapor condensation in the optical detection device; or, any one or more of the above-mentioned first control conditions can be combined with the second control condition to control the processing of water vapor condensation in the optical detection device; this can improve the accuracy of the water vapor condensation state judgment and reduce misjudgments and unnecessary water vapor condensation processing. In addition, when combined, there is no restriction on the execution order of the first control condition and the second control condition, nor is there any restriction on the execution order of different first control conditions.

[0111] Several cases of the second data and the second control condition for water vapor condensation are described below:

[0112] Figure 7 An exemplary process of another method for controlling water vapor condensation provided by an embodiment of the present disclosure is shown.

[0113] The method is executed by the control device 510, which can be located in the terminal device 500 or in the server 20. In addition, for the sake of clarity, the second control condition is described as an independent condition for controlling the processing of water vapor condensation on the optical detection device; when the second control condition is combined with the first control condition as a condition for controlling the processing of water vapor condensation on the optical detection device, the description of this embodiment and the above embodiments can be combined and no further details are given. Figure 7 As shown, the method includes at least the following steps:

[0114] S710: Receive first sensor data and second sensor data, where the first sensor data is used to indicate a first temperature of a first environment of the optical detection device, and the second sensor data is used to indicate a first humidity of the first environment, wherein the first environment includes an internal environment or an external environment of the optical detection device;

[0115] S720: Controlling the processing of water vapor condensation of the optical detection device according to the first sensing data and the second sensing data.

[0116] Condensation includes dew or frost. Natural air contains not only mixed gases (such as nitrogen, oxygen, and carbon dioxide), but also impurities such as water vapor, dust, and microorganisms. The amount of water vapor that air can hold is related to the ambient temperature. Under the same conditions, the higher the ambient temperature, the more water vapor it can hold. Condensation often occurs when high-temperature air encounters a cooler object. If the surface reaches or falls below the dew point, condensation forms; if the surface reaches or falls below the frost point, frost forms. The dew point or frost point temperature refers to the temperature at which air cools to saturation, while maintaining constant water vapor content and pressure. The dew point temperature, for example, above 0°C, is the temperature at which water vapor condenses into a liquid, forming dew. The frost point temperature, for example, below 0°C, is the temperature at which water vapor condenses into a solid, forming frost or ice. The dew point or frost point temperature can also be referred to as the condensation temperature.

[0117] In some embodiments, by collecting the temperature and humidity of the internal and / or external environments of the optical detection device, timely environmental data is obtained, and the environmental data is used to control the processing of condensation. When condensation occurs or has a high probability of occurring, condensation is reduced or eliminated, or the probability of condensation occurring is reduced, thereby reducing the impact of condensation on the performance and lifespan of the optical detection device. The environmental data may include, for example, temperature and humidity data of the internal and / or external environments of the optical detection device.

[0118] In step S710 above, first sensory data is obtained by temperature sensor 520. Specifically, temperature sensor 520 senses a first temperature and transmits the temperature data (i.e., first sensory data) to control device 510. Accordingly, control device 510 receives the temperature data from temperature sensor 520. Second sensory data is obtained by humidity sensor 530. Specifically, humidity sensor 530 senses a first humidity and transmits the humidity data (i.e., second sensory data) to control device 510. Accordingly, control device 510 receives the humidity data from humidity sensor 530. Temperature sensor 520 and humidity sensor 530 can directly transmit temperature data to control device 510, or they can forward the temperature data to control device 510 via other devices. Furthermore, temperature sensor 520 and humidity sensor 530 can collect temperature and humidity periodically or based on event triggering. For example, control device 510 can trigger temperature sensor 520 and humidity sensor 530 to collect temperature and humidity.

