Optical radar, movable device, and optical radar attachment detection method

Abstract

The application discloses an optical radar, a movable device and an optical radar attachment detection method. The optical radar comprises a transceiver assembly, a window sheet, a detection module and a control module. The transceiver assembly is used for emitting an outgoing light beam and receiving a return light beam. The window sheet is installed on a corresponding light path of the transceiver assembly. Part of the outgoing light beam emitted by the transceiver assembly is reflected by the window sheet to form a reflected light beam, and the reflected light beam comprises a specular reflected light beam. The detection module is used for receiving the reflected light beam and generating a corresponding electrical signal. The control module is electrically connected with the transceiver assembly and the detection module. The control module is configured to determine whether an attachment is attached to the window sheet according to the corresponding electrical signal. The design can effectively detect whether an attachment is attached to the window sheet, thereby improving the detection accuracy of the optical radar.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar, in particular to an optical radar, a movable device and an optical radar attachment detection method. BACKGROUND

[0002] The optical radar is a device for measuring the distance, direction, height, speed, attitude and even shape of a target object by emitting an outgoing light beam and receiving a return light beam reflected or scattered back by the target object blocked in the light path of the outgoing light beam. The optical radar usually includes a window sheet, a transmitter and a receiver. The transmitter is used to emit the outgoing light beam, and the receiver is used to receive the return light beam. The outgoing light beam and the return light beam pass through the window sheet to enter or exit the optical radar.

[0003] During use, the optical radar is usually affected by external factors, and thus an attachment is attached to the window sheet. Since the attachment has a shielding effect on the light path, it will interfere with normal detection. The optical radar in the related art cannot detect whether the attachment is attached to the window sheet, and thus the measurement result is necessarily inaccurate, thereby affecting the detection accuracy of the optical radar and causing a safety hazard when used in a vehicle-mounted scenario. SUMMARY

[0004] The embodiments of the present application provide an optical radar, a movable device and an optical radar attachment detection method, which can solve the problem of poor detection accuracy of the optical radar caused by the interference of the attachment attached to the window sheet on the outgoing light beam.

[0005] In a first aspect, the embodiments of the present application provide an optical radar. The optical radar includes a transceiver assembly, a window sheet, a detection module and a control module. The transceiver assembly is used to emit an outgoing light beam and receive a return light beam. The window sheet is installed on a light path corresponding to the transceiver assembly. Part of the outgoing light beam emitted by the transceiver assembly is reflected by the window sheet to form a reflected light beam, and the reflected light beam includes a specular reflected light beam. The detection module is used to receive the reflected light beam and generate a corresponding electrical signal. The control module is electrically connected with the transceiver assembly and the detection module. The control module is configured to determine whether an attachment is attached to the window sheet according to the corresponding electrical signal.

[0006] Based on the optical radar of the embodiments of the present application, part of the outgoing light beam emitted by the transceiver assembly is reflected by the window sheet to form a reflected light beam. The detection module receives the reflected light beam to convert the optical signal corresponding to the reflected light beam and generate a corresponding electrical signal. The control module determines whether an attachment is attached to the window sheet according to the corresponding electrical signal. In this way, the detection module is used to collect the reflected light beam of the transceiver assembly, which can effectively determine whether an attachment is attached to the window sheet, thereby improving the detection accuracy of the optical radar.

[0007] In a second aspect, the embodiments of the present application provide a movable device, which comprises the optical radar.

[0008] Based on the movable device in the embodiments of the present application, the movable device with the optical radar has good safety because the optical radar has good detection accuracy.

[0009] In a third aspect, the embodiments of the present application provide an optical radar attachment detection method, which is applied to the optical radar and comprises the following steps.

[0010] Obtaining the electrical signal generated by the detection module;

[0011] If the preset relationship is met between the intensity of the electrical signal and the preset threshold, it is determined that the attachment is attached to the window sheet.

[0012] Based on the optical radar attachment detection method in the embodiments of the present application, the intensity of the electrical signal generated by the detection module is obtained, and the size between the intensity of the electrical signal and the preset threshold is analyzed and compared. When the preset relationship is met between the intensity of the electrical signal and the preset threshold, it is determined that the attachment is attached to the window sheet. In this way, the detection accuracy of the optical radar can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Figure 1 FIG. 1 is a structural schematic diagram of the optical radar in an embodiment of the present application;

[0015] Figure 2 FIG. 2 is a structural schematic diagram of the optical radar in another embodiment of the present application;

[0016] Figure 3 FIG. 3 is a structural schematic diagram of the optical radar in another embodiment of the present application;

[0017] Figure 4 FIG. 4 is a structural schematic diagram of the optical radar in another embodiment of the present application;

[0018] Figure 5 FIG. 5 is a structural schematic diagram of the optical radar in another embodiment of the present application;

[0019] Figure 6 FIG. 6 is a structural schematic diagram of the optical radar in another embodiment of the present application;

[0020] Figure 7 Structure diagram of an optical radar in another embodiment of the present application;

[0021] Figure 8 Flow diagram of an optical radar attachment detection method in another embodiment of the present application;

[0022] Figure 9 Flow diagram of an optical radar attachment detection method in another embodiment of the present application;

[0023] Figure 10 Flow diagram of an optical radar attachment detection method in another embodiment of the present application.

[0024] Reference signs: 1, optical radar; 10, transceiver assembly; 20, window sheet; 30, detection module; 31, first detector; 32, second detector; 33, light emitter of the first transceiver assembly; 34, light receiver of the second transceiver assembly; 35, light receiver of the rest of the transceiver assemblies; 40, light deflection module. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not used to limit the present application.

[0026] An optical radar is a radar system that actively emits a light beam to detect the position, speed and other characteristic quantities of a target object. In terms of working principle, the optical radar emits an outgoing light beam to a target object, then receives a return light beam reflected or scattered back from the target object, and after appropriate processing of the return light beam, relevant parameters such as the distance, direction, height, speed, attitude and even shape of the target object can be obtained, so that the optical radar can be applied to scenarios such as navigation avoidance, obstacle identification, distance measurement, speed measurement, automatic driving and the like of products such as cars, robots, logistics vehicles, inspection vehicles and the like.

[0027] An optical radar usually includes a window sheet, a transmitter and a receiver, the transmitter is used to emit an outgoing light beam, and the receiver is used to receive a return light beam, the transmitter and the receiver are both located on the inner side of the window sheet, and the outgoing light beam and the return light beam pass through the window sheet to enter or exit the optical radar.

[0028] In use, the optical radar is usually affected by external factors, and thus the window sheet is attached with an adherend. The "external factors" can include, but are not limited to, one or more of temperature and humidity. The "adherend" is understood as an object that can interfere with the outgoing light beam emitted by the transmitter, so that part of the outgoing light beam cannot propagate along the preset light path (i.e. the propagation path of the outgoing light beam when the window sheet is not attached with the adherend). It can be understood that the specific forms of the adherend attached to the window sheet caused by different external factors are also different. For example, when the external factor is temperature, due to the large temperature difference between the inside and outside of the window sheet, water mist is attached to the window sheet, and the water mist is the specific form of the adherend attached to the window sheet caused by the temperature factor. When the external factor is dry sand weather, due to the large flowability of sand in the air outside the window sheet (i.e. the side of the window sheet away from the transceiver assembly), dust is attached to the outside of the window sheet, and the dust is the specific form of the adherend attached to the window sheet caused by the dry sand weather factor. When the external factor is humid rain weather, due to the large flowability of rain in the air outside the window sheet, water stains are attached to the outside of the window sheet, and the water stains are the specific form of the adherend attached to the window sheet caused by the humid rain weather factor. It should be noted that the specific position of the adherend on the window sheet is not limited here, and it can be understood that the specific positions of the adherends with the same or different specific forms on the window sheet are also different. For example, when the adherend is water mist, if the temperature of the inside of the window sheet (i.e. the side of the window sheet facing the transceiver assembly) is higher than that of the outside of the window sheet, the water mist is formed on the inside of the window sheet, and vice versa, if the temperature of the inside of the window sheet is lower than that of the outside of the window sheet, the water mist is formed on the outside of the window sheet.

