A method and apparatus for detecting

Abstract

A detection method and device, a laser radar, a terminal and a computer readable medium, relating to the technical field of sensors, are applied to surveying and mapping, automatic driving or auxiliary driving. The device can be used to detect the window of the laser radar, and the device comprises a scanning module (904), a processing module, a first detection module (901) and a second detection module (902) with a distance of d. Through the optical path adjustment module (903) and the scanning module (904), the first detection module (901) receives the first light wave transmitted through the first area of the window at the first time and generates the first information, the second detection module (902) receives the second light wave transmitted through the second area of the window at the second time and generates the second information, and the first light wave and the second light wave are light waves from the same detection area outside the window. The processing module obtains the first information and the second information, and outputs the third information to indicate that the first area or the second area is blocked, or to indicate that a cleaning operation is performed.

Description

Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a detection method and apparatus. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that emits laser beams to detect the position, velocity, and other characteristics of targets. The working principle of LiDAR is to emit a detection signal (laser beam) towards a target object (such as a vehicle, aircraft, or missile), and then compare and process the received signal reflected back from the target object (echo signal) with the emitted signal to obtain relevant information about the target object, such as its distance, azimuth, altitude, velocity, attitude, and even shape. This allows for the detection, tracking, and identification of the target object.

[0003] Currently, lidar is widely used in fields such as autonomous driving, surveying, and robotics. To prevent external environmental contamination of the internal optical components, lidar systems are protected by a housing. The viewing window within the housing isolates external contaminants while ensuring normal laser transmission. However, during operation, external contaminants such as rain, snow, frost, dust, and insects can adhere to the viewing window, preventing proper laser transmission and thus affecting the lidar's detection performance. Therefore, a detection method is urgently needed to determine whether the viewing window is obstructed. Summary of the Invention

[0004] This application discloses a detection method and apparatus for detecting whether the viewing window in devices such as lidar is obstructed by an obstruction.

[0005] In a first aspect, this application provides a detection device, comprising: an optical path adjustment module, a scanning module, and a processing module; a first detection module and a second detection module at a distance d, where d is greater than 0; a scanning module for receiving and reflecting a first light wave passing through a first region of a viewing window at a first moment, wherein the first light wave is received by the first detection module via the optical path adjustment module and generates first information; a scanning module for receiving and reflecting a second light wave passing through a second region of a viewing window at a second moment, wherein the second light wave is received by the second detection module via the optical path adjustment module and generates second information; the scanning angle difference between the first moment and the second moment of the scanning module is n*a, where a is a step angle and is greater than 0, and n is a positive integer; the optical path adjustment module includes a first lens group, wherein the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a; or, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a, wherein the distance c is m times the distance d, and c, f, and m are positive numbers.

[0006] The processing module is used to control the scanning module to rotate by a step angle a; and to acquire first information from the first detection module and second information from the second detection module, wherein the first information indicates the intensity of the first light wave and the second information indicates the intensity of the second light wave; the processing module is also used to output third information based on the first information and the second information, wherein the third information indicates that there is occlusion in the first area or the second area, or indicates that a cleaning operation should be performed.

[0007] Through the above scheme, at the first moment, the first light wave is transmitted through the first area on the window and received by the first detection module. At the second moment, the second light wave is transmitted through the second area on the window and received by the second detection module, meaning the first and second light waves are transmitted at different positions on the window. Considering the presence of obstructions on the window, for example, in either the first or second area, the first information received by the first detection module after the first light wave is transmitted through the first area, and the second information received by the second detection module after the second light wave is transmitted through the second area, can be compared to determine whether there is a difference in transmission between the first and second areas. This allows for the determination of whether an obstruction exists in the first or second area, which can then be used to indicate whether a window cleaning operation is required, effectively ensuring the normal operation of devices such as lidar or cameras.

[0008] It should be noted that, in order to ensure that the first light wave and the second light wave can be compared after being transmitted through the window, in this scheme, the scanning module and the optical path adjustment module are used to ensure that the first light wave received by the first detection module at the first moment and the second light wave received by the second detection module at the second moment are from the same detection area outside the window.

[0009] In the first moment, a first light wave from the same detection area is focused by the scanning module and the first lens group of the optical path adjustment module, so that the detection area corresponding to the first light wave is imaged on the focal plane of the first lens group, and thus the first information corresponding to the first light wave is received by the first detection module. In the second moment, the scanning module rotates by an angle n*a, so that the second light wave, after passing through the scanning module and being focused by the first lens group of the optical path adjustment module, is imaged on the focal plane of the first lens group, and the distance between the imaged position of the second light wave and the imaged position of the first light wave is c, so that the second information corresponding to the second light wave is received by the second detection module.

[0010] For example, when n is 1, the scanning module rotates by an angle 'a' relative to the first time point. This rotation angle 'a' corresponds to the angle between the optical path of the first detection module receiving the first information and the optical path of the second detection module receiving the second information. That is, during the first time point, the scanning module receives the first information corresponding to the first light wave from the first detection module. After one step of the scanning module, since the ratio of the distance 'c' between the images formed by the first and second light waves on the focal plane of the first lens group to the focal length 'f' of the first lens group is related to the scanning angle difference 'a', the second detection module can receive the second information corresponding to the second light wave. In other words, through one step of the scanning module, the first and second detection modules receive light waves from the same detection area.

[0011] In addition, when adjusting the step angle 'a' of the scanning module, the relationship between the first region corresponding to the first detection module and the second region corresponding to the second detection module can be adjusted accordingly. Consequently, the size of the first region and the second region can also be adjusted to improve the flexibility of the detection window of the detection device.

[0012] One possible implementation is that the first light wave and the second light wave are parallel; the first light wave and the second light wave originate from the same detection area outside the viewing window.

[0013] The above scheme involves a first detection module receiving a first light wave transmitted into a detection area within the window at a first moment, and a second detection module receiving a second light wave transmitted into the same detection area within the window at a second moment. The first light wave is transmitted through a first area on the window to the first detection module, and the second light wave is transmitted through a second area on the window to the second detection module. Thus, based on the first and second light waves from the same detection area, the differences between different areas on the window can be compared. Since the transmittance of light waves on the window is considered, compared with the scheme of detecting the window by reflecting echo signals, it can more accurately determine whether there are obstructions on the window, effectively ensuring the normal operation performance of devices such as lidar or cameras.

[0014] One possible implementation is that the difference in scanning angle between the first and second time moments satisfies:

[0015] n*a = arctan(c / f)

[0016] Where f is the focal length of the optical path adjustment module, c is the distance between the images formed by the first light wave and the second light wave on the focal plane of the optical path adjustment module, a is the step angle of the scanning module, c, f, and a are greater than 0; n is a positive integer.

[0017] Through the above scheme, the distance c between the scanning angle difference at the first moment and the second moment and the image formed by the first light wave and the second light wave on the focal plane of the optical path adjustment module is established through the first lens group. This allows the first lens group to transmit the first light wave to the first detection module at the first moment and transmit the second light wave to the second detection module. This enables the detection device to receive the first light wave and the second light wave from the same detection area through different areas on the window, reducing the difficulty of implementation.

[0018] In one possible implementation, the first lens group is used to focus a first light wave from the scanning module and transmit the focused first light wave to the first detection module; to focus a second light wave from the scanning module and transmit the focused second light wave to the second detection module; the first detection module and the second detection module are located on the image-side focal plane of the lens assembly; c and d are equal.

[0019] With the above scheme, the first lens group and the first detection module can receive the first light wave at the first moment, and the second detection module can receive the second light wave at the second moment, making the scheme easier to implement.

[0020] In one possible implementation, the optical path adjustment module further includes a second lens group, which is a collimation system. The second lens group is used to focus the second light wave from the first lens group and transmit the focused first light wave to the first detection module. The collimation system's entrance is located on the focal plane of the first lens group, and the first and second detection modules are located on the focal plane of the collimation system. m is related to the focal length of the collimation system.

[0021] The above scheme, through the second lens group, increases the flexibility of the optical path adjustment module and the settings of the first and second detection modules. Under the premise that the first detection module can receive the first light wave at the first moment and the second detection module can receive the second light wave at the second moment, the flexibility of the detection device is improved.

[0022] One possible implementation is a processing module, specifically used to determine that there is occlusion in the first region or the second region when the difference between the intensity of the first light wave and the intensity of the second light wave is greater than a preset threshold.

[0023] Based on the different transmittance of the obstruction on the viewing window, the above method can determine whether there is an obstruction in the first or second region according to the difference in intensity between the first and second light waves, thus providing more information for subsequent window cleaning.

[0024] In one possible implementation, the processing module is also used to determine the type of obstruction on the window based on the difference between the intensity of the first light wave and the intensity of the second light wave.

[0025] While confirming the presence of obstructions, the type of obstruction can be determined based on the differences in transmission characteristics between the first and second light waves. This allows for the execution of corresponding cleaning operations for the obstruction type. In addition to timely identification of obstructions, adaptive treatment can be applied to them, improving the maintenance effect of the viewing window.

[0026] For example, if it is determined that there is a rain-type obstruction in the first area, the windshield wipers can be turned on to clean the first area. As another example, if it is determined that there is a dust-type obstruction in the first area, the detergent sprayer can be activated to spray detergent onto the window, and the windshield wipers can be turned on to clean the first area.

[0027] In one possible implementation, the processing module is further configured to: determine the distribution of the intensity difference between the K first pieces of information and the K second pieces of information based on the K first pieces of information received by the first detection module at K first moments and the K second pieces of information received by the second detection module at K second moments; wherein K is a positive integer; and determine the position information of the obstruction on the viewport based on the distribution of the intensity difference between the K first pieces of information and the K second pieces of information.

[0028] For example, the area on the window can be divided into K regions. The scanning module can step K-1 times to scan all K regions on the window. Specifically, for the first detection module, the K regions can be K first regions. That is, through K first moments, the first detection module completes the scanning of K first regions on the window. At the initial position of the scanning module, the first detection module can receive first information corresponding to one first region. Each time the scanning module steps once, it receives first information corresponding to a new first region. By stepping K-1 times, the first detection module can receive K pieces of first information on the window.

[0029] For the second detection module, the K region can be K second regions. There can be overlap between the K second regions and the K first regions. That is, through K second time points, the second detection module completes the scanning of the K second regions on the viewport. At the initial position of the scanning module, the second detection module can receive second information corresponding to one second region. Each time the scanning module steps forward one time, it can receive second information corresponding to a new second region. By stepping forward K-1 times, the second detection module can receive K pieces of second information on the viewport.

[0030] Considering that the scanning module rotates by an angle n*a relative to the first time step, the K first time steps and the K second time steps can overlap. For example, if the scanning module rotates by an angle a relative to the first first time step, then the nth first time step is the first second time step.

[0031] The above method can be used to scan K first regions and K second regions on the window, thereby improving the detection efficiency of the window.

[0032] Furthermore, considering scenarios where obstructions may appear in multiple first regions and / or multiple second regions, for example, at a first moment, the first detection module receives the first information of the first light wave passing through the first region of the window; at a second moment, the second detection module receives the second information of the second light wave passing through the second region of the window. If both the first and second regions are covered by the same type of obstruction, the difference between the first and second information received by the first and second detection modules is too small to determine whether obstructions exist in both regions. In this case, by scanning the window, K pieces of first information corresponding to K first regions and K pieces of second information corresponding to K second regions can be obtained, determining the distribution of obstructions on the window. Therefore, compared to determining whether there are obstructions in the first or second region through a single first or second region, this method can effectively improve the recognition effect of obstructions and increase the accuracy of obstruction recognition on the window.

[0033] One possible implementation is that the first or second detection module is located on the optical axis of the optical path adjustment module.

[0034] The above scheme simplifies the optical path complexity of the first and second detection modules in the detection device.

[0035] One possible implementation is that the scanning module's axis of rotation is located on the optical axis of the optical path adjustment module.

[0036] The above approach simplifies the design complexity of the scanning module.

[0037] Secondly, this application provides a detection method that can be executed on a detection device. The detection device can be a component on a device such as a lidar with a viewing window, or partially installed on a lidar with a viewing window. The detection device includes: an optical path adjustment module, a scanning module, and a processing module, as well as a first detection module and a second detection module at a distance d.