[0119] The installation positions of the temperature sensor 520 and the humidity sensor 530 can be the same or different, and the temperature sensor 520 and the humidity sensor 530 can both be located inside the optical detection device 540, or both be located outside the optical detection device 540. When the temperature sensor 520 and the humidity sensor 530 are installed inside the optical detection device 540, the internal environment of the optical detection device 540 will not change much (except for the ventilation position), and they can be installed in a non-ventilation position inside the optical detection device 540, and there is no other limitation on the position. When the temperature sensor 520 and the humidity sensor 530 are installed outside the optical detection device 540, they can be installed at different positions on the periphery of the optical detection device 540 that are suitable for installation, and even the sensors of the terminal device where the optical detection device 540 is located can be reused. For example, if an optical detection device is installed on a vehicle, temperature sensors and humidity sensors can be installed on the vehicle around the optical detection device, or the vehicle's existing temperature sensors and humidity sensors can be reused. The vehicle may be equipped with multiple temperature sensors and humidity sensors, and temperature sensors and humidity sensors that are adjacent to or in an environment similar to the optical detection device can be selected to obtain environmental data that is as similar as possible to the external environment of the optical detection device, thereby more accurately determining the occurrence or probability of water vapor condensation. Reusing the temperature and humidity sensors of the terminal device can utilize existing hardware resources, improving hardware resource utilization while achieving control of water vapor condensation in the optical detection device, enriching the use scenarios of multiple sensors in the terminal device, and having a significant impact on the overall performance improvement based on the existing hardware of the terminal device.

[0120] Taking a laser radar as an example, the following describes the process of obtaining the first sensor data and the second sensor data when the first environment is the internal environment and the external environment of the optical detection device, respectively:

[0121] (1) The first environment is the external environment of the laser radar, such as the external environment in contact with the shell of the laser radar. Taking the intelligent driving scenario as an example, the laser radar is installed on the vehicle, and the environment in which the vehicle is located can be regarded as the external environment of the laser radar. The external environment will change as the vehicle drives. For example, when the vehicle drives from the ground into the underground garage, the external environment changes from the ground to the underground garage. The first sensor data of the external environment can be obtained by the temperature sensor installed on the vehicle itself; similarly, the second sensor data of the external environment can be obtained by the humidity sensor installed on the vehicle itself. In some embodiments, the first sensor data and the second sensor data can also be obtained by installing a temperature sensor and a humidity sensor around the laser radar. Optionally, the positions of the temperature sensor and the humidity sensor can be the same or different, and when the positions are different, the distance between them can not exceed the distance threshold. The distance threshold refers to the straight-line distance between the temperature sensor and the humidity sensor. The straight-line distance can be determined by the distance between the reference points of the temperature sensor and the humidity sensor. The reference point can be the center point of the temperature sensor and the humidity sensor, or any point of the temperature sensor and the humidity sensor, and the position of the reference point of the temperature sensor and the humidity sensor relative to themselves can be different. In addition, the distance between the temperature sensor and the humidity sensor does not exceed the distance threshold, so that the temperature and humidity at their locations do not change significantly, that is, the environmental change can be ignored.

[0122] The temperature sensor may also be used to determine the temperature of the external environment of the optical detection device in the fourth case of the first control condition above.

[0123] (2) The first environment is the internal environment of the laser radar, such as the inner cavity. The inner cavity refers to the space inside the shell of the laser radar. In addition to the internal components of the laser radar, the inner cavity also contains a certain amount of air. Therefore, when the surface temperature of the internal components of the laser radar is low, water vapor in the air in the inner cavity may condense on the surface of the internal components of the laser radar. Therefore, a temperature sensor and a humidity sensor are installed inside the laser radar to obtain the first sensing data and the second sensing data.

[0124] The temperature sensor may also be used to collect the temperature of the internal environment of the optical detection device in the fourth case of the first control condition above.

[0125] In the above step S720, after the control device receives the first sensor data and the second sensor data, it can judge the water vapor condensation state of the optical detection device based on the first temperature indicated by the first sensor data and the first humidity indicated by the second sensor data, combined with the current temperature of the target area (or called the first area), such as whether water vapor condensation is currently occurring, or whether it has entered the water vapor condensation stage, or the probability of water vapor condensation is high, etc., and then control the processing of water vapor condensation of the optical detection device. Figure 8 FIG. 4 shows an exemplary process of another method for controlling water vapor condensation provided in an embodiment of the present disclosure. Figure 8 As shown, the above control method also includes:

[0126] S730: Receive third sensing data, where the third sensing data is used to indicate a second temperature of a first area of ​​the optical detection device. The first area includes: an internal environment of the optical detection device or a component of the optical detection device, such as a window or a code disk of the optical detection device.

[0127] Then the above step S720 includes: controlling the processing of water vapor condensation in the optical detection device according to the first sensor data, the second sensor data and the third sensor data; or, the above step S720 includes: the control device determines that the optical detection device meets the second control condition according to the first sensor data, the second sensor data and the third sensor data, and controls the processing of water vapor condensation in the optical detection device when the first control condition and the second control condition are met; or, when the second control condition is met, controls the processing of water vapor condensation in the optical detection device.