[0029] When the window sheet is not attached with the adherend, most of the outgoing light beam emitted by the transmitter can pass through the window sheet and project to the target object, and after being reflected or scattered by the target object, a return light beam is formed and transmitted to the receiver. When the window sheet is attached with the adherend, the adherend has a shielding effect on the outgoing light beam, and thus interferes with the outgoing light beam emitted by the transmitter.

[0030] However, the optical radar in the related art cannot detect whether the window sheet is attached with the adherend, and if the optical radar still detects the target object through the outgoing light beam interfered by the adherend, the measurement result obtained is necessarily inaccurate, thereby affecting the detection accuracy of the optical radar.

[0031] Therefore, how to enable the optical radar to effectively detect whether the window sheet is attached with the adherend, so as to improve the detection accuracy of the optical radar has become a problem to be solved.

[0032] To solve the above technical problems, please refer toFigure 1 As shown, the first aspect of this application proposes an optical radar 1, which can effectively determine whether there is an attachment on the window 20, thereby improving the detection accuracy of the optical radar 1.

[0033] The optical radar 1 includes a transceiver assembly 10, a window 20, a detection module 30, and a control module (not shown in the figure). The transceiver assembly 10 is used to emit an outgoing beam and to receive an echo beam. The window 20 is installed on the optical path corresponding to the transceiver assembly 10. Part of the outgoing beam emitted by the transceiver assembly 10 is reflected by the window 20 to form a reflected beam, which includes a specular reflection beam. The detection module 30 is used to receive the reflected beam and generate a corresponding electrical signal. The control module is electrically connected to the transceiver assembly 10 and the detection module 30. The control module is configured to determine whether there is an attachment on the window 20 based on the corresponding electrical signal.

[0034] The following combination Figures 1-7 The specific structure of the optical radar 1 will be described in detail.

[0035] like Figure 1 As shown, the optical radar 1 includes a transceiver assembly 10, a window 20, a detection module 30, and a control module.

[0036] The transceiver assembly 10 is a component in the optical radar 1 that can both emit outgoing beams and receive echo beams.

[0037] The transceiver assembly 10 includes a light transmitter and a light receiver. The light transmitter emits the emitted light beam toward a target object within the detection area, and the light receiver receives the echo light beam from the target object. The echo light beam is formed by the emitted light beam being reflected or scattered by the target object. Specifically, the light transmitter can be a photodiode (PD), which converts a continuous analog electrical signal into an optical signal corresponding to the emitted light beam. The light receiver can be an avalanche photodiode (APD), which converts the optical signal corresponding to the received echo light beam into a continuous analog electrical signal and transmits it to the control module (described below).

[0038] The relative positions of the light emitters and the light receivers are different for different forms of the optical radar 1. For example, when the optical radar 1 is a mechanical optical radar or a flash solid-state optical radar, the light emitters and the light receivers are arranged off-axis, that is, the light paths of the outgoing light beams emitted by the light emitters are different from the light paths of the echo light beams received by the light receivers, the angle between the light path of each outgoing light beam emitted by the light emitters and the window sheet 20 is a fixed angle, and the angle between the light path of each echo light beam received by the light receivers and the window sheet 20 is also a fixed angle. When the optical radar 1 is a rotating mirror scanning optical radar and / or a MEMS (Microelectro Mechanical Systems) mirror scanning optical radar, the light emitters and the light receivers are arranged coaxially, that is, the light paths of the outgoing light beams emitted by the light emitters are the same as the light paths of the echo light beams received by the light receivers (the light paths overlap in space), and since the light paths will be deflected and scanned by the rotating mirror and / or the MEMS mirror, the angle between the light path of each outgoing light beam emitted by the light emitters and the window sheet 20 is multiple, and the angle between the light path of each echo light beam received by the light receivers and the window sheet 20 is also multiple.

[0039] The window sheet 20 serves as a part of the shell of the optical radar 1, for protecting the components such as the light emitters and the light receivers. The specific structure of the window sheet 20 is not limited here, and the designer can reasonably design according to actual needs. The specific material for preparing the window sheet 20 is also not limited here, and the designer can reasonably select according to actual needs. It can be understood that the specific structure and the specific material for preparing the window sheet 20 are different for different forms of the optical radar 1.

[0040] The window sheet 20 is installed on the corresponding light path of the transceiver assembly 10, that is, the outgoing light beams emitted by the light emitters of the transceiver assembly 10 pass through the window sheet 20, and the echo light beams received by the light receivers of the transceiver assembly 10 also pass through the window sheet 20.

[0041] Part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 forms a reflected light beam after being reflected by the window sheet 20, that is, part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is emitted out of the optical radar 1 through the window sheet 20, and the other part of the outgoing light beams is reflected on the window sheet 20 and forms the reflected light beam. Among them, the reflected light beam includes a specular reflected light beam and a diffuse reflected light beam; when there is no adherend attached to the window sheet 20, part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is specularly reflected by the window sheet 20 to form a specular reflected light beam, and at the same time, part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is diffusely reflected by the window sheet 20 to form a diffuse reflected light beam, at this time, the intensity of the light signal corresponding to the specular reflected light beam is strong, and the intensity of the light signal corresponding to the diffuse reflected light beam is weak; when the window sheet 20 is attached with an adherend, part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is diffusely reflected by the adherend attached to the window sheet 20 to form a diffuse reflected light beam, and at the same time, part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is reflected by the window sheet 20 to form a specular reflected light beam, at this time, the intensity of the light signal corresponding to the diffuse reflected light beam is strong, and the intensity of the light signal corresponding to the specular reflected light beam is weak.

[0042] The detection module 30 is used for detecting whether the window sheet 20 is attached with an adherend, and the detection module 30 can be another light detector independent of the light transmitter or the light receiver, or can be formed by the light receiver. The specific form of the detection module 30 will be described below.

[0043] The detection module 30 is used for receiving the reflected light beam and forming a corresponding electrical signal, that is, the reflected light beam formed after part of the outgoing light beams emitted by the light transmitter of the transceiver assembly 10 is reflected by the window sheet 20 is received by the detection module 30, and the detection module 30 can convert the light signal corresponding to the reflected light beam into an electrical signal.

[0044] The control module is a core controller of the optical radar 1.

[0045] The control module is electrically connected with the light transmitter of the transceiver assembly 10 to control the light transmitter to emit the outgoing light beam to the target object, and the control module is also electrically connected with the light receiver of the transceiver assembly 10 to control the light receiver to receive the echo light beam from the target object.

[0046] The control module is electrically connected with the detection module 30, and the control module is configured to be able to determine whether the window sheet 20 is attached with the adherend according to the corresponding electrical signal. For example, when the window sheet 20 is not attached with the adherend, the intensity of the light signal corresponding to the mirror reflection light beam formed by the part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 after the mirror reflection of the window sheet 20 is relatively strong, the detection module 30 can convert and generate the first electrical signal (one of the above-mentioned electrical signals, which will be introduced below) with the light signal of the relatively strong intensity, and the control module can determine that the window sheet 20 is not attached with the adherend according to the first electrical signal. For another example, when the window sheet 20 is attached with the adherend, the intensity of the light signal corresponding to the diffuse reflection light beam formed by the part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 after the diffuse reflection of the adherend attached to the window sheet 20 is relatively strong, the detection module 30 can convert and generate the second electrical signal (one of the above-mentioned electrical signals, which will be introduced below) different from the first electrical signal with the light signal of the relatively strong intensity, and the control module can determine that the window sheet 20 is attached with the adherend according to the second electrical signal. And it should be noted that when the control module determines that the window sheet 20 is attached with the adherend according to the corresponding electrical signal, the control module can control other components of the optical radar 1 to perform corresponding operations. For example, when the adherend is water mist, the control module can control the heating module of the optical radar 1 to heat the window sheet 20 to remove the water mist attached to the window sheet 20. When the adherend is dust, the control module can control the cleaning module of the optical radar 1 to clean the window sheet 20 by itself to remove the dust attached to the window sheet 20. Of course, the control module can also control the alarm module of the optical radar 1 to issue an alarm signal (such as a buzzer alarm) to prompt the user to clean the window sheet 20 to remove the dust attached to the window sheet 20.