[0038] The scanning module receives and reflects a first light wave passing through a first area of ​​the window at a first moment. The first light wave is received by the first detection module via the optical path adjustment module and generates first information. At a second moment, the scanning module receives and reflects a second light wave passing through a second area of ​​the window. The second light wave is received by the second detection module via the optical path adjustment module and generates second information. The scanning angle difference between the first moment and the second moment is n*a, where a is the step angle and is greater than 0, and n is a positive integer.

[0039] The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a; or, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a, where the distance c is m times the distance d, and c, f, and m are positive numbers.

[0040] The processing module controls the scanning module to rotate by a step angle α; and acquires first information from the first detection module and second information from the second detection module. Based on the first and second information, it outputs third information. The first information indicates the intensity of the first light wave, and the second information indicates the intensity of the second light wave. The third information indicates that there is an obstruction in the first or second region, or indicates that a cleaning operation should be performed.

[0041] One possible implementation is that the first light wave and the second light wave are parallel; the first light wave and the second light wave originate from the same detection area outside the viewing window.

[0042] One possible implementation is that the difference in scanning angle between the first and second time moments satisfies:

[0043] n*a = arctan(c / f)

[0044] Where f is the focal length of the optical path adjustment module, c is the distance between the images formed by the first light wave and the second light wave on the focal plane of the optical path adjustment module, and a is the step angle of the scanning module.

[0045] One possible implementation is that c and d are equal; the first lens group focuses the first light wave from the scanning module and transmits the focused first light wave to the first detection module, and the first detection module generates first information based on the focused first light wave; the first lens group focuses the second light wave from the scanning module and transmits the focused second light wave to the second detection module, and the second detection module generates second information based on the focused second light wave.

[0046] In one possible implementation, the optical path adjustment module further includes a second lens group, which is a collimation system; the light inlet of the second lens group is located on the focal plane of the lens assembly, the first detection module and the second detection module are located on the focal plane of the second lens group, and m is related to the focal length of the second lens group;

[0047] The second lens group focuses the first light wave from the first lens group and transmits the focused first light wave to the first detection module. The first detection module generates first information based on the received focused first light wave.

[0048] The second lens group focuses the second light wave from the first lens group and transmits the focused second light wave to the second detection module. The second detection module generates second information based on the received focused second light wave.

[0049] One possible implementation is that when the difference between the intensity of the first light wave and the intensity of the second light wave is greater than a preset threshold, the processing module determines that there is occlusion in the first or second region.

[0050] One possible implementation is that the processing module determines the type of obstruction on the window based on the difference between the intensity of the first light wave and the intensity of the second light wave.

[0051] One possible implementation is that the processing module determines the distribution of the intensity difference between the K first pieces of information and the K second pieces of information based on the K first pieces of information received by the first detection module at K first moments and the K second pieces of information received by the second detection module at K second moments; where K is a positive integer; and determines the position information of the obstruction on the viewport based on the distribution of the intensity difference between the K first pieces of information and the K second pieces of information.

[0052] Thirdly, this application provides a detection apparatus comprising modules / units for performing the methods described in any of the second aspects or any possible implementations of the second aspect. These modules / units can be implemented in hardware or by hardware executing corresponding software.

[0053] Fourthly, this application provides a lidar, including a detection device as described in any possible implementation of the first aspect.

[0054] Fifthly, this application provides a terminal, which includes a detection device as described in any possible implementation of the first aspect.

[0055] The detection device can be installed on a terminal device (hereinafter referred to as the terminal), enabling the terminal device to detect windows on the LiDAR. This terminal can be a motor vehicle, intersection camera, drone, railcar, bicycle, traffic light, or speed measuring device, etc. In one possible embodiment, the terminal may include the LiDAR corresponding to the window to be detected. In this case, the detection device can be the LiDAR, or entirely located inside the LiDAR; it can also be partially located inside the LiDAR and partially located on a terminal other than the LiDAR. For example, the processing module of the detection device can be located on a terminal other than the LiDAR. LiDAR can also be installed on network equipment (such as base stations in various systems), etc., without limitation.

[0056] Sixthly, this application provides a computer-readable storage medium storing program instructions that, when executed on a detection device, cause the detection device to perform the methods described in the second aspect or any possible implementation thereof. For example, the program instructions control the scanning module of the detection device to rotate by a step angle α, and acquire first information from a first detection module and second information from a second detection module of the detection device. Based on the first and second information, third information is output, indicating whether a first or second area of ​​the detection device's window is obstructed, or indicating the execution of a cleaning operation. The first information indicates the intensity of a first light wave, and the second information indicates the intensity of a second light wave. The first light wave is received and reflected by the scanning module of the detection device at a first moment, passing through the first area. The first detection module receives the light wave through the optical path adjustment module of the detection device and generates the first information; the second light wave is received by the scanning module of the detection device at the second moment and reflected through the second region. The second light wave is received by the second detection module through the optical path adjustment module and generates the second information; the scanning angle difference between the first moment and the second moment of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer; the optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. The distance c is m times the distance d, and c and m are positive numbers.

[0057] In a seventh aspect, this application provides a computer program product that may include program instructions. When the computer program product is run on a detection device, it causes the detection device to perform the methods described in the second aspect or any possible implementation thereof. For example, the program instructions control the scanning module of the detection device to rotate by a step angle α, and acquire first information from a first detection module and second information from a second detection module of the detection device. Based on the first and second information, third information is output. The third information indicates whether a first or second area of ​​the window of the detection device is obstructed, or indicates the execution of a cleaning operation. The first information indicates the intensity of a first light wave, and the second information indicates the intensity of a second light wave. The first light wave is received and reflected by the scanning module of the detection device at a first moment and passes through the first area. The first detection module receives the light wave through the optical path adjustment module of the detection device and generates the first information; the second light wave is received by the scanning module of the detection device at the second moment and reflected through the second region. The second light wave is received by the second detection module through the optical path adjustment module and generates the second information; the scanning angle difference between the first moment and the second moment of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer; the optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. The distance c is m times the distance d, and c and m are positive numbers.

[0058] For information on the technical effects of various possible implementations of the second to seventh aspects, please refer to the description of the technical effects of the first aspect or the corresponding implementation of the first aspect. Attached Figure Description

[0059] Figure 1a This is a schematic diagram of a lidar detection system.

[0060] Figure 1b This is a schematic diagram of a signal received by a detection module;

[0061] Figure 2a A schematic diagram of the structure of a detection device provided in this application;

[0062] Figure 2b A schematic diagram of the structure of a detection device provided in this application;

[0063] Figure 3 A schematic diagram of the structure of a detection device provided in this application;

[0064] Figure 4a A schematic diagram illustrating the relationship between a first detection module, a second detection module, and a detection area provided in this application;

[0065] Figure 4b A schematic diagram illustrating the relationship between a first detection module, a second detection module, and a detection area provided in this application;

[0066] Figure 4c A schematic diagram illustrating the relationship between a first detection module, a second detection module, and a detection area provided in this application;

[0067] Figure 5a A schematic diagram illustrating the relationship between the optical path adjustment module, the first detection module, and the second detection module provided in this application;

[0068] Figure 5b A schematic diagram illustrating the relationship between the optical path adjustment module, the first detection module, and the second detection module provided in this application;

[0069] Figure 5c A schematic diagram illustrating the relationship between the optical path adjustment module, the first detection module, and the second detection module provided in this application;

[0070] Figure 6a A schematic diagram illustrating a scanning method provided in this application;

[0071] Figure 6b A schematic diagram of the optical path relationship between a first detection module and a second detection module is provided in this application;

[0072] Figure 6c A schematic diagram of the optical path relationship between a first detection module and a second detection module is provided in this application;

[0073] Figure 6d A schematic diagram of a scanning trajectory provided in this application;

[0074] Figure 6e A schematic diagram of a scanning trajectory provided in this application;

[0075] Figure 6f A schematic diagram of a scanning trajectory provided in this application;

[0076] Figure 7a A schematic diagram of a scanning result provided for this application;

[0077] Figure 7b A schematic diagram of a scanning result provided for this application;

[0078] Figure 8 A flowchart illustrating a detection method provided in this application;

[0079] Figure 9 A schematic diagram of the structure of a detection device provided in this application;

[0080] Figure 10This is a schematic diagram of the structure of a detection device provided in this application. Detailed Implementation

[0081] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0082] The following explanations of some terms used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0083] (1) Window, which can be the window of the lidar. In order to avoid the contamination of the internal optical components of the lidar by the external environment, there is usually a shell for isolation and protection. A window (which can be a window structure made of glass or other materials that is transparent to the light wavelength of the lidar) is used for the direction of lidar emission. While isolating external contamination, it can ensure that the laser light wave is transmitted normally.

[0084] (2) The detection device can be a device with a window component, such as a lidar. Taking lidar as an example, during the use of lidar, external pollutants, such as rain, snow, frost, dust, and flying insects, will adhere to the window, causing the laser to be unable to transmit normally or the echo signal to be unable to be received normally, thus affecting the detection performance of the lidar. By detecting the window, it is beneficial to identify the obstructions on the window, thereby providing support for subsequent window cleaning or alarm. The detection device can be a lidar, or a functional component set in the lidar, or a larger device including the lidar (e.g., a terminal device (hereinafter referred to as the terminal) or a vehicle), or a standalone device, or it can also be a functional component partially set in other devices besides the lidar, or a functional component partially set in the lidar, etc. For example, the detection device can be set on terminals such as motor vehicles, intersection cameras, drones, railcars, bicycles, traffic lights or speed measuring devices, so that the terminal device has the function of detecting the window on the lidar. In one possible way, the terminal may include the lidar corresponding to the window to be detected. In this case, the detection device can be entirely located inside the lidar; or it can be partially located inside the lidar and partially located on a terminal other than the lidar. For example, the processing module of the detection device can be located on a terminal other than the lidar. In another possible approach, the lidar can also be installed on network equipment (such as base stations in various systems), without limitation.

[0085] (3) LiDAR, also known as a lidar device, lidar detection device, or lidar signal transmitting device, etc. LiDAR can be installed on terminal equipment (hereinafter referred to as terminals) such as motor vehicles, intersection cameras, drones, railcars, bicycles, traffic lights, or speed measuring devices. Optionally, lidar can also be installed on network equipment (such as base stations in various systems), etc., without limitation.

[0086] LiDAR can be used in scenarios requiring high accuracy, such as vehicle-mounted LiDAR (e.g., scanning vehicle-mounted FMCW LiDAR) and airborne LiDAR. Furthermore, LiDAR can be installed on mobile platforms, such as satellites. In this case, the LiDAR requires the assistance of other devices within the mobile platform to determine its current position and orientation information, ensuring the availability of measurement data. For example, the mobile platform may include a Global Positioning System (GPS) and an Inertial Measurement Unit (IMU). The LiDAR can combine the measurement data from the GPS and IMU to obtain characteristic quantities such as the position and velocity of the target object. For instance, the LiDAR can use the GPS device to provide the geographical location information of the mobile platform, and the IMU device to record the attitude and orientation information of the mobile platform. After determining the distance to the target object based on the echo signal, the measurement point of the target object can be converted from a relative coordinate system to a position point in an absolute coordinate system using at least one of the geographical location information provided by the GPS device or the attitude and orientation information provided by the IMU device, thus obtaining the geographical location information of the target object. This allows the LiDAR to be applied to mobile platforms. It is understandable that the LiDAR in this application can also be applied to autonomous driving scenarios, or connected vehicle scenarios, and so on.

[0087] LiDAR works by emitting signals (or detection signals) and receiving the reflected signals from target objects to detect them. The signals emitted by a lidar can be electromagnetic waves, laser beams, etc., and similarly, the received reflected signals can also be electromagnetic waves or laser beams. By emitting light waves and receiving the electromagnetic energy scattered by the target, and by comparing and analyzing the received echo signals with the detection signals, information related to the target can be extracted, such as the target's location. This includes information like the distance from the target object to the emission point, the rate of change of distance (radial velocity), azimuth, and altitude.

[0088] Figure 1aThis application provides a schematic diagram of a lidar detection system. The lidar includes a laser and a detector. The laser emits a beam of light in a specific direction. If a target exists within a certain distance along the emission direction of the beam, the beam can be reflected from the surface of the target. Figure 1a Taking a target A as an example, when the laser beam 1 is emitted from the laser, it is reflected on the surface of target A after reaching target A. The reflected signal returns to the lidar detector as an echo signal. For example, after beam 1 is emitted to target A, the lidar detector can receive... Figure 1b The left image shows the echo signal. Based on the echo signal and local signals, the detector can determine the associated information of target A, such as the location information of target A. In addition, the lidar can also receive ambient light from outside the viewing window, for example... Figure 1b The right figure shows the optical signal received by the detector when the lidar is not emitting light waves.