[0128] In this case, the second data includes the first sensing data, the second sensing data, and the third sensing data. The following describes several ways of determining whether the optical detection device satisfies the second control condition based on these sensing data:

[0129] In the first method, the control device calculates the water vapor condensation temperature (for example, the dew point temperature or the frost point temperature) based on the first temperature and the first humidity, and then uses the temperature sensor to collect the temperature of the target area in real time and compare it with the water vapor condensation temperature to determine whether the optical detection device meets the second control condition.

[0130] At this time, the above step S720 includes: determining the water vapor condensation temperature based on the first temperature and the first humidity; when the water vapor condensation temperature is greater than or equal to the second temperature, controlling the processing of water vapor condensation in the optical detection device, or, when the water vapor condensation temperature is greater than or equal to the second temperature, determining that the optical detection device meets the second control condition, and then controlling the processing of water vapor condensation in the optical detection device.

[0131] In some embodiments, the control device may be preset with a correspondence between temperature, humidity and water vapor condensation temperature (for example, a relationship table or relationship curve between temperature, humidity and water vapor condensation temperature). After the control device obtains the first temperature and the first humidity, it searches for the water vapor condensation temperature based on the correspondence. The collection of relative humidity is easier to implement. The humidity and first humidity here can refer to relative humidity; in some embodiments, absolute humidity can also be selected. Absolute humidity refers to the mass of water vapor contained in a unit volume, that is, the water vapor density, for example, the mass of water vapor contained in each cubic meter of air, that is, the water vapor density, and the unit is kg / m 3Relative humidity (RH) refers to the ratio of the absolute humidity in the air to the saturated absolute humidity under the same conditions (e.g., temperature and pressure), expressed as a percentage. It can also be understood as the ratio of the mass of water vapor in the air to the mass of water vapor in saturated air under the same conditions, expressed as a percentage. This correspondence can be obtained based on empirical formulas or historical data.

[0132] In other embodiments, the control device can calculate the water vapor condensation temperature based on the first temperature and the first humidity. For example, the saturated water vapor pressure at the first temperature is determined based on the first temperature, the actual water vapor pressure at the first temperature is determined based on the first humidity and the saturated water vapor pressure, and then the dew point temperature is determined based on the actual water vapor pressure. The saturated water vapor pressure is the water vapor pressure when the water vapor in the air reaches saturation; the saturated water vapor pressure is directly related to the temperature; and as the temperature increases, the saturated water vapor pressure increases. Therefore, when the temperature is known, the saturated water vapor pressure at the temperature can be calculated, and some empirical formulas can be used to calculate the saturated water vapor pressure, such as the Goff-Gratch formula, the Magnus formula, the Hyland-Wexler formula, the Tetens formula, or the Buck formula, etc. The embodiments of the present disclosure do not limit the selection of the formula.

[0133] Optionally, a temperature difference range or a temperature difference threshold can also be set. When the absolute value of the difference between the water vapor condensation temperature and the second temperature of the target area is within the temperature difference range (for example, less than or equal to the temperature difference threshold), it is determined that the optical detection device meets the second control condition, and the processing of water vapor condensation on the optical detection device is controlled. Or, when the absolute value of the difference between the water vapor condensation temperature and the second temperature of the target area is less than or equal to the temperature difference threshold, it is determined that the optical detection device meets the second control condition, and the processing of water vapor condensation on the optical detection device is controlled. The temperature difference range or temperature difference threshold can be set according to empirical data, and the embodiment of the present disclosure does not limit its value. When the second temperature is greater than the water vapor condensation temperature, this method can be used to control water vapor condensation before water vapor condensation occurs, thereby preventing water vapor condensation from occurring; or, when the second temperature is less than the water vapor condensation temperature, this method can further reduce the probability of misjudgment of water vapor condensation.

[0134] In the second method, the control device determines the saturated water vapor pressure at the first temperature based on the first temperature. The temperature sensor then uses the target area's temperature to collect real-time data. This information, combined with the temperature and ambient humidity, determines the current water vapor pressure. The current water vapor pressure is then compared with the saturated water vapor pressure to determine whether the optical detection device meets the second control condition. Since water vapor pressure and absolute humidity have a corresponding relationship, the saturated water vapor pressure can be replaced by the saturated absolute humidity, and the current water vapor pressure can be replaced by the current absolute humidity.