[0047] Specifically, the control module can include an analog-to-digital conversion unit and an integrated unit. The analog-to-digital conversion unit can be an analog-to-digital converter (ADC) or a time-to-digital converter (TDC), which is used to convert the analog electrical signal output by the optical receiver of the transceiver assembly 10 into a digital electrical signal and output to the integrated unit. The integrated unit can be a chip or a field programmable gate array (FPGA), which can be used to realize the control of each structure of the optical radar 1 and the analysis and processing of the digital electrical signal output by the analog-to-digital conversion unit to realize the detection of the target object. Among them, the integrated unit can include a controller and a signal processor, the controller can be used to control the driving of the optical transmitter of the transceiver assembly 10, control the rotation of the optical deflection module 40 (to be described below), etc., and the signal processor can be used to filter, sample, and time-discriminate the digital electrical signal output by the analog-to-digital conversion unit, etc. to determine the intensity, time of flight or angle of the above-mentioned echo light beam, etc. Parameters, and then obtain related parameters such as the distance, direction, height, speed, attitude, and even shape of the target object.

[0048] It should be noted that there are many types of optical radars 1 based on different light waves for target object detection, which are not limited in the embodiments of the present application. For example, the optical radar 1 can be a laser radar, at this time, the optical transmitter is a laser transmitter, the outgoing light beam emitted by the laser transmitter is outgoing laser, correspondingly, the optical receiver is a laser receiver, the echo light beam received by the laser receiver is echo laser, and the reflected light beam formed by the part of the outgoing laser emitted by the optical transmitter after being reflected by the window sheet 20 is reflected laser.

[0049] Based on the optical radar 1 in the embodiments of the present application, part of the outgoing light beam emitted by the transceiver assembly 10 is reflected by the window sheet 20 to form a reflected light beam, the detection module 30 receives the reflected light beam to convert the optical signal corresponding to the reflected light beam and generate a corresponding electrical signal, and the control module determines whether the window sheet 20 is attached with an attached body according to the corresponding electrical signal. Therefore, by using the detection module 30 to collect the reflected light beam of the transceiver assembly 10, it can be determined whether the window sheet 20 is attached with an attached body, thereby improving the detection accuracy of the optical radar 1.

[0050] It should be noted that the specific form of the detection module 30 can be other light detectors independent of the above-mentioned optical transmitter and the above-mentioned optical receiver, for example, the detection module 30 includes a first detector 31.

[0051] When the optical transmitter and the optical receiver of the transceiver assembly 10 are arranged off-axis.

[0052] As Figure 1 shown, in some embodiments, the number of first detectors 31 can be one or more (more than two), and each transceiver assembly 10 is provided with one corresponding first detector 31, that is, each transceiver assembly 10 has at most one corresponding first detector 31.

[0053] The first detector 31 is arranged on the light path of the mirror-reflected light beam of the corresponding transceiver assembly 10, that is, the mirror-reflected light beam of the transceiver assembly 10 can be received by the first detector 31. It should be noted that when the number of first detectors 31 is one, the number of transceiver assemblies 10 can be one, and in this case, the one first detector 31 is arranged on the light path of the mirror-reflected light beam of the corresponding one transceiver assembly 10. Of course, the number of transceiver assemblies 10 can also be more, and in this case, the one first detector 31 is arranged on the light path of the mirror-reflected light beam of one of the transceiver assemblies 10, and the remaining transceiver assemblies 10 are not provided with corresponding first detectors 31. When the number of first detectors 31 is more, the number of transceiver assemblies 10 is also more, which can be the same as the number of first detectors 31, and in this case, each first detector 31 is arranged on the light path of the mirror-reflected light beam of the corresponding one transceiver assembly 10. Of course, the number of first detectors 31 can also be less than the number of transceiver assemblies 10, and in this case, each first detector 31 is arranged on the light path of the mirror-reflected light beam of the corresponding one transceiver assembly 10, and the remaining transceiver assemblies 10 are not provided with corresponding first detectors 31. It should be noted that the angle between the light path of the outgoing light beam emitted by the light emitter of each transceiver assembly 10 and the window sheet 20 is fixed, and the light path of the corresponding mirror-reflected light beam formed after mirror reflection by the window sheet 20 is also fixed. Only the first detector 31 arranged on the light path of the mirror-reflected light beam can receive the mirror-reflected light beam, and if the first detector 31 is arranged on the light path outside the mirror-reflected light beam, it cannot receive the mirror-reflected light beam.

[0054] The first detector 31 can convert the corresponding optical signal of the received mirror-reflected light beam into a first electrical signal (one of the above-mentioned electrical signals, or in other words, the above-mentioned electrical signals include the first electrical signal).

[0055] The control module is electrically connected to the first detector 31. The control module is configured to determine whether there is an attachment on the window 20 based on the first electrical signal. It is understood that when there is no attachment on the window 20, a portion of the emitted light beam from the transceiver 10 will be reflected by the window 20 to form a specularly reflected beam. The intensity of the light signal corresponding to this specularly reflected beam is relatively strong (i.e., the energy of the specularly reflected beam is high). Conversely, a portion of the emitted light beam from the transceiver 10 will be diffusely reflected by the window 20 to form a diffusely reflected beam. The intensity of the light signal corresponding to this diffusely reflected beam is relatively weak. The first detector 31 can convert the received, stronger light signal corresponding to the specularly reflected beam into a first electrical signal, which has a relatively high intensity. The control module uses this strong first electrical signal to determine that there is no attachment on the window 20. When an attachment is attached to the window 20, a portion of the outgoing light beam emitted by the optical transmitter of the transceiver assembly 10 will form a diffuse reflection beam after being diffusely reflected by the attachment attached to the window 20. At this time, the intensity of the light signal corresponding to the diffuse reflection beam is relatively strong. Of course, a portion of the outgoing light beam emitted by the optical transmitter of the transceiver assembly 10 will also form a specular reflection beam after being specularly reflected by the window 20. At this time, the intensity of the light signal corresponding to the specular reflection beam is relatively weak (that is, the energy of the specular reflection beam is small). The first detector 31 can convert the weak light signal corresponding to the received specular reflection beam into a first electrical signal. At this time, the intensity of the first electrical signal is relatively small. The control module determines that an attachment is attached to the window 20 based on the weak first electrical signal.

[0056] When the optical transmitter and optical receiver of transceiver component 10 are set coaxially.

[0057] like Figure 2 As shown, in some embodiments, the number of first detectors 31 can be one or more (two or more). A transceiver component 10 is correspondingly configured with at least one first detector 31, wherein the transceiver component 10 may be correspondingly configured with one first detector 31 or with multiple first detectors 31.

[0058] The optical path of the mirror-reflected beam of the transceiver assembly 10 includes multiple angles. That is, the direction of the mirror-reflected beam formed after the outgoing beams are incident on the window plate 20 at different incident angles is also different.

[0059] The first detector 31 is positioned along the optical path of the specularly reflected beams at different angles. When the transceiver assembly 10 is equipped with one first detector 31, the first detector 31 can receive specularly reflected beams from one direction within the field of view of the transceiver assembly 10 and generate a first electrical signal. In order to cover specularly reflected beams from multiple directions within the field of view of the transceiver assembly 10, the transceiver assembly 10 is equipped with multiple first detectors 31.

[0060] The first detector 31 is used to receive the specularly reflected light beam at the corresponding angle and generate a first electrical signal.