[0089] (4) Optical module, also known as receiving module, transmitting module, transceiver module, etc., can be specifically determined according to the function of the optical module. For example, taking the optical module as a transceiver module, the receiving module is used to receive optical signals. The receiving module may include an optical path adjustment module (e.g., collimation system, lens module, etc.) and a receiving module. In this application, the receiving module may also include a first detection module and a second detection module, and the first detection module and the second detection module may be detectors, respectively.

[0090] Considering that the lidar also contains a transmitting module, the optical module can be combined with the transmitting module or set up separately from the transmitting module; this is not limited here. For example, the optical module can adopt a coaxial transmitting and receiving structure or an off-axis transmitting and receiving structure.

[0091] In a coaxial transceiver structure, the optical signals emitted and received by the optical module follow the same or a paraxial optical path within the optical module. An optical module may include a light source (e.g., a laser), an optical path adjustment module, and a receiving module. The transmitting module may include a laser and a corresponding optical path adjustment module. The receiving module may include a first detection module; optionally, the receiving module may also include a corresponding optical path adjustment module. The first detection module can be a detector. When both the transmitting and receiving modules include optical path adjustment modules, these modules can be set separately for the transmitting and receiving modules, or they can be set together by both modules. The optical path adjustment module may include a collimation system or a lens or lens group; optionally, it may also include a beam splitter module. For example, see reference... Figure 2a , Figure 2a For optical modules that are coaxial for transmitting and receiving, Figure 2aIn this process, the optical signal emitted by the laser is collimated by a collimation system to regulate its propagation direction and ensure it travels as far forward as possible. The optical signal then passes through a beam splitter and is emitted into space. The received echo signal reaches the beam splitter again, and the beam splitter sends the received signal to the first detection module within the receiving module.

[0092] In an off-axis transceiver structure, the optical signals emitted and received by the optical module follow different paths. An optical module may include a light source (e.g., a laser), an optical path adjustment module (e.g., a collimation system or lens, lens group), and a receiving module. The emitting module may include a laser and a corresponding optical path adjustment module. The receiving module may include a second detection module; optionally, the receiving module may also include a corresponding optical path adjustment module, and the second detection module may be a detector. When both the emitting and receiving modules include optical path adjustment modules, the optical path adjustment modules can be set up independently for each module. (Reference) Figure 2b For off-axis optical modules, the light signal emitted by the laser is collimated by a collimation system to regulate its propagation direction, ensuring it propagates forward as much as possible. The collimation system then emits the light signal into space. The received light signal reaches the receiving module. Therefore, for off-axis transceiver structures, since the emitted and received light signals follow different paths, a beam splitter is unnecessary.

[0093] (5) Field of view, or field range, is the range formed after the light signal emitted by an optical module reaches space, or the range in which a detection device receives the light signal corresponding to a transceiver module.

[0094] (6) Field of view: The angle of the field of view, for example, the scanning angle of the light signal received by an optical module in space. The field of view determines the size of the field of view. Generally speaking, the larger the field of view, the larger the field of view, and the smaller the field of view, the smaller the field of view. If you want to adjust a field of view, you can also do so by adjusting the field of view angle of that field of view.

[0095] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. Unless otherwise specified, the character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0096] In this application, the ordinal numbers such as "first" and "second" are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, application scenario, priority, or importance of the multiple objects. For example, the first detection module and the second detection module can be the same detection module or different detection modules, and such names do not indicate that the two detection modules are different in structure, position, priority, application scenario, or importance.

[0097] The above describes some concepts involved in the embodiments of this application. The technical features of the embodiments of this application are described below.

[0098] Based on the above, Figure 3 An exemplary schematic diagram of a detection device provided in this application is shown. Figure 3 As shown, it includes a first detection module and a second detection module with a distance of d, an optical path adjustment module, a scanning module and a processing module.

[0099] The distance d between the first detection module and the second detection module can be the distance between the center of the first detection module and the center of the second detection module, or the distance between the edge of the first detection module and the edge of the second detection module. For example, taking the area where the first detection module and the second detection module receive light waves as a rectangle, the distance between the first detection module and the second detection module can be the distance between the upper edge of the first detection module and the upper edge of the second detection module, or the distance between the lower edge of the first detection module and the lower edge of the second detection module, or the distance between the left edge of the first detection module and the left edge of the second detection module, or the distance between the right edge of the first detection module and the right edge of the second detection module. Of course, it can also be determined in other ways, which are not limited here.

[0100] The scanning module is used to receive and reflect the first light wave that passes through the first area of ​​the window at the first moment. The first light wave is received by the first detection module through the optical path adjustment module and generates the first information.

[0101] The scanning module is used to receive and reflect the second light wave through the second area of ​​the window at the second moment. The second light wave is received by the second detection module through the optical path adjustment module and generates second information. The first light wave and the second light wave originate from the same detection area outside the window.

[0102] The scanning angle difference between the first and second moments of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. Alternatively, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. Here, distance c is m times distance d, and c, f, and m are positive numbers.

[0103] The processing module is used to control the scanning module to rotate by a step angle a; and to acquire first information from the first detection module and second information from the second detection module, wherein the first information indicates the intensity of the first light wave and the second information indicates the intensity of the second light wave.

[0104] The processing module is also used to output third information based on the first information and the second information. The third information is used to indicate that there is occlusion in the first area or the second area, or to indicate that a cleaning operation should be performed.

[0105] It should be noted that, considering that the detection device can be located inside the LiDAR, the processing module can be a processor or a component within the LiDAR. When part of the detection device is located inside the LiDAR, the processing module can be a processor or a component within the vehicle, or it can be a processor or a component within the cloud server, without any limitation.

[0106] Among them, the window will produce reflected light I when light waves shine on it. reflect Transmitted light I trans and absorption light I absorb The three forms of light. The sum of the energies of the three forms of light equals the total energy I of the emitted light. total That is, satisfying:

[0107] I total =I reflect +I absorb +I trans

[0108] The essence of using echo signals from active imaging is to measure the echo signal returned from the window, thereby determining the difference in reflectivity of the window when there is an obstruction compared to when there is no obstruction. When the difference in reflectivity between the obstruction and the window when there is no obstruction is small, judging whether there is an obstruction in the window using this method is prone to error. Therefore, this application mainly uses transmitted light, that is, passive imaging, to determine whether the window is obstructed. One possible implementation is to use a first light wave and a second light wave originating from the same detection area outside the window, and to determine whether a first or second area on the window is obstructed based on the first and second light waves.

[0109] The following is about Figure 3 Each functional module and structure shown will be introduced and explained to provide an exemplary implementation scheme.

[0110] I. First Detection Module and Second Detection Module

[0111] Taking the first detection module as an example, the first detection module can be a detector in a lidar, or a component in a lidar with detection capabilities. Exemplarily, the first detection module can convert the received optical signal into an analog or digital signal via photoelectric conversion to obtain first information.

[0112] The light received by the first and second detection modules from the detection area outside the window can be light waves emitted by the light source in the detection area, or light waves reflected by the target object in the detection area after reflecting other light sources, without limitation.

[0113] Taking the first detection module as an example, before receiving the optical signal, the field of view of the first detection module can be adjusted by the optical path adjustment module to standardize the receiving direction of the optical signal, so that the light transmitted from outside the window to the receiving module is a light wave from a detection region in the far field. For example, at the same time, the first detection module and the second detection module can receive light waves corresponding to different detection regions outside the window. For example, at the same time, the first detection module can receive the light wave corresponding to the first region outside the window. The second detection module can receive the light wave corresponding to the second detection region outside the window. To detect different detection regions outside the window, the division of the detection region can be implemented in various ways, which will be explained in two cases below.

[0114] Scenario 1: The detection area can be divided in one dimension, such as horizontal or vertical. Taking the horizontal direction as an example, the area containing target objects outside the viewport that can be detected by the first or second detection module is divided horizontally to obtain one of N horizontal detection areas. The vertical direction is not limited; that is, at any given time, the first detection module can detect all target objects that can be detected vertically by one of the N horizontal detection areas. Correspondingly, the area corresponding to the detection area can also be determined on the viewport, for example, the horizontal area corresponding to the horizontal detection area, i.e., dividing the viewport into N horizontal areas. These N horizontal areas can include, for example,... Figure 4a The first horizontal region and the second horizontal region are shown. Correspondingly, the first horizontal region corresponds to the first horizontal detection region, and the second horizontal region corresponds to the second horizontal detection region.

[0115] For reference, please see below. Figure 4a At any given moment, the first detection module can receive the light wave corresponding to the first horizontal detection area outside the window. Correspondingly, the first detection module receives the light wave transmitted through the window from the first horizontal detection area. The second detection module can receive the light wave corresponding to the second horizontal detection area outside the window. Correspondingly, the second detection module receives the light wave transmitted through the window from the second horizontal detection area. That is, the first and second horizontal detection areas are different horizontal detection areas among N horizontal detection areas.

[0116] Optionally, different horizontal detection areas in the N horizontal detection areas can be scanned at different times by a scanning module to achieve the reception of light waves in the N horizontal detection areas.

[0117] Using the above method, the window area can be divided based on one-dimensional direction. This allows for settings that address insensitivity in another dimension. For example, the cleaning operation for the window could involve two or more cleaning devices positioned horizontally. In this case, the detection device can be configured based on the arrangement of the cleaning devices—for instance, multiple cleaning devices positioned at different locations horizontally—to divide the window area horizontally, reducing the complexity of the detection device. Furthermore, even without cleaning conditions, the detection device can divide the window area based on the LiDAR detection method. For example, LiDAR detection is based on N detection areas divided horizontally. Thus, the detection device can divide the window area into N horizontal regions. When an obstruction is detected in a corresponding horizontal region, the LiDAR can cancel the use of echo signals collected through that horizontal region, avoiding the impact of the obstruction on the LiDAR's detection performance.

[0118] Scenario 2: The detection area is divided in two dimensions, such as by horizontal and vertical directions.

[0119] For example, the horizontal direction can be scanned at different times by the scanning module, enabling the first or second detection module to receive light waves from N horizontal detection areas. The vertical direction of any horizontal detection area can be divided into M vertical detection areas, meaning the detectable range outside the viewing window is divided into N*M detection areas.

[0120] One possible implementation involves setting at least M first sub-detection modules and at least M second sub-detection modules, such that each first or second sub-detection module is used to receive light waves from one of the M vertical detection regions. Correspondingly, the regions corresponding to the detection regions can also be determined on the viewport, dividing the viewport into N*M regions.

[0121] like Figure 4b As shown, taking the first sub-detection module 1 and the first sub-detection module 2 in the first detection module as examples, at the same time, the first sub-detection module 1-1 can receive the light wave corresponding to the detection area 1-1 outside the window. Correspondingly, the first detection module receives the light wave from area 1-1 that passes through the window. The second detection module can receive the light wave corresponding to the detection area 1-2 outside the window. Correspondingly, the second detection module receives the light wave from area 1-2 that passes through the window. The horizontal positions of detection areas 1-1 and 1-2 are the same. Similarly, for example, the second sub-detection module 1 in the second detection module can receive the light wave corresponding to the detection area 2-1 outside the window. The second sub-detection module 2 in the second detection module can receive the light wave corresponding to the detection area 2-2 outside the window. The horizontal positions of detection areas 2-1 and 2-2 are the same. The horizontal positions of areas 2-1 and 2-2 are the same, but their vertical positions are different. The horizontal positions of detection areas 2-1 and 1-1 are different. The horizontal positions of detection areas 2-2 and 1-2 are different.

[0122] Optionally, any one of the light waves transmitted through the M vertical detection areas can enter the first sub-detection module or the second sub-detection module through the optical path adjustment module, so that the first sub-detection module or the second sub-detection module can receive the light wave.

[0123] In some embodiments, the optical path adjustment module can also be a separate optical path adjustment module for each sub-detection module. For example, one optical path adjustment module can be set for the first sub-detection module, and another optical path adjustment module can be set for the second sub-detection module. That is, the detection device includes 2*M optical path adjustment modules. Thus, the light wave emitted from each vertical detection area, after being adjusted by the optical path adjustment module of the corresponding first sub-detection module, can be received by the corresponding first sub-detection module. Similarly, the light wave emitted from each vertical detection area, after being adjusted by the optical path adjustment module of the corresponding second sub-detection module, can be received by the corresponding second sub-detection module.