[0135] At this time, the above step S720 includes: determining the saturated absolute humidity or saturated water vapor pressure at the first temperature based on the first temperature; determining the current absolute humidity or current water vapor pressure based on the second temperature and the first humidity; and controlling the processing of water vapor condensation on the optical detection device when the current absolute humidity is greater than or equal to the saturated absolute humidity, or when the current water vapor pressure is greater than or equal to the saturated water vapor pressure. Alternatively, the above step S720 includes: determining the saturated absolute humidity or saturated water vapor pressure at the first temperature based on the first temperature; determining the current absolute humidity or current water vapor pressure based on the second temperature and the first humidity; and determining that the optical detection device satisfies the second control condition and controlling the processing of water vapor condensation on the optical detection device when the current absolute humidity is greater than or equal to the saturated absolute humidity, or when the current water vapor pressure is greater than or equal to the saturated water vapor pressure. The calculation of the saturated water vapor pressure can refer to the description in the first method above and will not be repeated here.

[0136] In the third method, assuming the interior of the optical detection device is in a cooling phase, the temperature and humidity at the cooling starting point are used as the first temperature and humidity, and the water vapor condensation temperature is calculated as the maximum water vapor condensation temperature. The temperature sensor is then used to collect the temperature of the target area in real time and compare it with the maximum water vapor condensation temperature. The humidity sensor is also used to collect the humidity inside the optical detection device in real time and compare it with a humidity threshold. If the current humidity is greater than or equal to the humidity threshold, and the maximum water vapor condensation temperature in the current cooling phase is greater than or equal to the current temperature, the optical detection device is determined to meet the second control condition, and the processing of water vapor condensation in the optical detection device is controlled. The humidity threshold can be a preset humidity threshold or calculated based on the current temperature.

[0137] In a fourth embodiment, the control device performs more precise control based on the amount of water vapor condensation. The second data includes first sensor data and second sensor data collected at multiple sampling times, the first sensor data indicating a first temperature of the internal environment of the optical detection device, and the second sensor data indicating a humidity of the internal environment of the optical detection device. Figure 9 FIG. 2 shows an exemplary process of another method for controlling water vapor condensation provided in an embodiment of the present disclosure. Figure 9 As shown, the method for controlling water vapor condensation includes at least the following steps:

[0138] S910: Acquire first sensor data and second sensor data collected at multiple sampling times, where the first sensor data is used to indicate a first temperature of a first environment of the optical detection device, and the second sensor data is used to indicate a first humidity of the first environment of the optical detection device; the first environment includes an internal environment or an external environment of the optical detection device;

[0139] S920: Determine the amount of water vapor condensation according to the first temperature indicated by the first sensor data and the first humidity indicated by the second sensor data collected at multiple sampling times;

[0140] S930: When the amount of water vapor condensation reaches or exceeds the condensation amount threshold, control the processing of water vapor condensation of the optical detection device; or, S930 includes: when the amount of water vapor condensation reaches or exceeds the condensation amount threshold, determine that the optical detection device meets the second control condition; when the first control condition and the second control condition are met, or, when the second control condition is met, control the processing of water vapor condensation of the optical detection device.

[0141] After the optical detection device produces water vapor condensation, the condensed water vapor in the target area may continue to increase as time goes by. Using the amount of water vapor condensation as a second control condition can increase the accuracy of the water vapor condensation control processing, further reduce the probability of misjudgment of water vapor condensation, and reduce unnecessary water vapor condensation processing.

[0142] In some embodiments, this method can be used during the cooling phase within the optical detection device. Specifically, when the control device determines that the temperature within the optical detection device has begun to cool, the method is initiated to determine the amount of water vapor condensation, thereby controlling the handling of water vapor condensation within the optical detection device. Alternatively, the method can be initiated to determine the amount of water vapor condensation, thereby controlling the handling of water vapor condensation within the optical detection device, when either the first or second control conditions are met.

[0143] The first sensor data and the second sensor data can be acquired periodically, or the above sampling time is periodic. The embodiment of the present disclosure does not limit the specific period size, and can be set in combination with energy consumption and water vapor condensation control requirements.