[0061] The control module is electrically connected to the first detector 31. The control module is configured to determine whether there is an attachment on the window 20 based on the first electrical signal. It is understood that when there is no attachment on the window 20, a portion of the emitted light beam from the transceiver 10 will be reflected by the window 20 to form a specularly reflected beam. At this time, the intensity of the light signal corresponding to the specularly reflected beam in each direction is relatively strong. Conversely, a portion of the emitted light beam from the transceiver 10 will be diffusely reflected by the window 20 to form a diffusely reflected beam. At this time, the intensity of the light signal corresponding to the diffusely reflected beam is relatively weak. The first detector 31 can convert the strong light signals corresponding to the received specularly reflected beams in different directions into a first electrical signal, which has a relatively high intensity. The control module can determine whether there is an attachment on the window 20 based on this strong first electrical signal. When an attachment is attached to the window plate 20, part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 will form diffuse reflection beams in different directions after being diffusely reflected by the attachment attached to the window plate 20. At this time, the intensity of the light signal corresponding to the diffuse reflection beam in each direction is relatively strong. Of course, part of the outgoing light emitted by the light transmitter of the transceiver assembly 10 will also form specular reflection beams in different directions after being specularly reflected by the window plate 20. At this time, the intensity of the light signal corresponding to the specular reflection beam in each direction is relatively weak (that is, the energy of the specular reflection beam in each direction is small). The first detector 31 can convert the weak light signals corresponding to the specular reflection beams in different directions and generate a first electrical signal. At this time, the intensity of the first electrical signal is relatively small. The control module can determine that an attachment is attached to the window plate 20 based on the weak first electrical signal.

[0062] like Figure 3 As shown, in some embodiments, the number of first detectors 31 can be one or more, and the first detectors 31 are correspondingly set with at least two transceiver components 10.

[0063] The light path of the mirror reflected light beam of the transceiving assembly 10 covers a reflection angle range. It should be noted that, for the entire optical radar 1, the angle ranges covered by the field of view angles of all the transceiving assemblies 10 are different from each other. For example, when the number of the transceiving assemblies 10 is three, the field of view angle of the first transceiving assembly 10 covers -7°-0° in the front field of view of the optical radar 1, the field of view angle of the second transceiving assembly 10 covers -2°-5° in the front field of view of the optical radar 1, and the field of view angle of the third transceiving assembly 10 covers 3°-7° in the front field of view of the optical radar 1. Here, the specific values of the reflection angle range of each transceiving assembly 10 are not limited, and the designer can reasonably design according to actual needs.

[0064] There is a partial overlap between the field of view angles of adjacent transceiving assemblies 10, and the reflection angle ranges formed by the reflected light beams of the two transceiving assemblies 10 after being reflected by the window sheet also have a corresponding partial overlap. The first detector 31 is arranged in the overlapping angle range of the reflection angle ranges of at least two transceiving assemblies 10. In this way, the same first detector 31 can be used to receive the mirror reflected light beams from at least two transceiving assemblies 10, reducing the number of first detectors 31 and achieving the purpose of reducing the overall cost of the optical radar 1.

[0065] The first detector 31 is used to receive the mirror reflected light beams of at least two transceiving assemblies 10 and generate a first electrical signal.

[0066] The control module is electrically connected to the first detector 31. The control module is configured to determine whether there is an attachment on the window 20 based on the first electrical signal. It is understood that when there is no attachment on the window 20, a portion of the emitted light beams from all the transceiver components 10 will be reflected by the window 20 to form a specularly reflected beam. The intensity of the light signal corresponding to this specularly reflected beam is relatively strong (i.e., the energy of the specularly reflected beam is high). Conversely, a portion of the emitted light beams from all the transceiver components 10 will also be diffusely reflected by the window 20 to form a diffusely reflected beam. The intensity of the light signal corresponding to this diffusely reflected beam is relatively weak. The first detector 31 can convert the strong light signal corresponding to the specularly reflected beam falling within the overlap angle range into a first electrical signal. The intensity of this first electrical signal is relatively high. The control module determines that there is no attachment on the window 20 based on this strong first electrical signal. When an attachment is attached to the window plate 20, a portion of the outgoing light beam emitted by the light transmitters of all transceiver components 10 will form a diffuse reflection beam after being diffusely reflected by the attachment attached to the window plate 20. At this time, the intensity of the light signal corresponding to the diffuse reflection beam is relatively strong. Of course, a portion of the outgoing light emitted by the light transmitters of transceiver components 10 will also form a specular reflection beam after being specularly reflected by the window plate 20. At this time, the intensity of the light signal corresponding to the specular reflection beam is relatively weak (that is, the energy of the specular reflection beam is small). The first detector 31 can convert the weak light signal corresponding to the received specular reflection beam into a first electrical signal. At this time, the intensity of the first electrical signal is relatively small. The control module determines that an attachment is attached to the window plate 20 based on the weak first electrical signal.

[0067] Of course, in order to enable the detection module 30 to detect more accurately whether there is an attachment on the window 20, and to further improve the detection performance of the optical radar 1, the detection module 30 may also include a second detector 32.

[0068] like Figure 4 As shown, the number of second detectors 32 can be one or more. All second detectors 32 are positioned outside the optical path of the specular reflection beam, that is, the specular reflection beam of the transceiver assembly 10 cannot be received by the second detectors 32.

[0069] The second detector 32 is configured to receive the diffuse reflection light beam and to generate a second electrical signal (one of the above-mentioned electrical signals, or in other words, the above-mentioned electrical signals comprise the second electrical signal). When the plurality of transceiver assemblies 10 are operated in series, the second detector 32 is not operated during the non-detection time period (described below) of the corresponding transceiver assembly 10, and the second detector 32 is only normally operated during the detection time period of the corresponding transceiver assembly 10 for receiving the diffuse reflection light beam, and at this time, each second detector 32 can be configured to receive the diffuse reflection light beam of one transceiver assembly 10 and to generate a second electrical signal. Considering that the diffuse reflection light beam is relatively dispersed, in order to reduce the number of second detectors 32 and to reduce the overall cost of the optical radar 1, preferably, the second detector 32 is configured to receive the diffuse reflection light beams of at least two transceiver assemblies 10, that is, the diffuse reflection light beams of different transceiver assemblies 10 can be received by the same second detector 32.

[0070] The control module is electrically connected with the second detector 32, and the control module determines whether the attachment exists on the window sheet 20 according to at least one of the first electric signal and the second electric signal. It can be understood that when the attachment does not exist on the window sheet 20, part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 will form a specular reflection light beam after being reflected by the window sheet 20, at this time, the intensity of the light signal corresponding to the specular reflection light beam is strong (i.e. the energy of the specular reflection light beam is large), of course, part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 will also form a diffuse reflection light beam after being diffusely reflected by the window sheet 20, at this time, the intensity of the light signal corresponding to the diffuse reflection light beam is weak (i.e. the energy of the diffuse reflection light beam is small); the first detector 31 can convert the light signal corresponding to the specular reflection light beam with strong intensity into the first electric signal, at this time, the intensity of the first electric signal is large, and the second detector 32 can convert the light signal corresponding to the diffuse reflection light beam with weak intensity into the second electric signal, at this time, the intensity of the second electric signal is small; the controller can determine that the attachment does not exist on the window sheet 20 by the first electric signal alone, or by the second electric signal alone, or by the first electric signal and the second electric signal together. When the attachment exists on the window sheet 20, part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 will form a diffuse reflection light beam after being diffusely reflected by the attachment attached to the window sheet 20, at this time, the intensity of the light signal corresponding to the diffuse reflection light beam is strong (i.e. the energy of the diffuse reflection light beam is large), of course, part of the outgoing light beam emitted by the light emitter of the transceiver assembly 10 will also form a specular reflection light beam after being specularly reflected by the window sheet 20, at this time, the intensity of the light signal corresponding to the specular reflection light beam is weak (i.e. the energy of the specular reflection light beam is small); the second detector 32 can convert the light signal corresponding to the diffuse reflection light beam with strong intensity into the second electric signal, at this time, the intensity of the second electric signal is large, and the first detector 31 can convert the light signal corresponding to the specular reflection light beam with weak intensity into the first electric signal, at this time, the intensity of the first electric signal is small; the controller can determine that the attachment exists on the window sheet 20 by the second electric signal alone, or by the first electric signal alone, or by the first electric signal and the second electric signal together. It should be noted that when the control module determines whether the attachment exists on the window sheet 20 by the first electric signal and the second electric signal together, the first electric signal and the second electric signal can satisfy different conditional expressions as judgment conditions for judgment, or the first electric signal and the second electric signal can satisfy the same conditional expression as the judgment condition for judgment.