[0124] In other embodiments, an optical path adjustment module may be provided for both the first and second sub-detection modules. That is, the detection device includes M optical path adjustment modules. Thus, the light wave emitted from each vertical detection area, after being adjusted by the corresponding optical path adjustment modules of the first and second sub-detection modules, can be received by the corresponding first and second sub-detection modules.

[0125] Using the above method, the light waves received in the horizontal and vertical directions from the detection area outside the window can be flexibly adjusted, and the corresponding area on the window can be adjusted accordingly. Thus, obstructions on the window can be detected flexibly.

[0126] For example, based on the environment of the window to be detected, the possible types of obstructions and their common sizes on the window can be determined, thus defining the area on the window. This allows for the determination of the first and second sub-detection modules in the detection device, improving the efficiency of obstruction detection. Alternatively, the first and second sub-detection modules can be determined by considering the usage of the device (e.g., LiDAR) of the window to be detected, improving the compatibility between the detection device and the device of the window to be detected.

[0127] It should be understood that the light waves transmitted from the N*M detection areas to the viewing window can be at a certain angle or parallel.

[0128] Scenario 3: The detection area is divided in two dimensions, such as horizontal and vertical directions. For example, N*M detection areas as in Scenario 2.

[0129] Taking the first detection module as an example, the first detection module receives light waves from a detection area at different scanning angles (different in both the horizontal and vertical directions) through the scanning module. Similarly, the second detection module can also receive light waves from a detection area at different scanning angles through its scanning module. Thus, the scanning modules enable the first and second detection modules to scan N*M detection areas.

[0130] The first and second detection modules can be positioned at different locations in the horizontal direction, while being in the same position in the vertical direction. Alternatively, they can be positioned at different locations in the vertical direction, while being in the same position in the horizontal direction. Or, their positions in both the horizontal and vertical directions can be different.

[0131] Using the above method, the scanning module can scan the detection area in two dimensions without the need for a sub-detection module, thus reducing the complexity of the detection device.

[0132] For example, such as Figure 4c As shown, at the same time, the first detection module can receive the light wave corresponding to the first detection area outside the window. Correspondingly, the first detection module receives the light wave from the first area that passes through the window. The second detection module can receive the light wave corresponding to the second detection area outside the window. Correspondingly, the second detection module receives the light wave from the second area that passes through the window.

[0133] The first and second detection areas can be horizontally aligned but vertically different. Alternatively, they can be both horizontally and vertically different. By scanning these different detection areas, the first and second detection modules can each scan all detection areas visible through the viewport. For details, please refer to the execution method of the scanning module.

[0134] II. Optical Path Adjustment Module

[0135] In this application, the optical path adjustment module can be used to ensure that light waves from different detection areas outside the window are received by different detection modules at the same time.

[0136] To enable light waves from different detection areas outside the viewing window to be received by different detection modules at the same time, this application can also achieve this through a combination of a detection module and an optical path adjustment module, a combination of a sub-detection module and an optical path adjustment module (e.g., a collimator, a lens module), or a combination of a scanning module (e.g., a reflector) and a management adjustment module. These will not be listed individually here. The following sections provide a detailed description of the structures of combinations of detection modules, optical path adjustment modules, and scanning modules, as well as the structures of combinations of sub-detection modules, optical path adjustment modules, and scanning modules.

[0137] like Figure 5a The diagram shown is a structural schematic of an optical path adjustment module provided in this application. The first detection module and the second detection module can share a single optical path adjustment module, or they can each have their own dedicated optical path adjustment module.

[0138] The following example illustrates a scenario where the first and second detection modules share a single optical path adjustment module. In one possible implementation, this module includes a lens assembly. Light waves transmitted from the detection area into the viewing window are focused onto the detection modules after passing through this lens assembly. This means that the field of view for each detection module corresponds to its respective detection area, thus adjusting the field of view of the detection modules. Optionally, the light entrances of the first and second detection modules are located on the image-side focal plane of the lens assembly. For example, as shown... Figure 5a As shown, the light entrance of the first detection module can be located on the image-side focal plane of the first lens group. Similarly, the light entrance of the second detection module can also be located on the image-side focal plane of the lens assembly.

[0139] Taking the distance d1 between the first detection module and the optical axis of the first lens group as an example, the first detection module receives light waves from the detection area 101, which forms an angle θ1 with the optical axis of the first lens group, and the light waves pass through the area 101 on the viewing window. The angle θ1 satisfies:

[0140] θ1 = arctan(f / d1).

[0141] Taking the distance d2 between the second detection module and the optical axis of the first lens group as an example, when the second detection module receives the light wave from the detection area 102 which forms an angle θ2 with the optical axis of the first lens group, and the light wave passes through the area 102 on the viewing window, the angle θ2 satisfies:

[0142] θ2 = arctan(f / d2).

[0143] It should be noted that the distance d1 between the first detection module and the optical axis of the first lens group can be the distance between the center of the first detection module and the optical axis of the first lens group, or it can be the distance between the edge of the first detection module and the optical axis of the first lens group. Similarly, the distance d2 between the second detection module and the optical axis of the first lens group can be the distance between the center of the second detection module and the optical axis of the first lens group, or it can be the distance between the edge of the second detection module and the optical axis of the first lens group. Here, d1 and d2 can be set in the same way as the distance d between the first and second detection modules. Of course, other methods can also be used to determine this distance, which is not limited here.

[0144] When the first detection module and the second detection module are located on different sides of the optical axis, the distance d between the first detection module and the second detection module satisfies: d = d1 + d2. At this time, the angle between the light waves from detection region 101 and detection region 102 satisfies: θ = θ1 + θ2.

[0145] When the first detection module and the second detection module are located on the same side of the optical axis, the distance d between the first detection module and the second detection module satisfies: d = |d1 - d2|. The angle θ between the light waves from detection region 101 and detection region 102 satisfies: θ = |θ1 - θ2|.

[0146] It should be noted that the first or second detection module can be a detection module in the device (e.g., a lidar) corresponding to the window to be detected. This method allows for flexible compatibility with devices corresponding to the window to be detected, improving the adaptability of the detection device and reducing implementation difficulty.

[0147] One possible implementation, to simplify the complexity of the processing module, is that the first or second detection module can be located on the optical axis of the optical path adjustment module. For example, taking the second detection module as being located on the optical axis of the optical path adjustment module, the distance d between the first and second detection modules is the distance between the first detection module and the optical axis. Therefore, the first detection module receives light waves from detection region 101, which forms an angle θ with the optical axis of the first lens group, and the second detection module receives light waves from detection region 103, which is parallel to the optical axis of the first lens group. The angle θ satisfies:

[0148] θ = arctan(f / d).

[0149] In another possible implementation, the optical path adjustment module may include a second lens group and a first lens group. The second lens group may be a collimation system. In another possible implementation, the second lens group may also be a collimator or a collimating lens. The following example again uses a first and second detection module sharing a single optical path adjustment module. This collimation system may also be shared by both the first and second detection modules. Alternatively, the collimation system may be configured separately for the first detection module and separately for the second detection module. For example, as... Figure 5b The diagram shows a first sub-collimation system including a first detection module and a second sub-collimation system including a second detection module. The optical axes of the first and second sub-collimation systems may not coincide. For example, the distance between the optical axes of the first and second sub-collimation systems is d0. The distance between the first detection module and the optical axis of the first sub-collimation system is d1, and the distance between the second detection module and the optical axis of the second sub-collimation system is d2. The distance d between the first and second detection modules satisfies: d = d1 + d2 + d0.

[0150] Using the above method, the optical path adjustment module can include a second lens group and a first lens group, so that the positions of the first detection module and the second detection module are not limited to the image-side focal plane of the first lens group. Correspondingly, the distance between the first detection module and the second detection module can also be flexibly set, improving the design flexibility of the detection device.

[0151] like Figure 5b As shown, taking the first detection module as an example, a second lens group may be included between the first detection module and the first lens group. The light entrance of the second lens group is located on the image-side focal plane of the first lens group. This allows the first light wave transmitted from the detection area into the viewing window to be focused onto the second lens group after passing through the first lens group, and then sent to the first detection module after being focused by the second lens group. At this time, the distance between the collimation system in the optical path adjustment module and the optical axis is d1. Correspondingly, the second light wave transmitted from the detection area into the viewing window can be focused onto the second lens group after passing through the first lens group, and then sent to the second detection module after being focused by the second lens group.

[0152] Therefore, by selecting a suitable optical path adjustment module, the field of view of the first detection module can correspond to a detection area outside the detection window, and the field of view of the second detection module can also correspond to a detection area outside the detection window. Furthermore, the first and second detection modules can detect light waves from the same detection area through different areas on the window at different times. This allows for subsequent comparison of the transmission effects of light waves from different areas on the window to the same detection area, determining whether obstructions exist in different areas of the window. This avoids the problem of obstructions being undetectable by reflected light due to weak reflection effects, thus improving the accuracy of obstruction detection on the window.

[0153] When the second lens group receives light waves from the detection region 101, which is parallel to the optical axis of the first lens group, taking the distance c1 between the image of the light wave on the focal plane of the first lens group and the optical axis of the first lens group as an example, the angle between the light wave and the optical axis of the first lens group is θ1, which satisfies: θ1=arctan(f / c1). Similarly, taking the distance c2 between the image of the light wave from the detection region 102 on the focal plane of the first lens group and the optical axis of the first lens group as an example, the angle between the second light wave and the optical axis of the first lens group is θ2, which satisfies: θ2=arctan(f / c2).

[0154] Wherein, the distance c1 between the image of the light wave in detection area 101 formed on the focal plane of the first lens group and the optical axis of the first lens group can be the distance c1 between the center point of the image formed on the focal plane of the light wave in detection area 101 and the optical axis of the first lens group. Correspondingly, the distance c2 between the image of the light wave in detection area 102 formed on the focal plane of the first lens group and the optical axis of the first lens group can be the distance c2 between the center point of the image formed on the focal plane of the first lens group and the optical axis of the first lens group. Of course, the distance c1 between the image of the light wave in detection area 101 formed on the focal plane of the first lens group and the optical axis of the first lens group can also be the distance c1 between the edge of the image formed on the focal plane of the light wave in detection area 101 and the optical axis of the first lens group. Correspondingly, the distance c2 between the image of the light wave in detection area 102 formed on the focal plane of the first lens group and the optical axis of the first lens group can also be the distance c2 between the edge of the image formed on the focal plane of the first lens group and the optical axis of the first lens group. Of course, it can also be determined in other ways, which are not limited here.

[0155] At this time, when the images formed by the light waves from detection area 101 and detection area 102 on the focal plane of the optical path adjustment module are located on different sides of the optical axis of the first lens group, the distance c between the images formed by the light waves from detection area 101 and detection area 102 on the focal plane of the optical path adjustment module satisfies: c = c1 + c2. When the images formed by the light waves from detection area 101 and detection area 102 on the focal plane of the optical path adjustment module are located on the same side of the optical axis of the first lens group, the distance c between the images formed by the light waves from detection area 101 and detection area 102 on the focal plane of the optical path adjustment module satisfies: c = |c1 - c2|.

[0156] The distance c between the images formed by the light waves from detection area 101 and the light waves from detection area 102 on the focal plane of the optical path adjustment module can be the distance between the center points of the images formed by the light waves from detection area 101 and the light waves from detection area 102 on the focal plane of the optical path adjustment module, or it can be the distance between other points of the images formed by the light waves from detection area 101 and the light waves from detection area 102 on the focal plane of the optical path adjustment module, which is not limited here.

[0157] Taking the second lens group as the collimating lens as an example, the focal length of the first sub-collimating system is f0. The distance d1 between the first detection module and the optical axis of the first sub-collimating system, and the light wave received by the first detection module through the optical path adjustment module at an angle θ1' with the optical axis of the first sub-collimating system, satisfy the following angle θ1': θ1' = arctan(f0 / d1'). Similarly, the distance d2' between the second detection module and the optical axis of the second lens group, and the light wave received by the second detection module through the optical path adjustment module at an angle θ2' with the optical axis of the second sub-collimating system, satisfy the following angle θ2': θ2' = arctan(f0 / d2').

[0158] Furthermore, the scanning module enables the first detection module to detect different detection areas outside the viewing window. The specific scanning method is described in the scanning module section below.