[0144] The following describes the method for determining the amount of water vapor condensation:

[0145] The water vapor density at each sampling time is determined based on the first and second sensor data at that sampling time. Assuming the current sampling time is t, the ambient temperature T and ambient humidity RH at the current sampling time t can be determined based on the first and second sensor data collected at sampling time t. The saturated water vapor pressure at the current ambient temperature T can be calculated based on the ambient temperature T. The actual water vapor pressure at the current ambient temperature T can be calculated based on the saturated water vapor pressure and the current ambient humidity RH. The current water vapor density ρ1 can be obtained based on the actual water vapor pressure.

[0146] Then, the water vapor density change rate Δρ can be obtained as follows:

[0147] Δρ=|ρ2-ρ1|,

[0148] Where ρ1 represents the water vapor density at sampling time t; ρ2 represents the water vapor density at sampling time t-1.

[0149] The water vapor density can then be used to obtain the condensed water vapor increment Δm_eff per unit time, using the following formula:

[0150] Δm_eff=Δρ*alpha*v,

[0151] Among them, alpha represents the ventilation rate between the water vapor in the inner cavity of the optical detection device and the water vapor in the external environment; v represents the volume of the air inside the optical detection device; the unit time is a sampling period. The embodiment of the present disclosure does not limit the specific sampling period size, and can be set in combination with energy consumption and water vapor condensation control requirements.

[0152] The amount of water vapor condensation can be obtained by accumulating the condensed water vapor increment Δm_eff obtained at multiple sampling times. The formula is as follows:

[0153] m=ΣΔm_eff。

[0154] When the water vapor density changes slightly, or when the condensed water vapor increment Δm_eff is small, the probability of causing water vapor condensation is small, and the water vapor increment can be ignored. In some embodiments, a water vapor accumulation threshold can be set to exclude small water vapor increments Δm_eff. For example, the accumulated condensation amount per unit time can be determined by the following method:

[0155] When Δm_eff>m_eff_thres, the accumulated condensation amount per unit time Δm_eff = Δρ*alpha*v; when Δm_eff≤m_eff_thres, the accumulated condensation amount per unit time Δm_eff = 0. m_eff_thres is the threshold value of the accumulated water vapor amount per unit time, which can be determined based on experience and is not limited in the present disclosure.

[0156] The above is only one method for calculating the amount of water vapor condensation. In some embodiments, other methods may be used for calculation. The embodiments of the present disclosure do not limit the calculation method.

[0157] Please continue to refer to Figure 5When the first environment is the external environment of the optical detection device, or the temperature sensor 520 is used to collect the temperature of the external environment of the external optical detection device, the temperature sensor 560 that collects the temperature of the target area and the temperature sensor 520 can be different temperature sensors, which are respectively arranged inside the optical detection device (or on a component of the optical detection device) and outside the optical detection device (for example, on a vehicle). When the first environment is the internal environment of the optical detection device, or the temperature sensor 520 is used to collect the temperature of the internal environment of the external optical detection device, the temperature sensor that collects the temperature of the target area and the temperature sensor 520 can be the same temperature sensor to save hardware resources and improve the utilization of hardware resources. In some embodiments, different temperature sensors can also be used. For example, the temperature sensor 520 is arranged in the inner cavity of the optical detection device, and the temperature sensor 560 is arranged on a component of the optical detection device, for example, the temperature sensor 560 is arranged on the window or code disk of the optical detection device.

[0158] For example, the first temperature is the external ambient temperature of the optical detection device, and the first humidity is the external ambient humidity of the optical detection device. A condensation temperature can be determined based on the first temperature and the first humidity. When the temperature (second temperature) of a component of the optical detection device is lower than the condensation temperature, it is determined that a component of the optical detection device, such as the outer surface of a window, meets a second control condition and condensation may occur. In this case, condensation control can be performed on the optical elastic device. For example, the component of the optical detection device is a window, and the location where condensation may occur is the outer surface of the window. Control of condensation control on the window can include one or more of the following: heating the window, blowing air onto the outer surface of the window, etc. In addition, due to the high temperature and humidity of the external environment, water vapor condensation may occur on the components of the optical detection device that are in contact with the external environment and affect its performance (such as windows). Setting a temperature sensor on the window and collecting the second temperature through the temperature sensor can make the judgment of the water vapor condensation state more accurate. In some embodiments, the second temperature can also be obtained by using temperature sensors at other locations of the optical detection device, such as temperature sensors located in the internal space or temperature sensors located on other components.