[0071] Of course, the first detector 31 and the second detector 32 of the detection module 30 can reuse the optical receiver of the transceiver assembly 10, for example, the optical receiver of the transceiver assembly 10 as the first detector 31. In this way, the optical receiver of the transceiver assembly 10 can be used to receive both the echo light beam from the target object and the specular reflection light beam, reducing the number of components of the optical radar 1, achieving the purpose of reducing the overall volume of the optical radar 1 and reducing the overall cost of the optical radar 1.

[0072] As shown in FIG. 1, in some embodiments, the number of transceiver assemblies 10 is at least two, and the number of transceiver assemblies 10 can be two, three, four, five, or six or more. Here, the specific number of transceiver assemblies 10 is not limited, and the designer can reasonably design according to actual needs. Figure 5

[0073] The transceiver assembly 10 includes a first transceiver assembly and a second transceiver assembly.

[0074] The optical transmitter 33 of the first transceiver assembly emits an outgoing light beam.

[0075] The detection module 30 includes the optical receiver 34 of the second transceiver assembly, and the optical receiver 34 of the second transceiver assembly is located on the optical path of the specular reflection light beam of the first transceiver assembly, that is, the specular reflection light beam of the first transceiver assembly can be received by the optical receiver 34 of the second transceiver assembly.

[0076] The optical receiver 34 of the second transceiver assembly converts and generates a third electrical signal (one of the above-mentioned electrical signals, or the above-mentioned electrical signals include the third electrical signal) from the received specular reflection light beam of the first transceiver assembly.

[0077] ​The control module is electrically connected with the light receiver 34 of the second transceiving assembly, and is configured to determine whether the window sheet 20 is attached with the adherend according to the third electric signal. It can be understood that when the window sheet 20 is not attached with the adherend, the part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is specularly reflected by the window sheet 20 to form a specular reflection light beam, at this time, the light signal corresponding to the specular reflection light beam has a relatively strong intensity, of course, the part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is diffusely reflected by the window sheet 20 to form a diffuse reflection light beam, at this time, the light signal corresponding to the diffuse reflection light beam has a relatively weak intensity; the light receiver 34 of the second transceiving assembly can convert the light signal corresponding to the specular reflection light beam received and generate the third electric signal, at this time, the third electric signal has a relatively large intensity; the control module determines that the window sheet 20 is not attached with the adherend according to the third electric signal with the relatively large intensity. When the window sheet 20 is attached with the adherend, the part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is diffusely reflected by the adherend attached to the window sheet 20 to form a diffuse reflection light beam, at this time, the light signal corresponding to the diffuse reflection light beam has a relatively strong intensity, of course, the part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is specularly reflected by the window sheet 20 to form a specular reflection light beam, at this time, the light signal corresponding to the specular reflection light beam has a relatively weak intensity (i.e. the energy of the specular reflection light beam is small); the light receiver 34 of the second transceiving assembly can convert the light signal corresponding to the specular reflection light beam received and generate the third electric signal, at this time, the third electric signal has a relatively small intensity; the control module determines that the window sheet 20 is attached with the adherend according to the third electric signal with the relatively small intensity.

[0078] Further, in some embodiments, when the first transceiving assembly and the second transceiving assembly work in series, the light receiver 34 of the second transceiving assembly receives the specular reflection light beam in the non-detection time period. It can be understood that the light receiver 34 of the second transceiving assembly normally works in the detection time period to receive the echo light beam from the target object, and does not work in the non-detection time period without corresponding echo light beam to be received; thus, in the non-detection time period, the light receiver 34 of the second transceiving assembly can receive the specular reflection light beam of the first transceiving assembly to play the role of the first detector 31 described above. Wherein, the "series work" is understood as that the light emitter of the second transceiving assembly starts to emit the outgoing light beam after the light emitter 33 of the first transceiving assembly starts to emit the outgoing light beam and the light receiver of the first transceiving assembly completes the reception of the echo light beam. The "non-detection time period" is understood as the time when the light emitter of the second transceiving assembly does not emit the outgoing light.

[0079] As Figure 6As shown, in some embodiments, the transceiver assembly 10 can further include the rest of the transceiver assemblies in addition to the first transceiver assembly and the second transceiver assembly, wherein the number of the rest of the transceiver assemblies can be one or more.

[0080] At this time, the detection module 30 further includes the light receivers 35 of the rest of the transceiver assemblies. The light receivers 35 of the rest of the transceiver assemblies are located on the light path outside the mirror reflected light beam of the first transceiver assembly, that is, the diffused reflected light beam of the first transceiver assembly can be received by the light receivers 35 of the rest of the transceiver assemblies. It can be understood that the light receivers 35 of the rest of the transceiver assemblies work normally during the detection period and receive the echo light beam from the target object, and the light receivers 35 of the rest of the transceiver assemblies do not work during the non-detection period and there is no echo light beam from the target object to be received; thus, during the non-detection period, the diffused reflected light beam of the first transceiver assembly can be received by the light receivers 35 of the rest of the transceiver assemblies, so that the light receivers 35 of the rest of the transceiver assemblies play the role of the second detector 32.

[0081] The light receivers 35 of at least one of the rest of the transceiver assemblies are used to receive the diffused reflected light beam of the first transceiver assembly and generate a fourth electric signal (one of the above-mentioned electric signals, or the above-mentioned electric signals include the fourth electric signal).

[0082] The control module is electrically connected with the light receivers 35 of the rest of the transceiving assemblies, and the control module is configured to determine whether the attachment exists on the window sheet 20 according to at least one of the third electrical signal and the fourth electrical signal. It can be understood that when the attachment does not exist on the window sheet 20, part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is specularly reflected by the window sheet 20 to form a specular reflection light beam, at this time, the intensity of the light signal corresponding to the specular reflection light beam is strong (i.e. the energy of the specular reflection light beam is large), of course, part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is diffusely reflected by the window sheet 20 to form a diffuse reflection light beam, at this time, the intensity of the light signal corresponding to the diffuse reflection light beam is weak (i.e. the energy of the diffuse reflection light beam is small); the light receiver 34 of the second transceiving assembly can convert and generate the third electrical signal from the light signal corresponding to the specular reflection light beam received by the light receiver 34, at this time, the intensity of the third electrical signal is large, and the light receiver 35 of the rest of the transceiving assemblies can convert and generate the fourth electrical signal from the light signal corresponding to the diffuse reflection light beam received by the light receiver 35, at this time, the intensity of the fourth electrical signal is small; the controller can determine that the attachment does not exist on the window sheet 20 by the third electrical signal alone, or by the fourth electrical signal alone, or by the third electrical signal and the fourth electrical signal together. When the attachment exists on the window sheet 20, part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is diffusely reflected by the window sheet 20 to form a diffuse reflection light beam, at this time, the intensity of the light signal corresponding to the diffuse reflection light beam is strong (i.e. the energy of the diffuse reflection light beam is large), of course, part of the outgoing light beam emitted by the light emitter 33 of the first transceiving assembly is specularly reflected by the window sheet 20 to form a specular reflection light beam, at this time, the intensity of the light signal corresponding to the specular reflection light beam is weak (i.e. the energy of the specular reflection light beam is small); the light receiver 35 of the rest of the transceiving assemblies can convert and generate the fourth electrical signal from the light signal corresponding to the diffuse reflection light beam received by the light receiver 35, at this time, the intensity of the fourth electrical signal is large, and the light receiver 34 of the second transceiving assembly can convert and generate the third electrical signal from the light signal corresponding to the specular reflection light beam received by the light receiver 34, at this time, the intensity of the third electrical signal is small; the controller can determine that the attachment exists on the window sheet 20 by the fourth electrical signal alone, or by the third electrical signal alone, or by the third electrical signal and the fourth electrical signal together. When the controller determines whether the attachment exists on the window sheet 20 by the third electrical signal and the fourth electrical signal together, the third electrical signal and the fourth electrical signal can satisfy different conditional expressions as judgment conditions for judgment, or the third electrical signal and the fourth electrical signal can satisfy the same conditional expression as the judgment condition for judgment.

