Optical radar control method, optical radar control device, and optical radar

Abstract

The invention discloses an optical radar control method, an optical radar control device and an optical radar, the optical radar comprises a diaphragm, and the optical radar control method comprises the following steps: obtaining a dew point temperature value of the inner side of the diaphragm; acquiring a current temperature value of the diaphragm; according to the dew point temperature value and the current temperature value, the heating power of the heating module is adjusted, so that the temperature value of the diaphragm is larger than the dew point temperature value of the inner side of the diaphragm. According to the design, water mist existing on the inner side of the window piece can be evaporated or water mist can be effectively prevented from being generated on the inner side of the window piece, so that the signal strength of the optical radar and the signal transmission direction of the optical radar are not affected, and the good detection performance of the optical radar is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to an optical radar control method, an optical radar control device and an optical radar. Background Art

[0002] During the operation of the optical radar, water mist is usually generated on the inside of the optical radar window. The water mist attached to the inside of the window will not only cause the attenuation of the optical radar signal strength, but also change the signal transmission direction of the optical radar, thereby affecting the detection performance of the optical radar. Therefore, how to effectively avoid the generation of water mist on the inside of the optical radar window to improve the detection performance of the optical radar has become an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present application provide an optical radar control method, an optical radar control device and an optical radar, which can solve the problem in the related art that the optical radar's signal strength is attenuated and the signal transmission direction of the optical radar is changed due to water mist generated on the inside of the optical radar's window, thereby causing poor detection performance of the optical radar.

[0004] In a first aspect, an embodiment of the present application provides an optical radar control method; the optical radar includes a window piece, and the optical radar control method includes the following steps:

[0005] Get the dew point temperature value inside the window;

[0006] Get the current temperature value of the window;

[0007] According to the dew point temperature value and the current temperature value, the heating power of the heating module is adjusted to make the temperature value of the window piece greater than the dew point temperature value inside the window piece.

[0008] Based on the optical radar control method of the embodiment of the present application, the heating power of the window piece is adjusted according to the dew point temperature value and the current temperature value, so that the temperature value of the window piece is greater than the dew point temperature value on the inside of the window piece, so as to remove the existing water mist on the inside of the window piece or effectively prevent the generation of water mist on the inside of the window piece, which can ensure that the signal strength of the optical radar and the signal transmission direction of the optical radar are not affected, thereby ensuring the good detection performance of the optical radar.

[0009] In a second aspect, an embodiment of the present application provides a control device for an optical radar, which includes a processor and a memory, wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of any one of the above-mentioned control methods.

[0010] The control device of the optical radar based on the embodiment of the present application can execute the above-mentioned optical radar control method, and adjust the heating power of the window piece according to the dew point temperature value and the current temperature value, so that the temperature value of the window piece is greater than the dew point temperature value on the inside of the window piece, so as to remove the existing water mist on the inside of the window piece or effectively prevent the generation of water mist on the inside of the window piece, which can ensure that the signal strength of the optical radar and the signal transmission direction of the optical radar are not affected, thereby ensuring the good detection performance of the optical radar.

[0011] In a third aspect, an embodiment of the present application provides an optical radar; the optical radar includes a window piece, an element to be heated, a dew point temperature acquisition module, a temperature acquisition module and a control module, the element to be heated is arranged on the inner side of the window piece and is used to heat the window piece, the dew point temperature acquisition module is used to obtain the dew point temperature value on the inner side of the window piece, the temperature acquisition module is arranged on the window piece and is used to obtain the current temperature value of the window piece, the control module is electrically connected to the dew point temperature acquisition module and the temperature acquisition module to obtain the dew point temperature value and the current temperature value, and the control module adjusts the heating power according to the dew point temperature value and the current temperature value so that the temperature value of the window piece is greater than the dew point temperature value.

[0012] Based on the optical radar in the embodiment of the present application, a dew point temperature acquisition module is designed to obtain the dew point temperature value of the inner side of the window piece; a temperature acquisition module is designed to obtain the current temperature value of the window piece; the control module adjusts the heating power through the heating element according to the dew point temperature value and the current temperature value, so that the temperature value of the window piece is greater than the dew point temperature value of the inner side of the window piece, so as to remove the existing water mist on the inner side of the window piece or effectively prevent the generation of water mist on the inner side of the window piece, which can ensure that the signal strength of the optical radar and the signal transmission direction of the optical radar are not affected, thereby ensuring the good detection performance of the optical radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 This is a flow chart of an optical radar control method in one embodiment of the present application;

[0015] Figure 2 This is a flow chart of a method for controlling an optical radar in another embodiment of the present application;

[0016] Figure 3 This is a flow chart of a method for controlling an optical radar in another embodiment of the present application;

[0017] Figure 4 This is a flow chart of a method for controlling an optical radar in another embodiment of the present application;

[0018] Figure 5 This is a flow chart of a method for controlling an optical radar in another embodiment of the present application;

[0019] Figure 6 This is a schematic diagram of the structure of a control device of an optical radar in an embodiment of the present application;

[0020] Figure 7 This is a perspective structural diagram of an optical radar in one embodiment of the present application;

[0021] Figure 8 This is a schematic diagram of the side structure of a window sheet in one embodiment of the present application;

[0022] Fig. 9 This is a front view structural diagram of a window sheet in one embodiment of the present application;

[0023] Fig.10 This is a schematic diagram of an optical radar in an embodiment of the present application;

[0024] Fig.11 This is a schematic diagram of an optical radar in another embodiment of the present application.

[0025] Figure numerals: 1. optical radar; 10. window piece; 11. window area; 12. non-window area; 13. preset area; 20. element to be heated; 30. dew point temperature acquisition module; 31. temperature and humidity detector; 32. dew point temperature calculation unit; 321. theoretical dew point calculation subunit; 322. dew point temperature compensation subunit; 40. temperature acquisition module; 41. temperature detector; 42. temperature compensation unit; 421. compensation determination subunit; 422. compensation calculation subunit; 50. control module; 51. temperature difference calculation unit; 52. heating module; 53. power acquisition unit; 60. digital board. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0027] Please refer to Figure 1 As shown, the first aspect of the present application proposes a control method for an optical radar 1. The control method for the optical radar 1 provided in the embodiment of the present application can be applied to an optical radar 1 that detects objects based on various light waves, such as a laser radar.