[0159] In other embodiments, the first temperature is the internal ambient temperature of the optical detection device, and the first humidity is the internal ambient humidity of the optical detection device, wherein the internal environment may also include the inner cavity of the optical detection device; the water vapor condensation temperature can be determined based on the first temperature and the first humidity. When the temperature of the component of the optical detection device (the second temperature) drops below the water vapor condensation temperature, it is determined that water vapor condensation may occur on the internal components of the optical detection device, such as the inner surface of the window or the code disk, and water vapor condensation can be controlled at this time. At the initial stage of the temperature change of the optical detection device, the internal ambient temperature or the component temperature is the same. Therefore, the first temperature representing the internal ambient temperature of the optical detection device may also be the component temperature of the optical detection device. In some embodiments, the first temperature and the second temperature may be temperatures obtained at different times by the same temperature sensor. In this way, cost can be saved and water vapor condensation control can be achieved at a lower cost. In some embodiments, the first temperature and the second temperature may also be obtained by different temperature sensors. For example, the first temperature is the internal ambient temperature obtained by a temperature sensor disposed in the inner cavity, and the second temperature is obtained by a temperature sensor disposed on a component of the optical detection device.

[0160] In addition, the location where condensation occurs is not limited to the window and the code disk. When condensation occurs at other locations or components of the optical detection device, the method provided in the embodiment of the present disclosure can also be used to control it to reduce the impact of condensation on the optical detection device.

[0161] An embodiment of the present disclosure further provides a device for controlling water vapor condensation, comprising a unit or means for executing the steps of any of the above methods for controlling water vapor condensation. Figure 10 The exemplary structure of a water vapor condensation control device provided by the embodiment of the present disclosure is shown. Figure 10 , the control device 100 for water vapor condensation includes an acquisition unit 101 and a control unit 102. The acquisition unit 101 is used to acquire first data and / or second data, and the control unit 102 is used to control the processing of water vapor condensation of the optical detection device when the optical detection device meets the first control condition and / or the second control condition. The control unit 102 is also used to determine whether the first control condition and / or the second control condition are met. The acquisition unit 101 may include at least one interface unit, for example, including a first interface unit for acquiring first data, or including at least one second interface unit for acquiring multiple sensor data; or including a first interface unit and at least one second interface unit. For the description of the first data, the second data, the first control condition, and the second control condition, please refer to the above method embodiment and will not be repeated here.

[0162] It should be understood that the division of the above units is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into a single physical entity, or physically separated. Furthermore, the above units can be implemented in the form of a processor calling software; for example, the system includes a processor connected to a memory, the memory storing instructions, and the processor calling the instructions stored in the memory to implement any of the above methods or the functions of each unit, where the processor is, for example, a general-purpose processor such as a CPU, and the memory is a memory within the device or a memory outside the device. Alternatively, the above units can be implemented in the form of hardware circuits, and the functions of some or all of the units can be achieved through the design of the hardware circuits. The hardware circuits can be understood as one or more processors. For example, in some embodiments, the hardware circuit is an ASIC, and the functions of some or all of the above units can be achieved through the design of the logical relationships between the components within the circuit. For example, in other embodiments, the hardware circuit can be implemented using a PLD, which can include a large number of logic gate circuits, and the logical relationships between the logic gate circuits are configured through a configuration file to achieve the functions of some or all of the above units. All units of the above system may be implemented entirely in the form of a processor calling a program, or entirely in the form of a hardware circuit, or partially in the form of a processor calling a program and the rest in the form of a hardware circuit.

[0163] In the embodiments of the present disclosure, the processor is a circuit with the ability to process signals. In some embodiments, the processor may be a circuit with the ability to read and run instructions, such as a CPU, MCU, graphics processing unit (GPU), or DSP; in other embodiments, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0164] It can be seen that each unit in the above system can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, MCU, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0165] In addition, the various units in the above system can be integrated together in whole or in part, or can be implemented independently. In some embodiments, these units are integrated together and implemented in the form of a system on a chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the above device.

[0166] For example, Figure 11 FIG. 1 shows an exemplary structure of a water vapor condensation control device provided by an embodiment of the present disclosure. Figure 11 As shown, the control device 110 includes a processor 111, which is used to call instructions stored in a memory 112. When the instructions are called by the processor 111, the processor 111 executes any one of the control methods in the above embodiments.