[0159] Similarly, at any given moment, the second detection module can also detect the detection area outside the window through the corresponding optical path adjustment module. Furthermore, at different times, the second detection module can also scan all the detection areas outside the window through the scanning module and the corresponding optical path adjustment module.

[0160] Referring to the example in Scenario 2 where the detection area is divided into M vertical detection areas, the optical path adjustment module can be based on all first sub-detection modules and / or second sub-detection modules, or each first sub-detection module can correspond to a separate optical path adjustment module, and each second sub-detection module can correspond to a separate optical path adjustment module. Taking the example of each first sub-detection module corresponding to a separate optical path module, combined with... Figure 4b and Figure 5b Examples, such as Figure 5c The diagram shows a structural schematic of an optical path adjustment module provided in this application. This optical path adjustment module includes M first sub-detection modules, M second sub-detection modules, and a first lens group. The M first sub-detection modules correspond one-to-one with the M vertical detection regions. The M second sub-detection modules also correspond one-to-one with the M vertical detection regions. Each sub-detection module can adjust the field of view of the incident light wave through a first lens group. For example, the light wave received by the first sub-detection module 1 through the first lens group 1-1 corresponds to field of view 1-1, that is, to the vertical detection region 101-1 outside the window and the vertical region 101-1 on the window. The light wave received by the first sub-detection module 2 through the first lens group 1-2 corresponds to field of view 1-2, that is, to the vertical detection region 101-2 outside the window and the vertical region 101-2 on the window.

[0161] Combination Figure 5a In this way, Figure 5cFor example, the first sub-detection module 1 receives the light wave from the detection area 101-1 through the first lens group 1-1. The first sub-detection module 2 receives the light wave from the detection area 101-2 through the first lens group 1-2. That is to say, by selecting the appropriate distance between the light inlets of the M first sub-detection modules and the optical axis of the optical path adjustment module, and the focal length f of the first lens group, it is possible to satisfy the M vertical detection areas outside the detection window corresponding to the M first sub-detection modules.

[0162] Similarly, the M second sub-detection modules correspond to the M vertical regions on the detection window.

[0163] One possible implementation is that the second sub-detection module shares an optical path adjustment module with the first sub-detection module. For example, the second sub-detection module 1 can receive light waves from the first lens group 1-1 that correspond to the field of view 2-1, that is, the vertical detection area 102-1 outside the window and the vertical area 102-1 on the window. The second sub-detection module 2 can receive light waves from the first lens group 1-2 that correspond to the field of view 2-2, that is, the vertical detection area 102-2 outside the window and the vertical area 102-2 on the window.

[0164] Another possible implementation is that the second sub-detection module and the first sub-detection module each have their own separate optical path adjustment modules. For example, the second sub-detection module 1 can use the light waves received by the first lens group 2-1 to correspond to the field of view 2-1, that is, to correspond to the detection area 102-1 outside the window and the area 102-1 on the window. The second sub-detection module 2 can use the light waves received by the first lens group 2-2 to correspond to the field of view 2-2, that is, to correspond to the detection area 102-2 outside the window and the area 102-2 on the window.

[0165] Taking the example of dividing the detection area into M vertical detection areas, the spacing between the output ports of the optical path adjustment modules corresponding to the sub-detection modules (e.g., the first sub-detection module or the second sub-detection module) can be equal or unequal. By controlling the spacing between the output ports of the optical path adjustment modules of the sub-detection modules and the focal length of the optical path adjustment modules, the field of view of the light waves received by the sub-detection modules from the optical path adjustment modules can be made to originate from the M vertical detection areas outside the window. Therefore, by setting the spacing between the output ports of the optical path adjustment modules of the sub-detection modules and the optical path adjustment modules, the size of the vertical detection area can be flexibly set to meet the needs of different detection devices for detecting different types of obstructions on the window. For example, when the window is frequently exposed to small obstructions such as sandstorms, the area of ​​the vertical detection area can be set to be smaller, and correspondingly, the spacing between the output ports of the optical path adjustment modules of the sub-detection modules can be set to be smaller. When the viewing window is frequently obstructed by large areas of rain, frost, or other debris, a larger vertical detection area can be set, and correspondingly, the spacing between the light output ports of the optical path adjustment modules of the sub-detection modules can be increased. Alternatively, depending on the characteristics of the viewing window, a smaller vertical detection area can be set in areas prone to accumulating obstructions, with a smaller spacing between the light output ports of the optical path adjustment modules of the sub-detection modules; conversely, a larger vertical detection area can be set in areas less prone to accumulating obstructions, with a larger spacing between the light output ports of the optical path adjustment modules of the sub-detection modules, thereby improving detection efficiency.

[0166] III. Scanning Module

[0167] The scanning module transmits light waves from the detection area outside the window to the optical path adjustment module, and then to the first and / or second detection modules. The detection device can scan the detection area outside the window by changing the detection angle of the scanning module. For example, the window detection device can preset multiple detection angles, and the scanning module can receive light waves from the detection area outside the window at each of the multiple detection angles.

[0168] In one possible implementation, the scanning module can be a scanner, such as a reflective scanner. Reflective scanners include, but are not limited to, mechanical rotating mirrors or MEMS micromirrors. A reflective scanner changes its scanning direction through mechanical rotation. When the scanning module is a reflective scanner, the reflecting surface of the reflective scanner can be positioned on the image-side focal plane of the first lens group.

[0169] like Figure 6aThe diagram shown is a schematic representation of the optical path structure comprising a scanner, a first detection module, a second detection module, and an optical path adjustment module, as provided in this application. This scanner can change its step angle in two dimensions (horizontal and vertical). Changing the step angle can also be understood as the scanner, at different step angles, causing the first or second detection module to receive light waves from the detection area outside the corresponding viewing window. Figure 5a Taking the first detection module as an example, at eight different step angles in eight different directions, light waves from eight different detection areas are transmitted to the first detection module via the scanner, resulting in eight scanning points for the eight detection areas. Thus, by having the scanner at different step angles at different times, the scanning trajectory corresponding to all detection areas on the window can be obtained. For example, the scanning trajectory obtained by the scanner can be obtained by the processing control module controlling the scanner to scan according to a preset scanning method. It can also be understood as the processing control module controlling the scanner to rotate in a two-dimensional direction, so that the scanner is at different detection angles to obtain the scanning trajectory. For example, the processing control module can control the scanning module to rotate first horizontally and then vertically, or first vertically and then horizontally, or rotate both vertically and horizontally together, or rotate alternately in the horizontal and vertical directions, etc. Combining the above... Figures 5a-5c The optical path adjustment module shown allows the scanning module to be positioned on the object-side focal plane of the first lens group, since the light spots of the beam incident from the first lens group coincide on the image-side focal plane of the first lens group. Alternatively, the scanning module can be located on the optical axis of the first lens group.

[0170] In other embodiments, the scanner can change its scanning angle in one dimension, allowing it to send light waves from different detection areas to the first detection module. Alternatively, it can send light waves from different detection areas to the second detection module. Taking the horizontal direction in scenario one above as an example, the scanning module can rotate horizontally to scan N horizontal areas on the window. Similarly, in scenario two above, rotating the scanning module horizontally allows for horizontal scanning of the window. In this case, in another dimension, combined with... Figure 4b Detection can be performed through the first sub-detection modules included in the first detection module, and through the second sub-detection modules included in the second detection module. For specific implementation details, please refer to [reference needed]. Figure 6a The implementation method will not be elaborated here. The above method can improve the flexibility of the detection device in window detection.

[0171] IV. Optical Path Relationship between the First Detection Module and the Second Detection Module

[0172] To enable the first and second detection modules to receive light waves from the same detection area.

[0173] Considering that the detection area 1 outside the window can be regarded as a far-field object relative to the first detection module, and the light received by the first detection module from the detection area is all parallel light, at the first moment, the light waves transmitted from the detection area 1 into the window can be focused onto the first detection module by the optical path adjustment module (e.g., the first lens group, which may also include the second lens group), so that the first detection module can image the target object in the detection area 1. Similarly, the detection area 1 outside the window can also be regarded as a far-field object relative to the second detection module, and the light received by the second detection module from the detection area is all parallel light. Therefore, at the first moment, the light waves transmitted from the detection area 2 into the window can be focused onto the second detection module by the optical path adjustment module (e.g., the first lens group, which may also include the second lens group), so that the second detection module can image the target object in the detection area 2.

[0174] by Figure 5a In the example, both the first detection module and the second detection module are located on the image-side focal plane of the first lens group. The first detection module, located at a distance d1 from the optical axis, receives incident energy with an angle θ1 to the optical axis through the optical path adjustment module in the scenario where the scanning module is not considered. The second detection module, located at a distance d2 from the optical axis, receives incident energy with an angle θ2 to the optical axis through the optical path adjustment module in the scenario where the scanning module is not considered. Therefore, the angle between the detection area 101 and the detection area 102 is related to the angle between the first optical path formed by the first detection module and the optical path adjustment module and the second optical path formed by the second detection module and the optical path adjustment module.

[0175] In the context of the scanning module, when the scanning module scans all detection areas, the first detection module and the second detection module can receive light waves from the same detection area at different times.

[0176] For example, let's take the case where the first detection module detects detection area 101 at the first moment and detection area 102 at the second moment.

[0177] Combination Figure 5a At the first moment, the first detection module receives the detection area 101 corresponding to the light wave at an angle θ1 to the optical axis, and the second detection module receives the detection area 102 corresponding to the light wave at an angle θ2 to the optical axis. The angle between the light waves from the detection area 101 and the light waves from the detection area 102 is θ = θ1 + θ2.

[0178] like Figure 6bAs shown, at the second moment relative to the first moment, the scanning module rotates by n steps angle a, that is, rotates by a scanning angle θ = n*a relative to the first moment, so that the first detection module detects the light wave in the detection area 102 outside the window. At this time, the distance c between the images formed by the light waves from the detection area 101 and the light waves from the detection area 102 on the focal plane of the optical path adjustment module is the distance d between the entrance ports of the first and second detection modules, which satisfies:

[0179] c = d = d1 + d2 = f * tanθ

[0180] It should be noted that at this time, the first detection module detects that the detection area 102 outside the window can be seen through the area 102' on the window. Area 102' and area 102 are areas on different windows.

[0181] For example, taking the first detection module located on the optical axis as an example, such as Figure 6c As shown, at the second moment, the scanning module rotates by an angle θ compared to the first moment. Through the scanning module, the light wave of the detection area 102 outside the window is deflected by an angle θ. When θ = θ1 + θ2, after the deflection angle θ, the light wave transmitted from the detection area 102 into the window can be focused onto the second detection module by the optical path adjustment module, so that the second detection module can image the target object in the detection area 102.

[0182] In the above process, the light wave received by the first detection module from the detection area 102 at the first moment is received through the first region on the window, while the light wave received by the second detection module from the detection area 102 at the second moment is received through the second region on the window. Since there is an angle θ1+θ2 between the first optical path (composed of the first detection module, the optical path adjustment module, and the scanning module) and the second optical path (composed of the second detection module, the optical path adjustment module, and the scanning module), the light waves incident from the same detection area 102 from the first and second optical paths will have a displacement at the position of the window. Therefore, the first region (e.g., region 102') and the second region (e.g., region 102) are different regions. It should be noted that in specific implementations, the first and second regions may overlap or not, and can be adjusted as needed. By comparing the differences between the first and second regions, and ensuring that the changes in the detection area at a distance from the window are negligible, it is possible to compare whether there is a difference in transmittance between the first and second regions on the window. This allows for the measurement of transmittance differences at different positions on the window, determining whether there is an obstruction on the window, and thus identifying whether there is an obstruction in the first or second region.

[0183] V. Processing Module

[0184] The processing module can be a processor or a component with processing functions installed in the lidar, or it can be a processor or a component with other functions installed in the lidar. In this application, the processing module can obtain the light wave signals from the same detection area received by the first detection module and the second detection module to determine whether there is an obstruction in the area on the viewing window.

[0185] In some embodiments, when the difference between the signal strength of the first light wave received by the first detection module through the first region and the signal strength of the second light wave received by the second detection module through the second region is greater than a preset threshold, it is determined that there is occlusion in the first region or the second region.

[0186] For example, if the signal strength of the first light wave received by the first detection module through the first region is weaker than the signal strength of the second light wave received by the second detection module through the second region, it can be determined that at least an obstruction exists in the first region. Areas where the second region does not overlap with the first region may not have obstructions.