[0028] Next, the use scenarios of the control method of the optical radar 1 provided in the embodiments of the present application are introduced. The use scenarios may include but are not limited to: scenarios in which a robot uses the optical radar 1 to perform self-positioning and path planning; scenarios in which an autonomous driving vehicle uses the optical radar 1 to perform environmental detection and route planning; scenarios in which a drone uses the optical radar 1 to perform obstacle detection during flight; scenarios in which an augmented reality (AR) device uses the optical radar 1 to perform environmental detection and build a model; scenarios in which an ocean detection device uses the optical radar 1 to detect the type and density of fish schools.

[0029] It is understandable that, based on the above-mentioned scenarios, during the operation of the optical radar 1, if the external environment of the optical radar 1 changes, or if humid air inevitably invades the shell of the optical radar 1, etc., water mist will be generated inside the window 10 of the optical radar 1, and the generation of water mist may affect the optical radar 1 in the following aspects, but is not limited to:

[0030] (1) Water mist will cause the signal strength of the optical radar 1 to attenuate: for example, when water mist is generated on the window 10 of the optical radar 1, a part of the energy of the outgoing light beam emitted by the transmitting module of the optical radar 1 will be absorbed by the water mist after passing through the window 10, thereby causing the outgoing signal strength of the optical radar 1 to attenuate; for another example, when water mist is generated on the window 10 of the optical radar 1, a part of the energy of the echo light beam reflected from the target object will be absorbed by the water mist after passing through the window 10, thereby causing the received signal strength of the optical radar 1 to attenuate. The attenuation of the outgoing signal and the received signal strength of the optical radar 1 will affect the detection distance and detection accuracy of the optical radar 1.

[0031] (2) Water mist will cause the signal transmission direction of the optical radar 1 to change: for example, when water mist is generated on the window 10 of the optical radar 1, the outgoing light beam emitted by the transmitting module of the optical radar 1 will be scattered in different directions by the water mist after passing through the window 10, thereby causing the outgoing signal transmission direction of the optical radar 1 to change; for another example, when water mist is generated on the window 10 of the optical radar 1, the echo light beam reflected from the target object will be scattered in different directions by the water mist after passing through the window 10, thereby causing the receiving signal transmission direction of the optical radar 1 to change. The change in the transmission direction of the outgoing signal and the receiving signal of the optical radar 1 will affect the measurement accuracy and reliability of the optical radar 1. It should be noted that after the outgoing light beam is scattered by water mist, the spot of the outgoing light beam, which is originally relatively small after collimation, will deteriorate and become larger. After the spot of the outgoing light beam deteriorates and becomes larger, its energy is not concentrated, thereby causing the ranging capability of the optical radar 1 to deteriorate; after the echo light beam is scattered by water mist, the energy of the echo light beam received by the receiving module of the optical radar 1 will become less, thereby causing the ranging capability of the optical radar 1 to deteriorate.

[0032] (3) The generation of water mist will increase the intensity of the stray light of the optical radar 1: when the outgoing light beam emitted by the transmitting module of the optical radar 1 passes through the window 10, part of the energy in the outgoing light beam will be reflected and scattered by the window 10. This type of light beam that only propagates inside the shell of the optical radar 1 and is received by the receiving module of the optical radar 1 is called stray light. The receiving module of the optical radar 1 is easily saturated after receiving the stray light, and the output leading signal has a long tail area, causing the echo light beam reflected from the close-range target object to be submerged in the tail area of ​​the leading signal, making it impossible for the receiving module of the optical radar 1 to identify the echo light beam, resulting in the inability to detect the close-range target object (i.e., forming a close-range blind area). Water mist will cause more stray light to be generated at the window 10, and the close-range blind area of ​​the optical radar 1 will become larger.

[0033] Based on the above effects, the control method of the optical radar 1 provided in the embodiment of the present application is described below. It should be noted that each step in the control method can be executed by the optical radar 1 or by the control module 50 (described below) in the optical radar 1. Figure 1 As shown, Figure 1 is a flow chart of an optical radar control method provided in an embodiment of the present application, such as Figure 1 As shown, the optical radar 1 control method includes step S101, step S102 and step S103.

[0034] Step S101 : obtaining the dew point temperature value inside the window sheet 10 .

[0035] In step S101, a temperature and humidity detector 31 can be set inside the optical radar 1. The temperature and humidity detector 31 can be used to detect the inner temperature and inner humidity of the window piece 10. The dew point temperature value inside the window piece 10 can be calculated based on the inner temperature and inner humidity. Among them, the temperature and humidity detector 31 can be but is not limited to a temperature and humidity sensor.

[0036] It is understandable that, on the one hand, a large amount of heat is released inside the optical radar 1 when the components such as the transmitting module are working, causing the temperature inside the optical radar 1 to rise, that is, the heat released by the components inside the optical radar 1 causes the temperature inside the optical radar 1 to fluctuate; on the other hand, although relevant sealing measures are taken during the assembly process of the optical radar 1, the water vapor outside the optical radar 1 will still slowly enter the optical radar 1, causing the humidity inside the optical radar 1 to fluctuate. That is, the change in the external environment of the optical radar 1 causes the change in the temperature and humidity inside the optical radar 1. The temperature and humidity inside the current window 10 are obtained in real time through the temperature and humidity detector 31, so as to obtain the dew point temperature value. The optical radar 1 includes a window 10, which serves as a window of the optical radar 1 for the outgoing light beam emitted by the transmitting module of the optical radar 1 and the echo light beam received by the receiving module of the optical radar 1 to pass through. The cavity enclosed by the shell of the optical radar 1 and the window 10 is the interior of the optical radar 1.

[0037] Step S102 : obtaining the current temperature value of the window sheet 10 .

[0038] In step S102 , a temperature detector 41 may be disposed inside the window sheet 10 . The temperature detector 41 is used to detect the current temperature value of the window sheet 10 . The temperature detector 41 may be, but is not limited to, a temperature sensor.

[0039] It is understandable that changes in the external environment of the optical radar 1 will also change the current temperature value of the window piece 10, causing a difference between the current temperature value of the window piece 10 and the dew point temperature value inside the optical radar 1, which can easily lead to the formation of water mist inside the window piece 10.

[0040] Step S103 : adjusting the heating power of the heating module 52 according to the dew point temperature value and the current temperature value, so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10 .

[0041] In step S103, a heating module 52 may be provided inside the optical radar 1, and a heating element 20 may be provided inside the window 10 (the side of the window 10 facing away from the target object). The heating module 52 is electrically connected to the heating element 20, and the heating power of the heating module 52 is controlled to change the heating temperature of the heating element 20, thereby adjusting the temperature value of the window 10. The specific form of the heating element 20 may be, but is not limited to, an ITO film, nano silver wire, and the like.