[0083] It is important to note that the arrangement and optical path direction of the multiple transceiver components 10 within the optical radar 1 are pre-designed and constitute the basic architectural design of the optical radar 1. To ensure that the optical radar 1 can correctly acquire parameters of a target object, such as distance, azimuth, height, velocity, attitude, and even shape, the basic architecture of the optical radar 1, formed by the arrangement and optical direction of the multiple transceiver components 10, remains fixed. With the basic architecture of the optical radar 1 fixed, it is possible to determine, through testing or calculation, that the specular reflection beam of one transceiver component 10 can be precisely aligned with the optical path of another transceiver component 10 and received by that other transceiver component 10. Only when the optical path correspondence between "one of the transceiver components 10" and "the other transceiver component 10" is satisfied can the first transceiver component and the second transceiver component be determined. The first transceiver component is considered as "one of the transceiver components 10", and the second transceiver component is considered as "the other transceiver component 10". In other words, the optical path correspondence between the transceiver components 10 is first determined by means of testing or calculation, and then the multiplexing design is carried out using the optical path correspondence to determine the first transceiver component and the second transceiver component. It is not achieved by simply setting the first transceiver component and the second transceiver component.

[0084] Furthermore, to ensure that the specularly reflected light beam from the first transceiver component can accurately reach the optical receiver 34 of the second transceiver component, thereby improving the detection accuracy of the optical radar 1, such as... Figure 7 As shown, in some embodiments, the optical radar 1 further includes a light deflection module 40, which is located in the optical path of the specularly reflected beam of the first transceiver component. The light deflection module 40 is used to adjust the optical path direction of the specularly reflected beam of the first transceiver component so that the specularly reflected beam, after being reflected by the light deflection module 40, can directly reach the optical receiver 34 of the second transceiver component. The light deflection module 40 may include, but is not limited to, a reflector or a refracting prism. When the light deflection module 40 includes a reflector, the reflector has a reflective surface. The reflector can be fixed so that the reflective surface faces a single direction, or the reflector can be rotated so that the reflective surface faces different directions. It should be noted that when no transceiver component 10 or transceiver component 10 that satisfies the above optical path correspondence is found through testing or calculation, the optical path direction of the specular reflection beam of the transceiver component 10 can be adjusted by designing the optical deflection module 40, so that the adjusted specular reflection beam of the transceiver component 10 can be aligned with the optical path of the transceiver component 10 and can be received by the transceiver component 10, thereby satisfying the above optical path correspondence between the transceiver component 10 and the transceiver component 10.

[0085] The second aspect of the present application provides a movable device comprising the optical radar 1 described above. The movable device can include, but is not limited to, a car, a robot, a logistics vehicle, a patrol vehicle, and other devices with functions such as navigation avoidance, obstacle identification, distance measurement, speed measurement, and automatic driving. In this design, the movable device with the optical radar 1 has good safety due to the good detection accuracy of the optical radar 1.

[0086] Please refer to Figure 8-10 The third aspect of the present application provides an optical radar 1 attachment detection method. The optical radar 1 attachment detection method provided by the embodiments of the present application can be applied to optical radars 1 based on various light waves for object detection, such as laser radars.

[0087] Next, the use scenarios of the optical radar 1 attachment detection method provided by the embodiments of the present application are introduced. The use scenarios can include, but are not limited to, scenarios such as a robot positioning itself and planning a path through the optical radar 1, a self-driving vehicle detecting an environment and planning a route through the optical radar 1, an unmanned aerial vehicle detecting obstacles while flying through the optical radar 1, an augmented reality (AR) device detecting an environment and constructing a model through the optical radar 1, and a marine exploration device detecting fish species and fish density through the optical radar 1. In the above various scenarios, the optical radar 1 attachment detection method provided by the embodiments of the present application can be used to detect attachments on the window sheet 20 of the optical radar 1, and then process the attachments, thereby improving the detection accuracy of the optical radar 1.

[0088] Next, the optical radar 1 attachment detection method provided by the embodiments of the present application is introduced. The detection method is applied to the optical radar 1 described above. It should be noted that each step in the method can be executed by the optical radar 1 or implemented by a control module of the optical radar 1 as described above. As shown in Figure 8 Figure 8 is a flowchart of an optical radar 1 attachment detection method provided by the embodiments of the present application, as shown in Figure 8

[0089] In step S201, an electrical signal generated by the detection module 30 is acquired.

[0090] When the optical radar 1 is working, it emits an outgoing light beam to a target object and receives a return light beam reflected from the target object. In one implementation, the optical radar 1 can emit the outgoing light beam through the light emitter of the transceiver assembly 10 and receive the return light beam through the light receiver of the transceiver assembly 10.​​

[0091] The part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 forms a reflected light beam after being reflected on the window sheet 20 of the optical radar 1, wherein the reflected light beam includes a specular reflected light beam and a diffuse reflected light beam. When there is no adherend attached on the window sheet 20, the part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 is specularly reflected on the window sheet 20 to form the specular reflected light beam, and at the same time, the part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 is diffusely reflected on the window sheet 20 to form the diffuse reflected light beam, at this time, the light signal corresponding to the specular reflected light beam is relatively strong, and the light signal corresponding to the diffuse reflected light beam is relatively weak. When there is an adherend attached on the window sheet 20, the part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 is diffusely reflected on the adherend attached on the window sheet 20 to form the diffuse reflected light beam, and at the same time, the part of the outgoing light beam emitted by the light transmitter of the transceiver assembly 10 is reflected on the window sheet 20 to form the specular reflected light beam, at this time, the light signal corresponding to the diffuse reflected light beam is relatively strong, and the light signal corresponding to the specular reflected light beam is relatively weak.

[0092] The detection module 30 is configured to receive the reflected light beam and generate a corresponding electrical signal. The detection module 30 can be an optical detector independent of the above-mentioned light transmitter or light receiver, or can be formed by the above-mentioned light receiver. When the detection module 30 is an optical detector independent of the above-mentioned light transmitter and the above-mentioned light receiver, the detection module 30 includes the above-mentioned first detector 31, which is configured to receive the specular reflected light beam of the transceiver assembly 10 and generate the above-mentioned first electrical signal. Of course, the detection module 30 can also include the above-mentioned second detector 32, which is configured to receive the diffuse reflected light beam of the transceiver assembly 10 and generate the above-mentioned second electrical signal. When the detection module 30 is multiplexed with the above-mentioned light receiver, the light receiver 34 of the second transceiver assembly can be used as the detection module 30, which is configured to receive the specular reflected light beam of the first transceiver assembly and generate the above-mentioned third electrical signal. Of course, the light receiver 35 of the remaining transceiver assembly can also be used as the above-mentioned detection module 30, which is configured to receive the diffuse reflected light beam of the first transceiver assembly and generate the above-mentioned fourth electrical signal. The electrical signal includes the above-mentioned first electrical signal, the second electrical signal, the third electrical signal and the fourth electrical signal.