[0187] Of course, it is also possible to further determine whether there are obstructions in the first or second region by receiving information about the region related to the first or second region at other times.

[0188] One possible implementation involves determining the distribution of the intensity difference between the K first pieces of information and the K second pieces of information based on the K first pieces of information received by the first detection module at K first moments and the K second pieces of information received by the second detection module at K second moments; where K is a positive integer; and determining the position information of the obstruction on the viewport based on the distribution of the intensity difference between the K first pieces of information and the K second pieces of information.

[0189] For example, the area on the window can be divided into K regions. The scanning module can step K-1 times to scan all K regions on the window. Specifically, for the first detection module, the K regions can be K first regions. That is, through K first moments, the first detection module completes the scanning of K first regions on the window. At the initial position of the scanning module, the first detection module can receive first information corresponding to one first region. Each time the scanning module steps once, it receives first information corresponding to a new first region. By stepping K-1 times, the first detection module can receive K pieces of first information on the window.

[0190] For the second detection module, the K region can be K second regions. There can be overlap between the K second regions and the K first regions. That is, through K second time points, the second detection module completes the scanning of the K second regions on the viewport. At the initial position of the scanning module, the second detection module can receive second information corresponding to one second region. Each time the scanning module steps forward one time, it can receive second information corresponding to a new second region. By stepping forward K-1 times, the second detection module can receive K pieces of second information on the viewport.

[0191] Considering that the scanning module rotates by an angle n*a relative to the first time step, the K first time steps and the K second time steps can overlap. For example, if the scanning module rotates by an angle a relative to the first first time step, then the nth first time step is the first second time step.

[0192] The above method can be used to scan K first regions and K second regions on the window, thereby improving the detection efficiency of the window.

[0193] For example, the window is divided into N*M detection areas. The N detection areas are scanned horizontally using a scanner and an optical path adjustment module, while the M detection areas are detected vertically using M sub-detection modules and corresponding optical path adjustment modules. In this case, K can be N+1.

[0194] like Figure 6d and Figure 6e As shown, taking N=4 as an example, in some embodiments, the angle between the first optical path and the second optical path in the horizontal direction is taken as one step angle α. The scanner scans four detection areas in the horizontal direction, with the scanning of the four detection areas completed from time 1 to time 4 as an example. The first optical path consists of the first detection module, the optical path adjustment module, and the scanning module, and the second optical path consists of the second detection module, the optical path adjustment module, and the scanning module.

[0195] At time 1, the scanner adjusts the scanning angle to the angle corresponding to the receiving detection area 1 of the first detection module. The first detection module transmits the light wave of detection area 1 through area 1-1 on the window. Correspondingly, the second detection module receives the light wave of detection area 2 through the scanner, and the second detection module transmits the light wave of detection area 2 through area 2-2 on the window.

[0196] At time 2, the scanner will rotate by a step angle so that the first detection module corresponds to the angle of the receiving detection area 2. The first detection module transmits the light wave of the detection area 2 through area 2-1 on the window. Correspondingly, the second detection module receives the light wave of the detection area 3 through the scanner, and the second detection module transmits the light wave of the detection area 3 through area 3-2 on the window.

[0197] Therefore, combining Figure 6f By using the light waves received by the first detection module and the second detection module in the detection area 2, i.e. the light waves detected by the second detection module at time 1 and the light waves detected by the first detection module at time 2, it can be determined whether the difference in intensity of the light waves received by the area 2-2 and the area 2-1 in the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 2-1 or the area 2-2 in the window.

[0198] In some embodiments, the processing module may receive the gray value G1(1) of the signal intensity of the light wave in region 2-1 of the window and the gray value G2(2) of the signal intensity of the light wave in region 2-2 of the window.

[0199] For example, if the intensity of the light wave received in region 2-1 of the window is weaker than the intensity of the light wave received in region 2-2 of the window, it can be determined that there may be an obstruction in region 2-1 of the window.

[0200] First, establish a correspondence between the fields of view (detection areas) of the first and second detection modules: G1(1) and G2(2) correspond to the same detection area. Therefore, the intensity difference P between the second light wave received in region 2-2 of the window and the first light wave received in region 2-1 of the window can be determined.

[0201] One possible implementation is that the gray value difference between the gray value G1(1) of the light wave received at time 1 in region 2-1 of the window and the gray value G2(2) of the signal intensity of the light wave received at time 2 in region 2-2 of the window satisfies:

[0202]

[0203] When P1(2) is greater than the first preset threshold, it can be determined that there is an obstruction in region 2-1 of the viewport. Using the above method, judgment can be made based on the relative difference between grayscale values, reducing the influence of different ambient light intensities on the judgment of obstructions and improving the robustness of detection. It should be noted that the first preset threshold can be determined by the noise of the received light signal, or by other methods, and is not limited here.

[0204] Another possible implementation is that the grayscale value difference satisfies:

[0205] P2(2)=G2(2)-G1(1)

[0206] When P2(2) is greater than the second preset threshold, it can be determined that there is an obstruction in region 2-1 of the window. Using the above method, judgment can be made based on the difference between grayscale values, reducing the complexity of the detection device. It should be noted that the second preset threshold can be determined by the noise of the received light signal, or by combining the signal intensity of the light wave received by the window without an obstruction, or by combining the type of obstruction, or by other methods; it is not limited here.

[0207] Combining time 1 and time 2, combining Figure 6f Furthermore, by using the light waves received by the first detection module and the second detection module in the detection area 1, i.e. the light waves detected by the first detection module at time 1 and the light waves detected by the second detection module at time 2, it is possible to determine whether the difference in intensity of the light waves received by the area 1-1 and the area 1-2 in the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 1-1 or the area 1-2 in the window.

[0208] For example, if the intensity of the light wave received in region 1-2 of the window is weaker than the intensity of the light wave received in region 1-1 of the window, it can be determined that there may be an obstruction in region 1-2 of the window. Combining the determination at time 1 and time 2 that there may be an obstruction in region 2-1 of the window, it can be determined that at least the overlapping part of region 1-2 and region 2-1 has an obstruction.

[0209] At time 3, the scanner will rotate by a step angle so that the first detection module corresponds to the angle of the receiving detection area 3. The first detection module transmits the light wave of the detection area 3 through area 3-1 on the window. Correspondingly, the second detection module receives the light wave of the detection area 4 through the scanner, and the second detection module transmits the light wave of the detection area 4 through area 4-2 on the window.

[0210] Therefore, by using the light waves received by the first detection module and the second detection module in the detection area 3, that is, by using the light waves detected by the second detection module at time 2 and the light waves detected by the first detection module at time 3, it is possible to determine whether the difference in intensity of the light waves received by the area 3-2 and the area 3-1 of the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 3-2 or the area 3-1 of the window.

[0211] Or, combine Figure 6fBy using the light waves received by the first detection module and the second detection module in the detection area 2, i.e. the light waves detected by the first detection module at time 2 and the light waves detected by the second detection module at time 3, it can be determined whether the difference in intensity of the light waves received by the area 2-1 and the area 2-2 in the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 2-1 or the area 2-2 in the window.

[0212] At time 4, the scanner will rotate by a step angle so that the first detection module corresponds to the angle of the receiving detection area 4. The first detection module transmits the light wave of the detection area 4 through the area 4-1 on the window.

[0213] Therefore, combining Figure 6f By using the light waves received by the first detection module and the second detection module in the detection area 4, that is, by using the light waves detected by the second detection module at time 3 and the light waves detected by the first detection module at time 4, it can be determined whether the difference in intensity of the light waves received by the area 4-2 and the area 4-1 of the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 4-2 or the area 4-1 of the window.

[0214] For example, in some embodiments, the angle between the first optical path and the second optical path in the horizontal direction is L step angles a.

[0215] At the first moment, the scanner adjusts its scanning angle to match the angle of the receiving detection area 1 of the first detection module. The first detection module transmits the light wave of detection area 1 through area 1-1 on the viewing window. Correspondingly, the second detection module receives the light wave of detection area 2 through the scanner, and transmits the light wave of detection area 2 through area 2-2 on the viewing window. At the second moment, the scanner rotates by L steps, so that the angle of the first detection module corresponding to the receiving detection area 2 is adjusted, and the first detection module transmits the light wave of detection area 2 through area 2-1 on the viewing window.

[0216] Therefore, by using the light waves received by the first detection module and the second detection module in the detection area 2, that is, the light waves detected by the second detection module at the first time 1 and the light waves detected by the first detection module at the second time 2, it can be determined whether the difference in intensity of the light waves received by the area 2-2 and the area 2-1 of the window is greater than a preset threshold, thereby determining whether there is an obstruction in the area 2-2 or the area 2-1 of the window.

[0217] Considering scenarios where obstructions may appear in multiple first regions and / or multiple second regions, for example, at a first moment, the first detection module receives first information of a first light wave passing through the first region of the window; at a second moment, the second detection module receives second information of a second light wave passing through the second region of the window. If both the first and second regions are covered by the same type of obstruction, the difference between the first and second information received by the first and second detection modules may be too small to determine whether an obstruction exists in both regions. In this case, the presence of an obstruction, as well as its size and location, can be determined by combining the light intensity differences of light waves in other regions of the window measured at other times.

[0218] For example, combining Figures 6d-6f As shown, assume that the obstruction covers regions 1-2 and 1-3, as well as regions 2-2 and 2-3. At time 2, the second detection module obtains the second information for region 2-2, and at time 3, the first detection module obtains the first information for region 1-3. Since both regions 2-2 and 1-3 are covered by obstructions, the difference between the second information for region 2-2 and the first information for region 1-3 is less than a preset threshold, making it impossible to determine whether there are obstructions in regions 2-2 and 1-3. At this point, the presence of obstructions in regions 2-3 and 1-4 can be determined based on the second information for region 2-3 obtained by the second detection module at time 3 and the first information for region 1-4 obtained by the first detection module at time 4. Since the difference between the first information for region 1-4 and the second information for region 2-3 is greater than a preset threshold, it can be determined that region 1-4 has no obstructions, while region 2-3 has obstructions. Given that region 2-3 is identified as having an obstruction, the second information of region 2-3 can be compared with the first information of region 1-3. If the difference between the second information of region 2-3 and the first information of region 1-3 is less than a preset threshold, it can be determined that region 2-3 has an obstruction, and correspondingly, region 2-2 also has an obstruction. Compared to determining whether there is an obstruction in the first or second region by using a single first and second region, this method effectively improves the recognition effect of obstructions and increases the accuracy of recognizing obstructions on the viewport.

[0219] In some embodiments, the distribution of the obstruction on the window can be determined by scanning the window to obtain K first information corresponding to K first regions and K second information corresponding to K second regions. For example, the processing module determines the distribution of the intensity difference between the K first information and the K second information based on the K first information received by the first detection module at K first moments and the K second information received by the second detection module at K second moments; K is a positive integer; and the position information of the obstruction on the window is determined based on the distribution of the intensity difference between the K first information and the K second information. Thus, the size and position of the obstruction are determined.

[0220] For example, taking a detection area comprising 15*8 detection regions, the first detection module may include eight first sub-detection modules for detecting eight vertical detection regions. The first detection module can detect 14*8 detection regions through 14 scanning steps in the horizontal direction. The second detection module may include eight second sub-detection modules for detecting eight vertical detection regions. The second detection module can detect 14*8 detection regions through 14 scanning steps in the horizontal direction. Thus, the scanning of the 15*8 detection regions by the first and second detection modules covers the area on 15*8 viewports.

[0221] like Figure 7a The diagram shows the distribution of light intensity values ​​in each window region obtained by the first detection module. Figure 7b The diagram shows the distribution of light intensity values ​​in each window region obtained by the second detection module. Taking the simultaneous reception of light waves from eight detection regions as an example, G1(0) corresponding to the first detection module represents the information from the eight detection regions received at the initial moment. G2(0) corresponding to the second detection module also represents the information from the eight detection regions received at the initial moment. Combined with... Figure 7a and Figure 7b It can be determined that there are obstructions in G1(7) corresponding to the first detection module and G2(9) corresponding to the second detection module. Optionally, consider a scenario where each column includes 8 sub-detection modules for detection, combined with Figure 7a and Figure 7b It can be determined that there are obstructions at G1(7,4) and G1(7,5) corresponding to the first detection module, and G2(9,4) and G2(9,5) corresponding to the second detection module.