[0042] It should be noted that when the current temperature value of the window sheet 10 is less than the dew point temperature value inside the window sheet 10, the air inside the window sheet 10 will form the above-mentioned "water mist" inside the window sheet 10 after contacting the window sheet 10. At this time, the heating power of the heating module 52 needs to be increased so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10, thereby removing the water mist already existing inside the window sheet 10. When the current temperature value of the window sheet 10 is equal to the dew point temperature value inside the window sheet 10, the air inside the window sheet 10 may form the above-mentioned "water mist" inside the window sheet 10 after contacting the window sheet 10. At this time, the heating power of the heating module 52 needs to be slightly increased so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10, thereby effectively preventing the generation of water mist inside the window sheet 10. When the current temperature value of the window piece 10 is greater than the dew point temperature value inside the window piece 10, the air inside the window piece 10 will not form the above-mentioned "water mist" inside the window piece 10 after contacting the window piece 10. At this time, the heating power of the heating module 52 does not need to be changed. Of course, the heating power of the heating module 52 can also be appropriately reduced to reduce the overall power consumption of the optical radar 1.

[0043] It should also be noted that after the heating power of the heating module 52 is adjusted, the temperature value of the window sheet 10 will change compared to the previous current temperature value, and the heating power of the heating module 52 may be adjusted once to make the temperature value of the window sheet 10 greater than the dew point temperature value inside the window sheet 10, or the heating power of the heating module 52 may be adjusted multiple times (more than twice) to make the temperature value of the window sheet 10 greater than the dew point temperature value inside the window sheet 10.

[0044] In addition, one possible implementation method of the specific implementation method of the heating power regulation of the heating module 52 is: the adjustment amount of the heating power of the heating module 52 can be determined according to the temperature difference between the dew point temperature value inside the window sheet 10 and the current temperature value of the window sheet 10, and the greater the temperature difference, the greater the adjustment amount of the heating power. Among them, the designer can pre-set the relationship between the temperature difference between the dew point temperature value inside the window sheet 10 and the current temperature value of the window sheet 10 and the adjustment amount of the heating power of the heating module 52 according to actual conditions. Of course, another possible implementation method of the specific implementation method of the heating power regulation of the heating module 52 is: the heating module 52 can only increase or decrease a certain preset power relative to the current heating power each time the heating power is adjusted, as long as the current temperature value of the window sheet 10 is less than the dew point temperature value inside the window sheet 10, the heating power of the heating module 52 is increased by a certain preset power until the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10 after one or more power adjustments.

[0045] Based on the detection method of the optical radar 1 in the embodiment of the present application, the heating power of the window sheet 10 is adjusted according to the dew point temperature value and the current temperature value, so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10, so as to remove the water mist already existing inside the window sheet 10 or effectively prevent the generation of water mist inside the window sheet 10, which can ensure that the signal strength of the optical radar 1 and the signal transmission direction of the optical radar 1 are not affected, thereby ensuring good detection performance of the optical radar 1. It is worth mentioning that removing the water mist of the window sheet 10 can also reduce the intensity of stray light, avoid the influence of the trailing area of ​​the leading signal on the echo signal of the close-range target object, and avoid close-range blind spots.

[0046] Furthermore, if Figure 2 As shown, Figure 2 A schematic diagram of a flow chart of an optical radar control method provided in an embodiment of the present application, such as Figure 2 As shown, the above step S102 may include step S201, step S202 and step S203.

[0047] Step S201 : obtaining a first temperature value of the non-window area 12 .

[0048] In step S201, the window piece 10 has a window area 11 and a non-window area 12 arranged around the window area 11, and the "non-window area 12" is understood to be an area in the window piece 10 where the outgoing light beam emitted by the transmitting module of the optical radar 1 cannot pass through the window piece 10 and be normally projected onto the target object, and an area in the optical window piece 10 where the echo light beam reflected by the target object cannot pass through the window piece 10 and be normally received by the receiving module of the optical radar; for example, the "non-window area 12" can be but is not limited to the area where the window piece 10 contacts the shell (not shown in the figure) of the optical radar 1 when assembled.

[0049] It is understandable that there is a temperature difference between the inner side of the window sheet 10 and the outer side of the window sheet 10 (the side of the window sheet 10 facing the target object), and water mist will be generated on the inner side and the outer side of the window sheet 10. The user can directly remove the water mist generated on the outer side of the window sheet 10 by means such as a windshield wiper, but the user cannot directly wipe off the water mist generated on the inner side of the window sheet 10. Therefore, this solution solves the problem of removing the water mist generated on the inner side of the window sheet 10. The first temperature value of the non-window area inside the window sheet 10 can be obtained by the temperature detector 41.

[0050] Step S202: Obtain a first preset temperature.

[0051] In step S202, a temperature compensation unit may be provided, and a first preset temperature may be acquired through the temperature compensation unit.

[0052] Step S203: compensating the first temperature value of the non-window area 12 with the first preset temperature to obtain a second temperature value of the preset area 13 of the window area 11, and using the second temperature value as the current temperature value.

[0053] In step S203, the "window area 11" is understood as the area in the window sheet 10 where the outgoing light beam emitted by the transmitting module of the optical radar 1 can pass through the window sheet 10 and be normally projected onto the target object, and the area in the window sheet 10 where the echo light beam reflected by the target object can pass through the window sheet 10 and be normally received by the receiving module of the optical radar 1; for example, the "window area 11" can be, but not limited to, the area where the window sheet 10 is not in contact with the housing (not shown) of the optical radar 1 when assembled; the window area 11 includes a preset area 13, and the "preset area 13" can be, but not limited to, the central area of ​​the window sheet 10. It can be understood that after the heating element 20 is heated by the heating module 52, the lower temperature is usually concentrated in the central area of ​​the heating element 20, rather than in the edge area of ​​the heating element 20. For example, if the element 20 to be heated is an ITO film, after the ITO film is heated, the current density in the central area of ​​the ITO film is small, while the current density in the edge area of ​​the ITO film is large. Therefore, under the condition of the same resistance per unit area, the heating efficiency in the central area of ​​the ITO film is lower than that in the edge area of ​​the ITO film. Since the edge area of ​​the element 20 to be heated is closer to the non-window area 12 of the window sheet 10 than the central area of ​​the element 20 to be heated, the temperature values ​​detected by setting the temperature detector 41 in the non-window area 12 of the window sheet 10 and the temperature detector 41 in the window area 11 of the window sheet 10 are different. And the temperature detector 41 detects the first temperature value of the non-window area 12 of the window sheet 10. In order to obtain the second temperature value of the preset area 13 of the window area 11 of the window sheet 10, it is necessary to perform a temperature compensation on the first temperature value detected by the temperature detector 41, that is, the second temperature value = the first temperature value + the first preset temperature.