[0093] In step S202, if the intensity of the electrical signal and the preset threshold value satisfy a preset relationship, it is determined that the window sheet 20 is attached with the adherend.

[0094] It can be understood that if the window sheet 20 is not attached with the attachment, the actual intensity of the light signal corresponding to the specular reflection light beam received by the detection module 30 is stronger. The first detector 31 can convert and generate the first electric signal corresponding to the light signal with stronger intensity of the specular reflection light beam, and at this time, the intensity of the first electric signal is larger; by comparing the intensity of the first electric signal with the preset threshold value, it is determined that the window sheet 20 is not attached with the attachment. Alternatively, the light receiver 34 of the second transceiver component can convert and generate the third electric signal corresponding to the light signal with stronger intensity of the specular reflection light beam, and at this time, the intensity of the third electric signal is larger; by comparing the intensity of the third electric signal with the preset threshold value, it is determined that the window sheet 20 is not attached with the attachment.

[0095] Correspondingly, if the window sheet 20 is not attached with the attachment, the actual intensity of the light signal corresponding to the diffuse reflection light beam received by the detection module 30 is weaker. The second detector 32 can convert and generate the second electric signal corresponding to the light signal with weaker intensity of the diffuse reflection light beam, and at this time, the intensity of the second electric signal is smaller; by comparing the intensity of the second electric signal with the preset threshold value, it is determined that the window sheet 20 is not attached with the attachment. Alternatively, the light receiver 35 of the remaining transceiver component can convert and generate the fourth electric signal corresponding to the light signal with weaker intensity of the diffuse reflection light beam, and at this time, the intensity of the fourth electric signal is smaller; by comparing the intensity of the fourth electric signal with the preset threshold value, it is determined that the window sheet 20 is not attached with the attachment.

[0096] Of course, if the window sheet 20 is attached with the attachment, the actual intensity of the light signal corresponding to the diffuse reflection light beam received by the detection module 30 is stronger. The second detector can convert and generate the second electric signal corresponding to the light signal with stronger intensity of the diffuse reflection light beam, and at this time, the intensity of the second electric signal is larger; by comparing the intensity of the second electric signal with the preset threshold value, it is determined that the window sheet 20 is attached with the attachment. Alternatively, the light receiver 35 of the remaining transceiver component can convert and generate the fourth electric signal corresponding to the light signal with stronger intensity of the diffuse reflection light beam, and at this time, the intensity of the fourth electric signal is larger; by comparing the fourth electric signal with the preset threshold value, it is determined that the window sheet 20 is attached with the attachment.

[0097] Correspondingly, if an adhering substance is attached to the window 20, the actual intensity of the light signal corresponding to the specularly reflected beam received by the detection module 30 is relatively weak. The first detector can convert the weak light signal corresponding to the specularly reflected beam into the aforementioned first electrical signal, in which case the intensity of the first electrical signal is relatively low; by comparing the intensity of the first electrical signal with a preset threshold, it is determined that an adhering substance is attached to the window 20. Alternatively, the optical receiver 34 of the second transceiver component can convert the weak light signal corresponding to the specularly reflected beam into the aforementioned third electrical signal, in which case the intensity of the third electrical signal is relatively low; by comparing the third electrical signal with a preset threshold, it is determined that an adhering substance is attached to the window 20.

[0098] It should be noted that the above-mentioned electrical signal includes at least one of the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal, wherein the first electrical signal, the second electrical signal, the third electrical signal, and the fourth electrical signal are different from each other.

[0099] It is important to note that "signal strength" is a physical quantity used to characterize the magnitude of an electrical signal. For example, signal strength can be at least one of peak voltage, pulse width, or integral area. It can be understood that a stronger signal indicates a larger peak voltage, pulse width, or integral area, and vice versa.

[0100] The attachment detection method of the optical radar 1 based on the embodiments of this application obtains the electrical signal generated by the detection module 30, analyzes and compares the magnitude of the electrical signal intensity with the preset threshold, and when the electrical signal intensity and the preset threshold satisfy the preset relationship, it can be determined that there is an attachment on the window 20, thus effectively improving the detection accuracy of the optical radar 1.

[0101] Furthermore, such as Figure 9 As shown, Figure 9 This is a flowchart illustrating an attachment detection method for an optical radar 1 provided in an embodiment of this application, as shown below. Figure 9 As shown, step S202 includes steps S301, S302 and S303.

[0102] Step S301: If the strength of the first electrical signal is less than the first preset threshold, it is determined that an attachment is attached to the window 20.

[0103] In step S301, if an attachment is present on the window 20, the actual intensity of the optical signal corresponding to the specularly reflected beam received by the first detector 31 is weaker, resulting in a weaker first electrical signal. By comparing the intensity of the first electrical signal with a first preset threshold, if the intensity of the first electrical signal is less than the first preset threshold, it is determined that an attachment is present on the window 20; conversely, if the intensity of the first electrical signal is greater than or equal to the first threshold, it is determined that no attachment is present on the window 20. The preset threshold includes the first preset threshold, which can be preset according to actual conditions. For example, when the optical transmitter and optical receiver of the transceiver assembly 10 are off-axis, the first detector 31 is configured in a one-to-one correspondence with the transceiver assembly 10. In this case, the first detector 31 is only used to receive the specularly reflected beam from one corresponding transceiver assembly 10, so the first preset threshold of the first detector 31 can be preset to be relatively small. When the optical transmitter and optical receiver of the transceiver assembly 10 are coaxially arranged, if the transceiver assembly 10 is correspondingly arranged with multiple first detectors 31, each first detector 31 is only used to receive the specularly reflected light beam from one direction of the transceiver assembly 10. Therefore, the first preset threshold of the first detector 31 can be preset to be relatively small. If the first detector 31 corresponds to multiple transceiver assemblies, the first detector 31 is used to receive the specularly reflected light beam from at least two transceiver assemblies 10. Therefore, the first preset threshold of the first detector 31 can be preset to be relatively large. The specific value of the first preset threshold needs to be set according to the actual situation and will not be explained here.

[0104] Step S302: If the strength of the second electrical signal is greater than the second preset threshold, it is determined that an attachment is attached to the window 20.

[0105] In step S302, if an attachment is present on the window 20, the actual intensity of the optical signal corresponding to the diffuse reflection beam received by the second detector 32 is stronger, resulting in a stronger second electrical signal. By comparing the intensity of the second electrical signal with a second preset threshold, it is determined that an attachment is present on the window 20 when the intensity of the second electrical signal is greater than the second preset threshold; conversely, it is determined that no attachment is present on the window 20 when the intensity of the second electrical signal is less than or equal to the second threshold. The aforementioned preset threshold includes the second preset threshold, which can be preset according to actual conditions. It should be noted that the setting method of the second preset threshold is the same as that of the first preset threshold, satisfying the principle that the greater the energy of the diffuse reflection beam received by the transceiver component from the second detector 32, the larger the preset threshold will be; conversely, the smaller the energy of the diffuse reflection beam received by the transceiver component from the second detector 32, the smaller the preset threshold will be. This will not be elaborated further here.

[0106] Step S303: If the ratio of the first electrical signal and the second electrical signal is less than the third preset threshold, then it is determined that an attachment body is attached to the window 20.

[0107] In step S303, if an adhering substance is attached to the window 20, the actual intensity of the light signal corresponding to the specular reflection beam received by the first detector 31 is weaker, resulting in a lower intensity of the first electrical signal; the actual intensity of the light signal corresponding to the diffuse reflection beam received by the second detector 32 is stronger, resulting in a higher intensity of the second electrical signal. By comparing the ratio of the first electrical signal to the second electrical signal with a third preset threshold, if the ratio is less than the third preset threshold, it is determined that an adhering substance is attached to the window 20; conversely, if the ratio is greater than or equal to the third preset threshold, it is determined that no adhering substance is attached to the window 20. The preset thresholds include the third preset threshold, which can be preset according to actual conditions. It should be noted that the setting method for the third preset threshold is the same as that for the first preset threshold, and will not be repeated here.