[0167] In addition, an embodiment of the present disclosure further provides a computer-readable storage medium including instructions stored thereon, which, when called by a processor, executes any of the control methods in the above embodiments. An embodiment of the present disclosure further provides a computer program (or computer program product) including instructions, which, when called by a processor, executes any of the control methods in the above embodiments.

[0168] The drawings described in this disclosure are only some embodiments of the present disclosure. For ordinary technicians in this field, without paying any creative work, they can also obtain other drawings and other implementation methods based on these drawings. Adjustments and improvements made without departing from the concept of this disclosure are all within the scope of protection of this disclosure.

[0169] In this disclosure, to simplify the drawings, the figures only illustrate portions related to certain embodiments, and these portions do not represent the actual structure of the product. Furthermore, in some figures, components with the same structure or function are only partially illustrated schematically; in practice, more or fewer components with the same structure or function may exist.

[0170] In this disclosure, unless otherwise expressly specified or limited, ordinal numbers such as "first" and "second" are used solely to distinguish and describe related objects and should not be construed as indicating or implying the relative importance or order of the related objects. Furthermore, ordinal numbers do not represent the number of related objects. For example, "first laser radar" may include one laser radar or multiple laser radars.

[0171] "Multiple" includes two or more, and other quantifiers are similar.

[0172] The terms "or" and "and / or" in this disclosure are used to describe the relationship between associated objects, which indicates non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone", "B alone", or "A and B", where "A" and "B" can include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" and "A, B and C" can both include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B" and "C" can include a single object or multiple objects. In addition, " / " in this disclosure is used to indicate the "or" relationship between the preceding and following associated objects. In this disclosure, "at least one of A or B" and "one or more of A and B" have the same meaning as "A or B" above, and "one or more of A, B and C" and "at least one of A, B or C" have the same meaning as "A, B or C" above. "One or more of A, B and C" have the same meaning as "A, B or C" above.

[0173] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. In addition, the above embodiments can be freely combined as needed.

Claims

1. A method for controlling water vapor condensation, characterized in that: include: Acquiring first data, where the first data is used to determine whether the optical detection device meets a first control condition for water vapor condensation; Acquiring second data, where the second data includes a plurality of sensing data and is used to determine whether the optical detection device satisfies a second control condition for water vapor condensation; When the optical detection device satisfies the first control condition and the second control condition, the processing of water vapor condensation of the optical detection device is controlled.

2. The method for controlling water vapor condensation according to claim 1, characterized in that: The first data includes detection data of the optical detection device, and the control method further includes: determining a contamination state of the optical detection device based on the detection data; When the dirt state indicates that the optical detection device is dirty, it is determined that the optical detection device meets the first control condition.

3. The method for controlling water vapor condensation according to claim 1 or 2, characterized in that: The first data includes the number of restarts of the motor of the optical detection device, and the control method further includes: When the restart times of the motor reaches or exceeds a restart threshold, it is determined that the optical detection device meets the first control condition.

4. The method for controlling water vapor condensation according to any one of claims 1 to 3, characterized in that: The first data includes scene data, and the control method further includes: when the scene indicated by the scene data is a preset scene, determining that the optical detection device meets the first control condition.

5. The method for controlling water vapor condensation according to claim 4, characterized in that: The optical detection device is installed on a vehicle, and the preset scenes include one or more of the following scenes: a scene of entering an indoor parking lot, a scene of leaving an indoor parking lot, a car washing scene, and a weather change scene.

6. The method for controlling water vapor condensation according to claim 4 or 5, characterized in that: Also includes: The preset scene is determined based on scene data when water vapor condensation occurs in the optical detection device; wherein the scene data includes data of a first scene, the preset scene includes the first scene, or the preset scene includes the first scene when water vapor condensation occurs in the optical detection device a preset number of times.

7. The method for controlling water vapor condensation according to claim 4 or 5, characterized in that: The method further comprises: The scene data when water vapor condensation occurs on the optical detection device is sent to the server; wherein the scene data includes data of a first scene; the first scene includes the scene in which the optical detection device is located when water vapor condensation occurs.