[0054] It is worth mentioning that the temperature detector 41 detects the first temperature value of the non-window area 12 of the window sheet 10, so the temperature detector 41 is set in the non-window area 12 of the window sheet 10, which can prevent the temperature detector 41 from blocking the outgoing light beam emitted by the transmitting module of the optical radar 1 and the echo light beam received by the receiving module of the optical radar 1. By using the second temperature value obtained by compensation as the current temperature value of the window sheet 10, it is effectively ensured that the preset area 13 of the window sheet 10 with the lowest temperature will not generate water mist, so that the non-window area 12 of the window sheet 10 with relatively high temperature or other window areas 11 outside the preset area 13 will not generate water mist.

[0055] Furthermore, if Figure 3 As shown, Figure 3 A schematic diagram of a flow chart of an optical radar control method provided in an embodiment of the present application, such as Figure 3 As shown, the above step S202 may include step S301, step S302 and step S303.

[0056] Step S301: obtaining the current heating power of the heating module 52 .

[0057] In step S301 , a power collection unit may be provided, and the power collection unit acquires the heating power of the heating module 52 by collecting the output voltage and output current of the heating module 52 .

[0058] Step S302: Obtain preset parameter values.

[0059] In step S302, the preset parameter value may be, but is not limited to, the current vehicle speed or the current torque.

[0060] Step S303: calling a compensation function corresponding to the current heating power and the temperature difference value of the window sheet 10 according to the preset parameter value, and confirming the corresponding first preset temperature according to the current heating power and the compensation function.

[0061] In step S303, the "temperature difference value of the window sheet 10" is the difference between the first temperature value of the non-window area 12 of the window sheet 10 and the second temperature value of the preset area 13 of the window area 11 of the window sheet 10 (i.e., the first preset temperature mentioned above). There are multiple compensation functions, and multiple compensation functions are pre-stored in advance. It should be noted that, taking the preset parameter value as the current vehicle speed as an example, the difference between the first temperature value of the non-window area 12 of the window sheet 10 and the second temperature value of the preset area 13 of the window area 11 of the window sheet 10 (i.e., the temperature difference value) is related to the vehicle speed and the current heating power. The vehicle has a plurality of different speed ranges, each speed range corresponds to a compensation function of the current heating power and the temperature difference value of the window piece 10, the speed range in which the vehicle is currently traveling is determined according to the current vehicle speed, and a corresponding compensation function is obtained according to the speed range; the current heating power of the heating module 52 is obtained, and the first preset temperature corresponding to the current heating power is found according to the current heating power and the compensation function; the determined first preset temperature is compensated to the above-mentioned first temperature value, and the above-mentioned second temperature value (that is, "temperature difference value = first preset temperature = second temperature value - first temperature value") can be obtained.

[0062] Furthermore, if Figure 4 As shown, Figure 4 A schematic diagram of a flow chart of an optical radar control method provided in an embodiment of the present application, such as Figure 4 As shown, the above step S101 may include step S401 and step S402.

[0063] Step S401 : obtaining the inner temperature and the inner humidity of the inner side of the window sheet 10 .

[0064] In step S401, the inner temperature and inner humidity of the window sheet 10 are obtained by the temperature and humidity detector 31. It can be understood that the heating conditions and heat dissipation conditions of the components inside the optical radar 1 are different, which makes the temperature distribution inside the optical radar 1 uneven. Therefore, the temperature and humidity detector 31 is set at different positions inside the optical radar 1, and the inner temperature of the window sheet 10 detected by the temperature and humidity detector 31 is also different. In addition, considering that the dew point temperature value of the air inside the window sheet 10 is directly related to the generation of water mist, the temperature and humidity detector 31 is set at a position inside the window sheet 10 close to the window sheet 10. For example, the optical radar 1 also includes a digital board 60, and the temperature and humidity detector 31 can be integrated on the side of the digital board 60 close to the window sheet 10 to avoid blocking the light path.

[0065] Step S402: obtaining the dew point temperature value inside the window sheet 10 according to the inside temperature and the inside humidity.

[0066] like Figure 5 As shown, in step S402, a theoretical dew point temperature value may be obtained according to the inside temperature and the inside humidity.

[0067] It should be noted that the theoretical dew point temperature value is the dew point temperature value at the location where the temperature and humidity detector 31 is set. The theoretical dew point temperature value can be approximated by the following formula:

[0068] Td=bγ(T,RH) / [a-γ(T,RH)], γ(T,RH)=aT / (b+T)+ln(RH / 100)

[0069] Wherein, Td represents the theoretical dew point temperature value; T represents the inner temperature of the inner side of the window sheet 10, which can be directly measured by the temperature and humidity detector 31, and its unit is Celsius; RH represents the inner humidity of the inner side of the window sheet 10, which can be directly measured by the temperature and humidity detector 31; a and b are constant coefficients (for example, the values ​​of constants a and b can be but are not limited to: a = 17.27 ° C, b = 237.7 ° C). The theoretical dew point temperature value is calculated according to the inner temperature and inner humidity of the inner side of the window sheet 10 and through the above formula.

[0070] like Figure 5 As shown, in step S402, the theoretical dew point temperature value may be compensated by using the second preset temperature to obtain the dew point temperature value in the window sheet 10.

[0071] It should be noted that, in order to avoid the temperature and humidity detector 31 blocking the optical path, according to the actual structural design of the optical radar 1, the temperature and humidity detector 31 is arranged on the side of the digital board 60 close to the window 10, and there is a gap between the temperature and humidity detector 31 and the window 10. It is precisely because of the existence of the "gap" that the theoretical dew point temperature value needs to be compensated by the second preset temperature to obtain the dew point temperature value inside the window 10, that is, "the dew point temperature value inside the window 10 = theoretical dew point temperature value + second preset temperature". Among them, the "second preset temperature" can be a preset fixed value, and the specific value of the second preset temperature is related to the size of the gap between the temperature and humidity detector 31 and the window 10; for example, the larger the gap between the temperature and humidity detector 31 and the window 10, the larger the specific value of the second preset temperature may be, and conversely, the smaller the gap between the temperature and humidity detector 31 and the window 10, the smaller the specific value of the second preset temperature may be. Of course, the specific value of the second preset temperature may also be related to the geographical area; for example, in a high altitude area, the specific value of the second preset temperature may be 5 degrees Celsius, but in a low altitude area, the specific value of the second preset temperature may be 2-3 degrees Celsius.