[0222] This application can determine the size and location of an obstruction by comprehensively analyzing the distribution of light intensity values ​​across all regions obtained by the first and second detection modules. Optionally, the distribution of light intensity values ​​across all regions obtained by the first and second detection modules can provide a more accurate spatial distribution of the window's transmittance. For example, by scanning the window, K pieces of first information corresponding to K first regions and K pieces of second information corresponding to K second regions can be obtained, thus determining the distribution of the obstruction on the window. For instance, the spatial distribution of the window's transmittance r satisfies:

[0223] r(1),r(2),…,r(K)=f(p(1),p(2),…,p(K))

[0224] Where K is the scanning time, which can correspond to the region on the viewport, and f(~) is the function for calculating spatial transmittance. This application does not limit the function.

[0225] Compared to determining whether there are obstructions in the first or second area by using a single first and second area, this method can effectively improve the identification of obstructions and increase the accuracy of identifying obstructions on the window, thereby better guiding subsequent window cleaning and window alarm operations.

[0226] In some embodiments, the processing module can also determine the type of obstruction in the first or second region of the window based on the first and second light waves. Specifically, the type of obstruction present on the window can be determined by setting a corresponding threshold range.

[0227] For example, if the obstruction in the first area of ​​the window is a smooth surface such as water droplets or snow, then compared to the clean surface area of ​​the window without such obstructions (e.g., the second area), the light is mainly reflected out of the window through the mirror, and the intensity of the light transmitted into the window through the first area will be greatly reduced. The signal intensity of the first light wave received by the first detection module through the first area is weaker than the signal intensity of the second light wave received by the second detection module through the second area. Therefore, the presence of an obstruction and the type of obstruction in the first area can be determined by judging the intensity difference between the first and second light waves.

[0228] For example, if the obstruction in the first area of ​​the window is a rough surface such as dust, the intensity of light transmitted into the window through the first area will be reduced compared to the area of ​​the window with a clean surface (e.g., the second area) where there is no such obstruction. The signal intensity of the first light wave received by the first detection module through the first area is weaker than the signal intensity of the second light wave received by the second detection module through the second area. Therefore, the presence of an obstruction and the type of obstruction in the first area can be determined by judging the intensity difference between the first and second light waves.

[0229] For example, by setting a first threshold range for water droplets, when the difference between the signal strength of the first light wave and the signal strength of the second light wave falls within the first threshold range, it can be determined that a water droplet-type obstruction exists in the first or second region. Similarly, by setting a first threshold range for ice, when the difference between the signal strength of the first light wave and the signal strength of the second light wave falls within the first threshold range for ice, it can be determined that an ice-type obstruction exists in the first or second region.

[0230] For example, by setting a second threshold range for dust, when the difference between the signal strength of the first light wave and the signal strength of the second light wave is within the second threshold range, it can be determined that there is a dust-type obstruction in the first or second region.

[0231] Optionally, the processing module can also instruct the corresponding cleaning window component to perform a cleaning operation on the first or second area after determining that there is an obstruction in the first or second area.

[0232] For example, after determining that there is a type of obstruction in the first or second area, the processing module can instruct the cleaning component that cleans the type of obstruction to perform a cleaning operation on the first or second area.

[0233] For example, if it is determined that there is a rain-type obstruction in the first area, the windshield wipers can be turned on to clean the first area. As another example, if it is determined that there is a dust-type obstruction in the first area, the detergent sprayer can be activated to spray detergent onto the window, and the windshield wipers can be turned on to clean the first area.

[0234] The above methods can improve the accuracy of detecting obstructions.

[0235] Optionally, the detection device may also include a processing control module. This processing control module can be used to control the scanning module at different scanning angles. The processing control module can be integrated with the processing module or it can be a separate component; this is not limited here.

[0236] It should be understood that the processing control module can control the scanning module to step to a certain scanning angle, or it can continuously rotate to a certain scanning angle. The scanning module can be at different scanning angles, and at each scanning angle, it receives light waves from the detection area.

[0237] For example, the processing control module can first control the scanning module to receive the first light wave from the first detection area at a scanning angle, for example, at a first moment, and then receive the second light wave from the second detection area, which then enters the first detection module via the optical path adjustment module.

[0238] The processing control module triggers the data acquisition unit in the first detection module to acquire the first light wave, and then triggers the data acquisition unit in the second detection module to acquire the second light wave. Based on the acquired first and second light waves, the processing module determines the information of the obstructions corresponding to the first and second regions. The processing control module then controls the scanning module to move to the next scanning angle and repeats the above process.

[0239] It should be noted that when the control module controls the scanning module, the signal receiving unit in the first detection module can continuously receive the corresponding first information. Similarly, the signal receiving unit in the second detection module can continuously receive the corresponding second information.

[0240] Optionally, the processing control module can also instruct the corresponding cleaning window component to perform a cleaning operation on the first or second area after determining that there is an obstruction in the first or second area.

[0241] In one possible implementation, the processing control module may include a processing unit and a control unit. The processing unit may be a general-purpose processor, a field-programmable gate array (FPGA), a digital signal processing (DSP) circuit, an application-specific integrated circuit (ASIC), or other programmable logic devices. The control unit includes drivers for the scanner, modulator, laser frequency modulation, and detector, etc. These drivers may be integrated together or separate.

[0242] Optionally, the FPGA can send control signals to each driver of the control unit, enabling the scanner driver to control the scanning module and the detector driver to control the first and second detection modules, thereby achieving synchronization among the scanning module, the first detection module, and the second detection module; or, enabling the scanner driver to control the scanning module and the detector driver to control the first and second detection modules, thereby achieving synchronization among the scanning module, the first detection module, and the second detection module. Taking the scanner as an example, the FPGA can send control signals to the scanning module driver, and the scanning module driver can control the scanner to be at a certain scanning angle according to the control signals.

[0243] Based on the above content and the same concept, this application provides a detection method, which can be found below. Figure 8 The window detection method can be applied to the detection device of any of the above embodiments. The detection device includes: an optical path adjustment module, a scanning module, and a processing module; a first detection module and a second detection module at a distance d, as shown below. Figure 8 As shown, the method includes the following steps:

[0244] Step 801: The scanning module receives and reflects the first light wave through the first area of ​​the window at the first moment. The first light wave is received by the first detection module through the optical path adjustment module and generates the first information; the first information indicates the intensity of the first light wave.

[0245] Step 802: The scanning module receives and reflects the second light wave through the second area of ​​the window at the second moment. The second light wave is received by the second detection module through the optical path adjustment module to generate second information. The second information is used to indicate the intensity of the second light wave. The first light wave and the second light wave originate from the same detection area outside the window.

[0246] Step 803: The processing module acquires the first information from the first detection module and the second information from the second detection module, and controls the scanning module to rotate by a step angle a.

[0247] The scanning module has an angle difference of n*a between the first and second moments, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. Alternatively, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. Here, distance c is m times distance d, and c, f, and m are positive numbers.

[0248] Step 804: The processing module outputs third information based on the first and second information. The third information is used to indicate that there is occlusion in the first or second area, or to indicate that a cleaning operation should be performed.

[0249] In some embodiments, the angle between the first optical path and the second optical path is related to the scanning angle difference n*a; wherein, the first optical path is the optical path between the first detection module, the optical path adjustment module and the scanning module at the first moment; the second optical path is the optical path between the second detection module, the optical path adjustment module and the scanning module at the first moment; or, the first optical path is the optical path between the first detection module, the optical path adjustment module and the scanning module at the second moment; the second optical path is the optical path between the second detection module, the optical path adjustment module and the scanning module at the second moment.

[0250] The first detection module receives a first light wave transmitted into a detection area within the window at a first moment, and the second detection module receives a second light wave transmitted into the same detection area within the window at a second moment. The first light wave is transmitted through a first area on the window to the first detection module, and the second light wave is transmitted through a second area on the window to the second detection module. Thus, based on the first and second light waves from the same detection area, the differences between different areas on the window can be compared. Since the transmittance of light waves on the window is considered, compared with detecting the window through reflected echo signals, it can more accurately determine whether there are obstructions on the window. While determining the presence of obstructions, the type of obstruction can also be determined based on the difference between the first and second light waves, thereby performing corresponding cleaning operations. Timely identification and processing of obstructions effectively ensure the normal operation performance of devices such as lidar or cameras.

[0251] To achieve the functions of the methods provided in the embodiments of this application, this application also provides a detection device for implementing the above methods. This device may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0252] The detection device provided in this application embodiment can be a controller with an integrated processor, or it can be a chip or circuit capable of performing the functions corresponding to the above methods. This chip or circuit can be disposed in a controller or other device. Furthermore, the detection device provided in this application embodiment can also be implemented in hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0253] The detection device provided in this application embodiment can be divided into functional modules. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0254] One possible implementation is, such as Figure 9 The diagram shown is a schematic representation of a detection device according to an embodiment of this application. This detection device can be a lidar, a component within a lidar system, or a device compatible with a lidar. The device 900 may include: a first detection module 901, a second detection module 902, an optical path adjustment module 903, and a scanning module 904. Of course, the device 900 may also include other modules, such as a processing module. This application embodiment is not limited; only the main functional modules are shown.

[0255] It should be understood that the first detection module 901 and the second detection module 901 in the embodiments of this application can be implemented by a detector or detector-related circuit components, respectively.

[0256] The scanning module 904 is used to receive and reflect a first light wave passing through a first area of ​​the window at a first moment. The first light wave is received by the first detection module 901 via the optical path adjustment module 903 to generate first information. The scanning module 904 is also used to receive and reflect a second light wave passing through a second area of ​​the window at a second moment. The second light wave is received by the second detection module 902 via the optical path adjustment module 903 to generate second information. The scanning angle difference between the first and second moments of the scanning module 904 is n*a, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module 903 includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. Alternatively, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. The distance c is m times the distance d, and c, f, and m are positive numbers.

[0257] The processing module controls the scanning module 904 to rotate in step angle α. The processing module is also used to output third information based on first and second information. The third information indicates whether there is occlusion in the first or second region, or indicates the need to perform a cleaning operation. The processing module acquires first information from the first detection module and second information from the second detection module. The first information indicates the intensity of the first light wave, and the second information indicates the intensity of the second light wave.

[0258] For example, embodiments of this application may provide a lidar 1000, the structure of which may be as follows: Figure 10 As shown, the lidar 1000 includes a laser 1001, a first detector 1002, a second detector 1003, and an optical device 1004; the optical device 1004 may include the scanning module and / or the optical path adjustment module in the above embodiments. The first detector 1002 may be the first detection module in the above embodiments, and the second detector 1003 may be the second detection module in the above embodiments. Optionally, the lidar 1000 may also include a processing module.

[0259] The scanning module in the optical device 1004 is used to receive and reflect a first light wave passing through a first area of ​​the window at a first moment. The first light wave is received by the first detection module via the optical path adjustment module to generate first information. The scanning module is used to receive and reflect a second light wave passing through a second area of ​​the window at a second moment. The second light wave is received by the second detection module via the optical path adjustment module to generate second information. The scanning angle difference between the first moment and the second moment is n*a, where a is the step angle and is greater than 0, and n is a positive integer.

[0260] The optical path adjustment module in optical device 1004 includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a; or, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. Wherein, distance c is m times distance d, and c, f, and m are positive numbers.

[0261] The processing module controls the scanning module in the optical device 1004 to rotate by a step angle α. The processing module is also used to output third information based on first and second information. The third information indicates whether there is occlusion in the first or second region, or indicates the need to perform a cleaning operation. The processing module acquires first information from the first detection module and second information from the second detection module. The first information indicates the intensity of the first light wave, and the second information indicates the intensity of the second light wave.

[0262] It should be noted that, Figure 10 The connection between laser 1001 and optical device 1004 indicates that there is an optical path between laser 1001 and optical device 1004, but does not represent a device connection between laser 1001 and optical device 1004. The connection between optical device 1004 and first detector 1002, and between optical device 1004 and second detector 1003, indicates that there is an optical path between optical device 1004 and first detector 1002, and between optical device 1004 and second detector 1003, but does not represent a device connection between optical device 1004 and first detector 1002, or between optical device 1004 and second detector 1003.