8. The method for controlling water vapor condensation according to claim 4, 5 or 7, characterized in that: The method further comprises: receiving an indication message, the indication message including data of the preset scenario determined by the server; The preset scenario is determined according to the instruction message.

9. The method for controlling water vapor condensation according to any one of claims 1 to 8, characterized in that: The first data includes one or more of temperature data of an internal environment of the optical detection device and temperature data of an external environment of the optical detection device. The control method further includes: When the internal environment of the optical detection device is in a cooling stage, or the absolute value of the temperature difference between the internal environment and the external environment of the optical detection device is greater than or equal to a preset temperature difference, or the external environment of the optical detection device is in a heating stage, it is determined that the optical detection device meets the first control condition.

10. The method for controlling water vapor condensation according to any one of claims 1 to 9, characterized in that: The multiple sensor data include first sensor data, second sensor data and third sensor data, the first sensor data is used to indicate a first temperature of a first environment of the optical detection device, the second sensor data is used to indicate a first humidity of the first environment, and the third sensor data is used to indicate a second temperature of a first area of ​​the optical detection device, wherein the first environment includes an internal environment or an external environment of the optical detection device, and the first area includes the internal environment of the optical detection device or a component of the optical detection device.

11. The method for controlling water vapor condensation according to claim 10, characterized in that: Also includes: determining a water vapor condensation temperature according to the first temperature and the first humidity; When the water vapor condensation temperature is greater than or equal to the second temperature or the absolute value of the difference between the water vapor condensation temperature and the second temperature is less than or equal to a temperature difference threshold, it is determined that the optical detection device meets the second control condition.

12. The method for controlling water vapor condensation according to claim 10, characterized in that: Also includes: determining the saturated absolute humidity or saturated water vapor pressure at the first temperature according to the first temperature; determining a current absolute humidity or a current water vapor pressure according to the second temperature and the first humidity; When the current absolute humidity is greater than or equal to the saturated absolute humidity, or the current water vapor pressure is greater than or equal to the saturated water vapor pressure, it is determined that the optical detection device meets the second control condition. 13 . The control method according to claim 10 , wherein the first temperature is a temperature of an external environment of the optical detection device, and the first humidity is a humidity of an external environment of the optical detection device. 14 . The control method according to claim 13 , wherein the first sensing data and the second sensing data are respectively obtained from a temperature sensor and a humidity sensor of a terminal device where the optical detection device is located.

15. The method for controlling water vapor condensation according to any one of claims 1 to 9, characterized in that: The plurality of sensor data include first sensor data and second sensor data collected at multiple sampling times, the first sensor data being used to indicate a first temperature of a first environment of the optical detection device, and the second sensor data being used to indicate a first humidity of the first environment of the optical detection device, wherein the first environment includes an internal environment or an external environment of the optical detection device, and the control method further includes: determining the amount of water vapor condensation based on the first temperature indicated by the first sensor data and the first humidity indicated by the second sensor data collected at the plurality of sampling times; When the amount of water vapor condensation reaches or exceeds a condensation amount threshold, it is determined that the optical detection device meets the second control condition.

16. The control method according to any one of claims 1 to 15, wherein the controlling the processing of water vapor condensation of the optical detection device comprises one or more of the following: sending a heating instruction, wherein the heating instruction is used to control a heating process on the window of the optical detection device; sending a blowing instruction, wherein the blowing instruction is used to control a blowing process on the window of the optical detection device; sending a speed instruction, wherein the speed instruction is used to control the motor of the optical detection device to rotate at a first speed; and Sending an alarm indication, where the alarm indication is used to indicate that water vapor condensation exists in the optical detection device.

17. A device for controlling water vapor condensation, characterized in that: The method comprises a processor configured to call instructions stored in a memory, wherein when the instructions are called by the processor, the processor executes the control method according to any one of claims 1 to 16.

18. A water vapor condensation control system, characterized in that: The system comprises the control device according to claim 17 and at least two sensors, wherein the control device obtains the plurality of sensing data from the at least two sensors.

19. A terminal device, characterized in that: include: A water vapor condensation control device for executing the control method according to any one of claims 1 to 16; At least two sensors, the control device obtains the multiple sensing data from the at least two sensors, and the at least two sensors include a temperature sensor and a humidity sensor of the terminal device.

20. A computer storage medium comprising instructions stored thereon, wherein when the instructions are called by a processor, the control method according to any one of claims 1 to 16 is executed.

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