[0072] The temperature and humidity detector 31 obtains the inner temperature and inner humidity of the inner side of the window piece 10, and obtains the theoretical dew point temperature value of the inner side of the window piece 10 according to the above-mentioned theoretical dew point temperature value calculation formula, and obtains the accurate dew point temperature value of the inner side of the window piece 10 by performing a second preset temperature compensation on the theoretical dew point temperature value, and accurately controls the heating power of the heating module by comparing the current temperature value of the window piece 10 with the dew point temperature value of the inner side of the window piece 10, so that the temperature value of the window piece 10 is greater than the dew point temperature value of the inner side of the window piece 10, thereby effectively removing the existing water mist on the inner side of the window piece 10 or effectively preventing the generation of water mist on the inner side of the window piece 10, which can ensure that the signal strength of the optical radar 1 and the signal transmission direction of the optical radar 1 are not affected, so as to ensure the good detection performance of the optical radar 1.

[0073] Please refer to Figure 6 As shown, the second aspect of the present application proposes a control device 1000 for an optical radar, and the control device 1000 for the optical radar includes a processor 1001 and a memory 1005. The memory 1005 stores a computer program, and the computer program is suitable for being loaded by the processor 1001 and executing the steps of the above-mentioned display control method. The specific execution process can be referred to the specific description of the above-mentioned embodiment, and will not be repeated here. Among them, the processor 1001 can be a CPU, and the memory 1005 can be a high-speed RAM memory 1005, or a non-volatile memory 1005 (non-volatile memory), such as at least one disk memory 1005. The memory 1005 can also be optionally at least one storage device located away from the aforementioned processor 1001.

[0074] like Figure 6 As shown, the memory 1005 as a storage medium of the control device 1000 of the optical radar may include an operating system, a network communication module, an input / output interface 1003 module, and a content display application. The control device 1000 of the optical radar may also include at least one network interface 1004, at least one input / output interface 1003, and at least one communication bus 1002. Among them, the network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface), the input / output interface 1003 is mainly used to provide an input interface for the user and obtain the data input by the user, and the communication bus 1002 is used to realize the connection and communication between these components.

[0075] In one embodiment, the processor 1001 may be used to call a content display application stored in the memory 1005, and specifically perform the following operations:

[0076] The dew point temperature value inside the window sheet 10 is obtained.

[0077] Get the current temperature value of the window sheet 10.

[0078] The heating power of the heating module 52 is adjusted according to the dew point temperature value and the current temperature value, so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10 .

[0079] Optionally, in the step of obtaining the current temperature value of the window sheet 10, the following operations are specifically performed:

[0080] A first temperature value of the non-window area 1211 is obtained.

[0081] A first preset temperature is obtained.

[0082] The first temperature value of the non-window area 1211 is compensated by the first preset temperature to obtain the second temperature value of the preset area 13 of the window area 11, and the second temperature value is used as the current temperature value.

[0083] Optionally, in the step of obtaining the first preset temperature, the following operations are specifically performed:

[0084] The current heating power of the heating module 52 is obtained.

[0085] Gets the preset parameter value.

[0086] The compensation function corresponding to the current heating power and the temperature difference value of the window plate 10 is called according to the preset parameter value, and the corresponding first preset temperature is determined according to the current heating power and the compensation function.

[0087] Optionally, in the step of obtaining the dew point temperature value inside the window sheet 10, the following operations are specifically performed:

[0088] The inner temperature and the inner humidity of the inner side of the window sheet 10 are acquired.

[0089] The dew point temperature value inside the window piece 10 is obtained according to the inside temperature and the inside humidity.

[0090] Optionally, in the step of obtaining the dew point temperature value of the inner side of the window sheet 10 according to the inner side temperature and the inner side humidity, the following operations are specifically performed:

[0091] The theoretical dew point temperature value is obtained based on the inside temperature and inside humidity.

[0092] The theoretical dew point temperature value is compensated by using the second preset temperature to obtain the dew point temperature value inside the window piece 10 .

[0093] Please refer to Figure 7-Figure 10 As shown, the third aspect of the present application proposes an optical radar 1, which can evaporate the existing water mist on the inside of the window plate 10 or effectively prevent the generation of water mist on the inside of the window plate 10, so as to avoid the signal strength of the optical radar 1 and the signal transmission direction of the optical radar 1 being affected, thereby ensuring the good detection performance of the optical radar 1.

[0094] The optical radar 1 includes a window piece 10, an element to be heated 20, a dew point temperature acquisition module 30, a temperature acquisition module 40 and a control module 50; the element to be heated 20 is arranged on the inner side of the window piece 10 and is used to heat the window piece 10; the dew point temperature acquisition module 30 is used to obtain the dew point temperature value on the inner side of the window piece 10; the temperature acquisition module 40 is arranged on the window piece 10 and is used to obtain the current temperature value of the window piece 10; the control module 50 is electrically connected to the dew point temperature acquisition module 30 and the temperature acquisition module 40 to obtain the dew point temperature value and the current temperature value, and the control module 50 adjusts the heating power according to the dew point temperature value and the current temperature value so that the temperature value of the window piece 10 is greater than the dew point temperature value.

[0095] The following combination Figure 7-Figure 11 The specific structure of the optical radar 1 is introduced in detail.

[0096] like Figure 7-Figure 10 As shown, the optical radar 1 includes a window piece 10 , a heating element 20 , a dew point temperature acquisition module 30 , a temperature acquisition module 40 and a control module 50 .

[0097] On one hand, the window 10 is used as a window of the optical radar 1, for the outgoing beam emitted by the transmitting module of the optical radar 1 and the echo beam received by the receiving module of the optical radar 1 to pass through; on the other hand, the window 10 is used as a part of the shell of the optical radar 1 to protect components such as the transmitting module of the optical radar 1 and the receiving module of the optical radar 1. The specific structure of the window 10 is not limited here, and the designer can reasonably design it according to actual needs. The specific preparation material of the window 10 is not limited here, and the designer can reasonably choose it according to actual needs.