[0263] This application also provides a chip connected to a memory for reading and executing software programs stored in the memory. When the software program is run on the chip, the chip enables the chip to perform... Figure 3 , Figures 4a-4c , Figures 5a-5c , Figures 6a to 6f , Figures 7a-7b , Figure 8 The chip can be used as a processing module or a lidar. For example, when the software program runs on the chip, it controls the scanning module of the detection device to rotate by a step angle α; and acquires first information from the first detection module and second information from the second detection module of the detection device, wherein the first information indicates the intensity of a first light wave and the second information indicates the intensity of a second light wave; based on the first and second information, it outputs third information, which indicates that there is an obstruction in the first or second area of ​​the window of the detection device, or indicates that a cleaning operation should be performed.

[0264] The first light wave is received and reflected by the scanning module of the detection device at the first moment and passes through the first area. The first light wave is received by the first detection module through the optical path adjustment module of the detection device and generates the first information. The second light wave is received and reflected by the scanning module of the detection device at the second moment and passes through the second area. The second light wave is received by the second detection module through the optical path adjustment module and generates the second information.

[0265] The scanning angle difference between the first and second moments of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a; or, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. Wherein, distance c is m times distance d, and c, f, and m are positive numbers.

[0266] This application also provides a computer-readable storage medium including instructions that, when executed on a detection device, cause the detection device to perform... Figure 3 , Figures 4a-4c , Figures 5a-5c , Figures 6a to 6f , Figures 7a-7b , Figure 8 The function of a detection device or lidar. For example, when an instruction is executed on the detection device, the detection device controls the scanning module of the detection device to rotate by a step angle α; and acquires first information from the first detection module of the detection device and second information from the second detection module of the detection device, the first information indicating the intensity of a first light wave and the second information indicating the intensity of a second light wave; based on the first and second information, outputs third information, the third information indicating that there is an obstruction in the first or second area of ​​the window of the detection device, or indicating the execution of a cleaning operation;

[0267] The first light wave is received and reflected by the scanning module of the detection device at the first moment and passes through the first area. The first light wave is received by the first detection module through the optical path adjustment module of the detection device and generates the first information. The second light wave is received and reflected by the scanning module of the detection device at the second moment and passes through the second area. The second light wave is received by the second detection module through the optical path adjustment module and generates the second information.

[0268] The scanning angle difference between the first and second moments of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a; or, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. Wherein, distance c is m times distance d, and c, f, and m are positive numbers.

[0269] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0270] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0271] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0272] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0273] This application also provides a terminal, which includes at least one detection device mentioned in the above embodiments of this application, or includes a lidar mentioned in the above embodiments of this application.

[0274] This application also provides a computer product, including instructions that, when executed on a computer, cause the computer to perform... Figure 3 , Figures 4a-4c , Figures 5a-5c , Figures 6a to 6f , Figures 7a-7b , Figure 8 The function of a detection device or lidar. For example, when instructions are executed on a computer, the computer controls the scanning module of the detection device to rotate by a step angle α; and acquires first information from the first detection module and second information from the second detection module of the detection device, wherein the first information indicates the intensity of a first light wave and the second information indicates the intensity of a second light wave; based on the first and second information, outputs third information, which indicates that there is obstruction in the first or second area of ​​the detection device's window, or indicates the need to perform a cleaning operation;

[0275] The first light wave is received and reflected by the scanning module of the detection device at the first moment and passes through the first area. The first light wave is received by the first detection module through the optical path adjustment module of the detection device and generates the first information. The second light wave is received and reflected by the scanning module of the detection device at the second moment and passes through the second area. The second light wave is received by the second detection module through the optical path adjustment module and generates the second information.

[0276] The scanning angle difference between the first and second moments of the scanning module is n*a, where a is the step angle and is greater than 0, and n is a positive integer. The optical path adjustment module includes a first lens group. The distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group is related to the scanning angle difference n*a. Alternatively, the ratio of the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group to the focal length f of the first lens group is related to the scanning angle difference n*a. The distance c is m times the distance d, and c, f, and m are positive numbers.

[0277] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A detection device, characterized in that, include: The optical path adjustment module, the scanning module, and the processing module; a first detection module and a second detection module at a distance d, wherein d is greater than 0; The scanning module is used to receive and reflect a first light wave that passes through a first area of ​​the window at a first moment. The first light wave is received by the first detection module via the optical path adjustment module and generates first information. The scanning module is used to receive and reflect a second light wave that passes through the second area of ​​the window at a second time. The second light wave is received by the second detection module via the optical path adjustment module and generates second information. The scanning angle difference between the scanning module at the first moment and the second moment is n. a, where a is the step angle and is greater than 0, and n is a positive integer; The optical path adjustment module includes a first lens group, the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group, and the scanning angle difference n. Regarding a, the distance c is m times the distance d, and c and m are positive numbers; The processing module is used to control the scanning module to rotate at the step angle a; and to acquire first information from the first detection module and second information from the second detection module, wherein the first information indicates the intensity of the first light wave and the second information indicates the intensity of the second light wave; The processing module is further configured to output third information based on the first information and the second information, wherein the third information is used to indicate that there is obstruction in the first area or the second area, or to indicate that a cleaning operation should be performed.

2. The apparatus as claimed in claim 1, characterized in that, The first light wave is parallel to the second light wave; the first light wave and the second light wave originate from the same detection area outside the viewing window.

3. The apparatus as described in claim 1, characterized in that, The difference in scanning angle between the first time point and the second time point satisfies: n a=arctan(c / f) Wherein, f is the focal length of the optical path adjustment module, c is the distance between the images formed by the first light wave and the second light wave on the focal plane of the optical path adjustment module, a is the step angle of the scanning module, and c, f, and a are greater than 0; n is a positive integer, and f is a positive number.

4. The apparatus as claimed in claim 1, characterized in that, The first lens group is used to focus the first light wave from the scanning module and transmit the focused first light wave to the first detection module; In addition, the second light wave from the scanning module is focused, and the focused second light wave is transmitted to the second detection module; The first detection module and the second detection module are located on the image-side focal plane of the first lens group; c is equal to d.

5. The apparatus as claimed in claim 1, characterized in that, The optical path adjustment module also includes a second lens group, which is a collimation system; The second lens group is used to focus the second light wave from the first lens group and transmit the focused first light wave to the first detection module; The second light wave from the first lens group is focused, and the focused second light wave is transmitted to the second detection module; The light inlet of the collimation system is located on the focal plane of the first lens group, and the first detection module and the second detection module are located on the focal plane of the collimation system. The value of m is related to the focal length of the collimation system.

6. The apparatus as claimed in claim 1, characterized in that, The processing module is specifically used to determine that there is occlusion in the first region or the second region when the difference between the intensity of the first light wave and the intensity of the second light wave is greater than a preset threshold.

7. The apparatus as claimed in claim 1, characterized in that, The processing module is further configured to determine the type of obstruction on the window based on the difference between the intensity of the first light wave and the intensity of the second light wave.

8. The apparatus as claimed in claim 1, characterized in that, The processing module is further configured to: Based on the K first pieces of information received by the first detection module at K first moments and the K second pieces of information received by the second detection module at K second moments, the distribution of the intensity difference between the K first pieces of information and the K second pieces of information is determined; where K is a positive integer. Based on the distribution of the intensity differences between the K first pieces of information and the K second pieces of information, the position information of the obstruction on the viewing window is determined.

9. The apparatus as claimed in claim 1, characterized in that, The first detection module or the second detection module is located on the optical axis of the optical path adjustment module.

10. The apparatus according to any one of claims 1-9, characterized in that, The rotating axis of the scanning module is located on the optical axis of the optical path adjustment module.

11. A detection method, characterized in that, The method is applied to a detection device, which includes: an optical path adjustment module, a scanning module, and a processing module; a first detection module and a second detection module at a distance d; and the method includes: The scanning module receives and reflects a first light wave passing through a first area of ​​the viewing window at a first moment. The first light wave is received by the first detection module via the optical path adjustment module to generate first information. The scanning module receives and reflects a second light wave passing through a second area of ​​the viewing window at a second moment. The second light wave is received by the second detection module via the optical path adjustment module to generate second information. The scanning angle difference between the first moment and the second moment is n. a, where a is the step angle and is greater than 0, and n is a positive integer; The optical path adjustment module includes a first lens group, the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group, and the scanning angle difference n. Regarding a, the distance c is m times the distance d, and c and m are positive numbers; The processing module controls the scanning module to rotate at the step angle a, and acquires first information from the first detection module and second information from the second detection module. Based on the first and second information, it outputs third information. The first information indicates the intensity of the first light wave, and the second information indicates the intensity of the second light wave. The third information indicates that there is occlusion in the first or second area, or indicates that a cleaning operation should be performed.

12. The method as described in claim 11, characterized in that, The first light wave is parallel to the second light wave; the first light wave and the second light wave originate from the same detection area outside the viewing window.

13. The method as described in claim 11, characterized in that, The difference in scanning angle between the first time point and the second time point satisfies: n a=arctan(c / f) Wherein, f is the focal length of the optical path adjustment module, c is the distance between the images formed by the first light wave and the second light wave on the focal plane of the optical path adjustment module, a is the step angle of the scanning module, and c, f, and a are greater than 0; f is a positive number.

14. The method as described in claim 11, characterized in that, The c is equal to the d; the first light wave is received by the first detection module via the optical path adjustment module and generates first information, including: The first lens group focuses the first light wave from the scanning module and transmits the focused first light wave to the first detection module. The first detection module generates the first information based on the focused first light wave. The second light wave is received by the second detection module via the optical path adjustment module to generate second information, including: The first lens group focuses the second light wave from the scanning module and transmits the focused second light wave to the second detection module, which then generates second information based on the focused second light wave.

15. The method as described in claim 11, characterized in that, The optical path adjustment module further includes a second lens group, which is a collimation system; the light inlet of the second lens group is located on the focal plane of the lens assembly, the first detection module and the second detection module are located on the focal plane of the second lens group, and m is related to the focal length of the second lens group; The first light wave is received by the first detection module via the optical path adjustment module and generates first information, including: The second lens group focuses the first light wave from the first lens group and transmits the focused first light wave to the first detection module. The first detection module generates the first information based on the received focused first light wave. The second light wave is received by the second detection module via the optical path adjustment module to generate second information, including: The second lens group focuses the second light wave from the first lens group and transmits the focused second light wave to the second detection module. The second detection module generates the second information based on the received focused second light wave.

16. The method as described in claim 11, characterized in that, The processing module outputs third information based on the first and second information, including: When the difference between the intensity of the first light wave and the intensity of the second light wave is greater than a preset threshold, the processing module determines that there is occlusion in the first region or the second region.

17. The method as described in claim 11, characterized in that, The method further includes: The processing module determines the type of obstruction on the window based on the difference between the intensity of the first light wave and the intensity of the second light wave.

18. The method according to any one of claims 11-17, characterized in that, The method further includes: The processing module determines the distribution of the intensity difference between the K first pieces of information and the K second pieces of information based on the K first pieces of information received by the first detection module at K first moments and the K second pieces of information received by the second detection module at K second moments; where K is a positive integer. Based on the distribution of the intensity differences between the K first pieces of information and the K second pieces of information, the position information of the obstruction on the viewing window is determined.

19. A lidar, characterized in that, Includes the detection device as described in any one of claims 1 to 10.

20. A terminal, characterized in that, The terminal includes the detection device as described in any one of claims 1 to 10.

21. A computer-readable storage medium, characterized in that, The instructions are used to store instructions for controlling the scanning module of the detection device to rotate by a step angle a, and to acquire first information from the first detection module and second information from the second detection module of the detection device. Based on the first information and the second information, third information is output, which is used to indicate that there is an obstruction in the first area or the second area of ​​the window of the detection device, or to indicate that a cleaning operation is to be performed. The first information indicates the intensity of the first light wave, and the second information indicates the intensity of the second light wave; the first light wave is received and reflected through the first area by the scanning module of the detection device at a first moment, and the first light wave is received by the first detection module through the optical path adjustment module of the detection device to generate the first information; The second light wave is received and reflected by the scanning module of the detection device at a second moment and passes through the second region. The second light wave is received by the second detection module via the optical path adjustment module and generates second information. The scanning angle difference between the scanning module at the first moment and the second moment is n. a, where a is the step angle and is greater than 0, and n is a positive integer; the optical path adjustment module includes a first lens group, the distance c between the images formed by the first light wave and the second light wave on the focal plane of the first lens group, and the scanning angle difference n. Regarding a, the distance c is m times the distance d, and c and m are positive numbers.

Images