[0108] It should be noted that when at least one of the above steps S301, S302, and S303 meets the requirements, it can be determined that an attachment is present on the window piece 20. Of course, it is not limited to determining that an attachment is present on the window piece 20 through at least one of the above steps S301, S302, and S303; other steps can also be used, as long as they conform to the design logic. These will not be elaborated here.

[0109] Furthermore, such as Figure 10 As shown, Figure 10 This is a flowchart illustrating an attachment detection method for an optical radar 1 provided in an embodiment of this application, as shown below. Figure 10 As shown, step S202 includes steps S401, S402 and S403.

[0110] Step S401: If the strength of the third electrical signal is less than the fourth preset threshold, it is determined that an attachment is attached to the window 20.

[0111] In step S401, if an attachment is present on the window 20, the actual intensity of the optical signal corresponding to the specularly reflected beam received by the optical receiver 34 of the second transceiver component is weaker, resulting in a weaker intensity of the third electrical signal. By comparing the intensity of the third electrical signal with a fourth preset threshold, it is determined that an attachment is present on the window 20 when the intensity of the third electrical signal is less than the fourth preset threshold; conversely, it is determined that no attachment is present on the window 20 when the intensity of the third electrical signal is greater than or equal to the fourth threshold. The aforementioned preset threshold includes the fourth preset threshold, which can be preset according to actual conditions. It should be noted that the method for setting the fourth preset threshold is the same as the method for setting the first preset threshold, and will not be repeated here.

[0112] Step S402: If the strength of the fourth electrical signal is greater than the fifth preset threshold, it is determined that an attachment is attached to the window 20.

[0113] In step S402, if an attachment is present on the window 20, the actual intensity of the optical signal corresponding to the diffuse reflection beam received by the optical receiver 35 of the other transceiver components will be stronger, resulting in a stronger fourth electrical signal. By comparing the intensity of the fourth electrical signal with a fifth preset threshold, it is determined that an attachment is present on the window 20 when the intensity of the fourth electrical signal is greater than the fifth preset threshold; conversely, it is determined that no attachment is present on the window 20 when the intensity of the fourth electrical signal is less than or equal to the fifth threshold. The aforementioned preset threshold includes the fifth preset threshold, which can be preset according to actual conditions. It should be noted that the method for setting the fifth preset threshold is the same as the method for setting the first preset threshold, and will not be repeated here.

[0114] Step S403: If the ratio of the third electrical signal to the fourth electrical signal is less than the sixth preset threshold, then it is determined that an attachment body is attached to the window 20.

[0115] In step S403, if the window sheet 20 is attached with the attachment, the actual intensity of the light signal corresponding to the specular reflection light beam received by the light receiver 34 of the second transceiving assembly is weak, so that the intensity of the third electric signal is small; the actual intensity of the light signal corresponding to the diffuse reflection light beam received by the light receiver 35 of the remaining transceiving assembly is strong, so that the intensity of the fourth electric signal is large. By comparing the ratio of the third electric signal and the fourth electric signal with the sixth preset threshold value, and when the ratio of the third electric signal and the fourth electric signal is less than the sixth preset threshold value, it is judged that the window sheet 20 is attached with the attachment; otherwise, when the ratio of the third electric signal and the fourth electric signal is greater than or equal to the sixth preset threshold value, it is judged that the window sheet 20 is not attached with the attachment. It should be noted that the preset threshold value includes the sixth preset threshold value, which can be set in advance according to the actual situation. It should be noted that the setting method of the sixth preset threshold value is the same as that of the first preset threshold value, which will not be described here.

[0116] It should be noted that when at least one of the above steps S401, S402 and S403 meets the requirements, it can be judged that the window sheet 20 is attached with the attachment. Of course, it is not limited to judging that the window sheet 20 is attached with the attachment by at least one of the above steps S401, S402 and S403, but other steps can also be used to achieve the same purpose, as long as the design logic is met. Here will not be described.

[0117] The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation of the present patent. For those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0118] The above only describes the preferred embodiments of the present application and does not limit the present application, any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An optical radar, characterized by The optical radar comprises: a plurality of transceiver assemblies for emitting an outgoing light beam and for receiving a return light beam, the plurality of transceiver assemblies including a first transceiver assembly and a second transceiver assembly; a window sheet installed in a light path corresponding to the transceiver assemblies, a part of the outgoing light beam emitted by the transceiver assemblies forming a reflected light beam after being reflected by the window sheet, the reflected light beam including a specular reflected light beam; a detection module including a light receiver of the second transceiver assembly, the light receiver of the second transceiver assembly being located in a light path of the specular reflected light beam of the first transceiver assembly, a light emitter of the first transceiver assembly emitting the outgoing light beam, and the light receiver of the second transceiver assembly being configured to receive the specular reflected light beam of the first transceiver assembly and generate a corresponding electrical signal; a control module electrically connected to the transceiver assemblies and the detection module, the control module being configured to determine whether an adherend is attached to the window sheet according to the corresponding electrical signal. When the plurality of transceiver assemblies work in series, the light receiver of the second transceiver assembly receives a return light beam reflected by a target object during a detection period, and receives the specular reflected light beam of the first transceiver assembly during a non-detection period. The series working of the plurality of transceiver assemblies includes that the light emitter of the first transceiver assembly starts to emit the outgoing light beam, and the light emitter of the second transceiver assembly starts to emit the outgoing light beam after the light receiver of the first transceiver assembly completes receiving the return light beam. The non-detection period includes a period in which the light emitter of the second transceiver assembly does not emit the outgoing light beam. The reflected light beam further includes a diffuse reflected light beam, and the plurality of transceiver assemblies further includes a remaining transceiver assembly different from the first transceiver assembly and the second transceiver assembly.

2. The optical radar according to claim 1, characterized in that The light receiver of the second transceiver assembly is configured to receive the specular reflected light beam of the first transceiver assembly and generate a third electrical signal. A light receiver of at least one of the remaining transceiver assemblies is configured to receive the diffuse reflected light beam of the first transceiver assembly and generate a fourth electrical signal. The detection module includes the light receivers of the remaining transceiver assemblies, and the light receivers of the remaining transceiver assemblies are electrically connected to the control module. The control module is configured to determine whether the adherend is attached to the window sheet according to at least one of the third electrical signal and the fourth electrical signal, and the electrical signal includes the third electrical signal and the fourth electrical signal.

3. The optical radar of claim 1, wherein the optical radar further comprises a light deflection module located in a light path of the specular reflected light beam of the first transceiver assembly, the light deflection module being configured to adjust a direction of the light path of the specular reflected light beam of the first transceiver assembly, so that the specular reflected light beam is directly reflected by the light deflection module to the light receiver of the second transceiver assembly. The optical radar comprises the optical radar of any one of claims 1-3. ​ 4. A mobile device, comprising: ​ 5. A method for detecting attachments in an optical radar, applied to the optical radar as described in claim 2, characterized in that, Acquire the electrical signal generated by the detection module; If the strength of the electrical signal satisfies a preset relationship with a preset threshold, then it is determined that the attachment is attached to the window.

6. The detection method according to claim 5, characterized in that, The electrical signal includes the third electrical signal and the fourth electrical signal, wherein the third electrical signal and the fourth electrical signal are different from each other.

7. The detection method according to claim 6, characterized in that, The strength of the electrical signal satisfies a preset relationship with a preset threshold, including: The strength of the third electrical signal is less than the fourth preset threshold; and / or The strength of the fourth electrical signal is greater than the fifth preset threshold; and / or The ratio of the third electrical signal to the fourth electrical signal is less than the sixth preset threshold.

8. The detection method of claim 5, wherein, The strength of the electrical signal is at least one of the peak voltage, pulse width, and integral area.

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