[0098] The heating element 20 can release heat to heat the window plate 10 when powered. The specific form of the heating element 20 is not limited here, and designers can make reasonable choices based on actual needs. For example, the heating element 20 can be but is not limited to ITO film, nano silver wire, etc.

[0099] The heating element 20 is arranged on the inner side of the window sheet 10 and is used to heat the window sheet 10. The inner side of the window sheet 10 is the side of the window sheet 10 facing away from the target object (that is, the side of the window sheet 10 facing the housing of the optical radar 1). The specific arrangement of the heating element 20 on the window sheet 10 is not limited here, and the designer can make a reasonable design according to actual needs; and it can be understood that for the heating element 20 with different forms, the specific arrangement between the heating element 20 and the window sheet 10 is also different. For example, when the specific form of the heating element 20 is an ITO film, the ITO film is directly attached to the inner side of the window sheet 10.

[0100] It should be noted that the element to be heated 20 is light-transmitting, and the element to be heated 20 can allow the outgoing light beam emitted by the transmitting module of the optical radar 1 and the echo light beam received by the receiving module of the optical radar 1 to pass through; that is, the outgoing light beam emitted by the transmitting module of the optical radar 1 can be normally projected onto the target object after passing through the element to be heated 20 and the window piece 10 in sequence, and the echo light beam after being reflected by the target object can also be normally received by the receiving module of the optical radar 1 after passing through the window piece 10 and the element to be heated 20 in sequence.

[0101] The dew point temperature acquisition module 30 is one of the structural components of the optical radar 1 for realizing temperature detection. The dew point temperature acquisition module 30 is used to obtain the dew point temperature value inside the window piece 10 .

[0102] The temperature acquisition module 40 is another structural component of the optical radar 1 for realizing temperature detection. The temperature acquisition module 40 is used to acquire the current temperature value of the window piece 10 .

[0103] The temperature acquisition module 40 is disposed on the window sheet 10. The arrangement of the temperature acquisition module 40 on the window sheet 10 is not limited here. Designers can make reasonable designs according to actual needs, as long as the temperature acquisition module 40 does not cause any influence such as blocking the outgoing light beam emitted by the transmitting module of the optical radar 1 and the echo light beam received by the receiving module of the optical radar 1. For example, the temperature acquisition module 40 can be disposed in the non-window area 12 of the window sheet 10 (described below).

[0104] The control module 50 is electrically connected to the dew point temperature acquisition module 30 to acquire the dew point temperature value inside the window sheet 10, and the control module 50 is also electrically connected to the temperature acquisition module 40 to acquire the current temperature value of the window sheet 10. The control module 50 adjusts the heating power according to the dew point temperature value inside the window sheet 10 and the current temperature value of the window sheet 10, so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10.

[0105] Based on the optical radar 1 in the embodiment of the present application, the dew point temperature acquisition module 30 is designed to acquire the dew point temperature value inside the window sheet 10; the temperature acquisition module 40 is designed to acquire the current temperature value of the window sheet 10; the control module 50 adjusts the heating power through the heating element 20 according to the dew point temperature value and the current temperature value, so that the temperature value of the window sheet 10 is greater than the dew point temperature value inside the window sheet 10, so as to remove the water mist already existing inside the window sheet 10 or effectively prevent the water mist from being generated inside the window sheet 10, which can ensure that the signal strength of the optical radar 1 and the signal transmission direction of the optical radar 1 are not affected, thereby ensuring the good detection performance of the optical radar 1. It is worth mentioning that removing the water mist of the window sheet 10 can also reduce the intensity of stray light, avoid the influence of the trailing area of ​​the leading signal on the echo signal of the close-range target object, and avoid the close-range blind area.

[0106] Furthermore, if Fig.11 As shown, in some embodiments, the window piece 10 has a window area 11 and a non-window area 12 arranged around the window area 11; the heating element 20 is located on the inner side of the window piece 10 and covers at least a portion of the window area 11; the temperature acquisition module 40 includes a temperature detector 41 and a temperature compensation unit 42; the temperature detector 41 is arranged in the non-window area 12, and the temperature detector 41 is used to detect a first temperature value of the non-window area 12; the temperature compensation unit 42 is electrically connected to the temperature detector 41 to obtain the first temperature value of the non-window area 12, and the first temperature value of the non-window area 12 is compensated with a first preset temperature to obtain a second temperature value of a preset area 13 of the window area 11, and the second temperature value is used as the current temperature value of the window piece 10; the control module 50 is electrically connected to the temperature compensation unit 42.

[0107] The heating element 20 may only cover a portion of the window area 11, or only completely cover the window area 11, or may completely cover the window area 11 while also covering a portion of the non-window area 12, or may completely cover the window area 11 while also completely covering the non-window area 12. The "temperature detector 41" may be, but is not limited to, a temperature sensor. The "preset area 13 of the window area 11" may be, but is not limited to, the central area of ​​the window sheet 10.

[0108] It should be noted that the lower temperature of the heated element 20 is usually concentrated in the central area of ​​the heated element 20, rather than in the edge area of ​​the heated element 20. For example, taking the heated element 20 as an ITO film, after the ITO film is heated, the current density in the central area of ​​the ITO film is relatively small, while the current density in the edge area of ​​the ITO film is relatively large. Therefore, under the condition of the same resistance per unit area, the heating efficiency in the central area of ​​the ITO film is relatively low compared with the heating efficiency in the edge area of ​​the ITO film.

[0109] It is understandable that the edge area of ​​the element to be heated 20 is closer to the non-window area 12 of the window sheet 10 than the central area of ​​the element to be heated 20, so the temperature values ​​detected by setting the temperature detector 41 in the non-window area 12 of the window sheet 10 and setting the temperature detector 41 in the window area 11 of the window sheet 10 are different. In order to avoid the temperature detector 41 blocking the outgoing light beam emitted by the transmitting module of the optical radar 1 and the echo light beam received by the receiving module of the optical radar 1, the temperature detector 41 is set in the non-window area 12 of the window sheet 10, so the temperature detector 41 detects the first temperature value of the non-window area 12 of the window sheet 10. In order to obtain the second temperature value of the preset area 13 of the window area 11 of the window sheet 10, the temperature compensation unit 42 needs to perform a temperature compensation on the first temperature value detected by the temperature detector 41, that is, the second temperature value = the first temperature value + the first preset temperature.

[0110] Furthermore, if Fig.11 As shown, the control module 50 includes a temperature difference calculation unit 51 and a heating module 52; the temperature difference calculation unit 51 is electrically connected to the temperature compensation unit 42 and the dew point temperature acquisition module 30, and the temperature difference calculation unit 51 is used to compare the dew point temperature value and the current temperature value and generate a control signal; the heating module 52 is electrically connected to the element to be heated 20 and the temperature difference calculation unit 51, and the heating module 52 is used to adjust the heating power according to the control signal so that the temperature value of the preset area 13 of the window area 11 is greater than the dew point temperature value on the inner side of the window sheet 10.

[0111] The temperature difference calculation unit 51 can obtain the dew point temperature value inside the window sheet 10 on the one hand, and can obtain the second temperature value of the preset area 13 of the window area 11 on the other hand. The temperature difference calculation unit 51 also generates a control signal by comparing the dew point temperature value inside the window sheet 10 with the current temperature value (i.e., the second temperature value) of the preset area 13 of the window area 11. The control signal is transmitted to the heating module 52, and the heating module 52 adjusts the heating power through the heating element 20 according to the control signal, so that the temperature value of the preset area 13 of the window area 11 is greater than the dew point temperature value inside the window sheet 10, thereby effectively preventing the generation of water mist inside the window sheet 10 or evaporating the water mist already existing inside the window sheet 10.

[0112] Specifically, the specific setting position of the electrical connection point between the heating module 52 and the heating element 20 on the non-window area 12 of the window piece 10 and the specific setting position of the temperature detector 41 on the non-window area 12 of the window piece 10 can be but not limited to one or more of the following embodiments.

[0113] In the first embodiment, the electrical connection point between the heating module 52 and the element to be heated 20 is located at the bottom of the non-window area 12. The heating module 52 and the element to be heated 20 can be electrically connected to each other through an electrical connector such as a circuit board. By setting the electrical connection point between the heating module 52 and the element to be heated 20 at the bottom of the non-window area 12, it is convenient to install and arrange electrical connectors such as circuit boards in the housing of the optical radar 1.

[0114] In the second embodiment, the temperature detector 41 is disposed near the electrical connection point between the heating module 52 and the element to be heated 20. By disposing the temperature detector 41 near the electrical connection point between the heating module 52 and the element to be heated 20, the problem of inaccurate measurement of the first temperature value caused by heat loss can be reduced, so as to improve the measurement accuracy of the temperature detector 41.

[0115] Furthermore, if Fig.11As shown, in some embodiments, the control module 50 further includes a power collection unit 53, which is electrically connected to the heating module 52 to obtain the current heating power of the heating module 52. The temperature compensation unit 42 includes a compensation determination subunit 421 and a compensation calculation subunit 422; the compensation determination subunit 421 pre-stores a plurality of compensation functions of the heating power and the temperature difference value of the window sheet 10, the compensation determination subunit 421 is electrically connected to the power collection unit 53, and the compensation determination subunit 421 is used to select a corresponding compensation function according to a preset parameter value, and determine the corresponding first preset temperature according to the selected compensation function and the heating power; the compensation calculation subunit 422 is electrically connected to the compensation determination subunit 421 and the temperature detector 41, and the compensation calculation subunit 422 is used to compensate the first temperature value with the first preset temperature to obtain the second temperature value.

[0116] The power collection unit 53 obtains the heating power of the heating module 52 by collecting the output voltage and output current of the heating module 52. The "temperature difference value of the window sheet 10" is the difference between the first temperature value of the non-window area 12 of the window sheet 10 and the second temperature value of the preset area 13 of the window area 11 of the window sheet 10 (that is, the first preset temperature mentioned above); the "preset parameter value" can be one of the current vehicle speed or the current torque.

[0117] It should be noted that, taking the preset parameter value as the current vehicle speed as an example, the multiple compensation functions pre-stored in the compensation determination subunit 421 are heating power-temperature difference value curves. The compensation determination subunit 421 first selects a corresponding compensation function according to the current vehicle speed, and then determines the corresponding temperature difference value (that is, the first preset temperature) according to the current heating power of the heating module 52 obtained by the power acquisition unit 53; the compensation calculation subunit 422 compensates the determined temperature difference value to the above-mentioned first temperature value to obtain the above-mentioned second temperature value (that is, "temperature difference value = first preset temperature = second temperature value - first temperature value").

[0118] Furthermore, if Fig.11 As shown, in some embodiments, the dew point temperature acquisition module 30 includes a temperature and humidity detector 31 and a dew point temperature calculation unit 32; the temperature and humidity detector 31 is spaced apart from the window piece 10, and the temperature and humidity detector 31 is used to detect the inner temperature and inner humidity of the inner side of the window piece 10; the dew point temperature calculation unit 32 is electrically connected to the temperature and humidity detector 31, and the dew point temperature calculation unit 32 is used to obtain the dew point temperature value of the inner side of the window piece 10 according to the inner temperature and the inner humidity; the control module 50 is also electrically connected to the dew point temperature calculation unit 32.

[0119] Among them, the "temperature and humidity detector 31" can be, but is not limited to, a temperature and humidity sensor. The specific form of the dew point temperature calculation unit 32 is not limited here, and designers can make reasonable designs according to actual needs.

[0120] Specifically, the dew point temperature calculation unit 32 includes a theoretical dew point calculation subunit 321 and a dew point temperature compensation subunit 322; the theoretical dew point calculation subunit 321 is electrically connected to the temperature and humidity detector 31 to obtain a theoretical dew point temperature value according to the inner temperature and inner humidity; the dew point temperature compensation subunit 322 is electrically connected to the theoretical dew point calculation subunit 321 to compensate the theoretical dew point temperature with a second preset temperature to obtain the dew point temperature value inside the window pane 10; the control module 50 is also electrically connected to the dew point temperature compensation subunit 322.

[0121] The theoretical dew point calculation subunit 321 calculates the theoretical dew point temperature value according to the inner temperature and inner humidity inside the window pane 10 and through the above formula (introduced in the control method), and the dew point temperature compensation subunit 322 performs a second preset temperature compensation on the theoretical dew point temperature value to obtain the dew point temperature value inside the window pane 10, that is, "dew point temperature value inside the window pane 10 = theoretical dew point temperature value + second preset temperature".

[0122] It should be noted that the heating module 52 performs temperature closed-loop control according to the temperature difference value (C_e) input by the temperature difference calculation unit 51 and the current heating power (W_c) obtained by the power acquisition unit 53, and a proportional controller is used in the open-loop control. For example, in an implementable solution, the proportional coefficient Kp is divided into K1 = 2.5 in the case of no wind and K2 = 1.5 in the case of wind. The output temperature control power calculation formula satisfies W_out = W_c + Kp * C_e. When 0 < C_e < 2, the heating module 52 maintains the current output heating power W_out.

[0123] With the change of the current vehicle speed during vehicle driving and the temperature change of the vehicle driving environment, the heating module 52 will perform a new round of temperature control according to the updated information.

[0124] Furthermore, as Figure 7 shown, the lidar 1 further includes a digital board 60, and the control module 50 is arranged on the digital board 60; the temperature and humidity detector 31 is arranged at one end of the digital board 60 close to the window pane 10. It should be noted that due to the different setting positions of the temperature and humidity detector 31 on the digital board 60, the specific values of the inner temperature and inner humidity inside the window pane 10 detected by the temperature and humidity detector 31 are also different.

[0125] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "upper", "lower", "left", "right", etc. indicate an orientation or position relationship based on the orientation or position relationship shown in the drawings, it is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0126] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A control method for an optical radar, characterized in that: The optical radar includes a window piece, and the control method includes: Get the dew point temperature value inside the window; Obtaining the current temperature value of the window; According to the dew point temperature value and the current temperature value, the heating power of the heating module is adjusted to make the temperature value of the window piece greater than the dew point temperature value inside the window piece.

2. The control method according to claim 1, characterized in that: The window sheet has a window area and a non-window area arranged around the window area; the step of obtaining the current temperature value of the window sheet comprises: Acquire a first temperature value of the non-window area; Obtaining a first preset temperature; The first temperature value of the non-window area is compensated by using the first preset temperature to obtain a second temperature value of a preset area of ​​the window area, and the second temperature value is used as the current temperature value.

3. The control method according to claim 2, characterized in that: The step of obtaining the first preset temperature includes: Obtaining the current heating power of the heating module; Get the preset parameter value; A compensation function corresponding to the current heating power and the temperature difference value of the window piece is called according to the preset parameter value, and the corresponding first preset temperature is determined according to the current heating power and the compensation function.

4. The control method according to claim 1, characterized in that: The step of obtaining the dew point temperature value inside the window piece includes: Acquiring the inner temperature and the inner humidity of the inner side of the window piece; The dew point temperature value of the inner side of the window piece is obtained according to the inner side temperature and the inner side humidity.

5. The control method according to claim 4, characterized in that: The step of obtaining the dew point temperature value of the inner side of the window piece according to the inner side temperature and the inner side humidity comprises: Obtaining a theoretical dew point temperature value according to the inner temperature and the inner humidity; The theoretical dew point temperature value is compensated by using a second preset temperature to obtain a dew point temperature value inside the window piece.

6. A control device for an optical radar, characterized in that: include: A processor and a memory, wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the control method according to any one of claims 1 to 5.

7. An optical radar, characterized in that: include: Window piece; A heating element is disposed inside the window sheet and is used to heat the window sheet; A dew point temperature acquisition module, used to acquire the dew point temperature value inside the window piece; A temperature acquisition module, disposed on the window sheet and used to acquire a current temperature value of the window sheet; A control module, electrically connected to the temperature acquisition module and the dew point temperature acquisition module to acquire the current temperature value and the dew point temperature value; And according to the dew point temperature value and the current temperature value, the heating power is adjusted to make the temperature value of the window piece greater than the dew point temperature value.

8. The optical radar according to claim 7, characterized in that The window sheet has a window area and a non-window area arranged around the window area; The element to be heated is located inside the window sheet and covers at least a portion of the viewing window area; The temperature acquisition module includes a temperature detector and a temperature compensation unit; The temperature detector is disposed in the non-window area and is used to detect a first temperature value of the non-window area; The temperature compensation unit obtains the first temperature value of the non-window area, and compensates the first temperature value of the non-window area with a first preset temperature to obtain a second temperature value of a preset area of ​​the window area, and uses the second temperature value as the current temperature value.

9. The optical radar according to claim 8, characterized in that The control module comprises: a temperature difference calculation unit, electrically connected to the temperature acquisition module and the dew point temperature acquisition module, for comparing the dew point temperature value with the current temperature value and generating a control signal; A heating module is electrically connected to the element to be heated and is used to adjust the heating power according to the control signal so that the temperature value of the preset area of ​​the window area is greater than the dew point temperature value of the inner side of the window sheet.

10. The optical radar according to claim 8, characterized in that The control module further includes a power collection unit, and the power collection unit is used to obtain the current heating power of the heating module; The temperature compensation unit comprises: A compensation determination subunit, which pre-stores a plurality of compensation functions of the heating power and the temperature difference value of the window sheet, is electrically connected to the power acquisition unit, and is used to select a corresponding compensation function according to a preset parameter value, and determine the corresponding first preset temperature according to the selected compensation function and the heating power; The compensation calculation subunit is electrically connected to the compensation determination subunit and the temperature detector, and is used to compensate the first temperature value by using the first preset temperature to obtain the second temperature value.

11. The optical radar according to claim 7, characterized in that: The dew point temperature acquisition module includes a temperature and humidity detector and a dew point temperature calculation unit; The temperature and humidity detector is spaced apart from the window piece and is used to detect the inner temperature and inner humidity of the inner side of the window piece; The dew point temperature calculation unit is electrically connected to the temperature and humidity detector, and is used to obtain the dew point temperature value inside the window piece according to the inside temperature and the inside humidity.

12. The optical radar according to claim 11, characterized in that The dew point temperature calculation unit includes a theoretical dew point calculation subunit and a dew point temperature compensation subunit; The theoretical dew point calculation subunit is used to obtain a theoretical dew point temperature value according to the inner temperature and the inner humidity; The dew point temperature compensation subunit is used to compensate the theoretical dew point temperature value by using a second preset temperature to obtain the dew point temperature value inside the window piece.

13. The optical radar according to claim 9, characterized in that: The electrical connection point between the heating module and the element to be heated is located at the bottom of the non-window area; and / or The temperature detector is disposed adjacent to an electrical connection point between the heating module and the element to be heated.

14. The optical radar according to claim 11, characterized in that The optical radar also includes a digital board, and the control module is arranged on the digital board; the temperature and humidity detector is arranged at one end of the digital board close to the window piece.

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