Defogging system and method of optical lens and unmanned equipment

Abstract

The embodiment of the invention discloses a defogging system and method for an optical lens and unmanned equipment, and aims to solve the problem that normal use of the optical lens is affected due to the fact that fog on the surface of the optical lens is difficult to dissipate in the prior art. Comprising an optical lens, a temperature measurement assembly, a wind heating device and a temperature control module. Wherein the position distance between the wind heating device and the optical lens is smaller than or equal to a preset distance, and the wind heating device is connected with the temperature control module; the temperature measuring assembly is connected with the optical lens and the temperature control module. The temperature measuring assembly is used for monitoring the lens temperature of the optical lens and monitoring the environment temperature of the environment where the optical lens is located; the temperature control module is used for acquiring the lens temperature and the environment temperature; calculating a temperature difference between the lens temperature and the ambient temperature; and according to the temperature difference, controlling the wind heating device to perform heating or cooling treatment on the optical lens. According to the technical scheme, the effect of removing fog generated on the surface of the optical lens can be achieved, and normal use of the optical lens is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of optical lens processing, and in particular to a defogging system and method for an optical lens and unmanned driving equipment. Background Art

[0002] Optical lenses are widely used in various types of equipment and play a vital role in the normal operation and use of the equipment. However, due to the particularity of the material of optical lenses, they are easily affected by the ambient temperature. When the ambient temperature changes greatly, the surface of the optical lens is prone to fogging and is difficult to dissipate, which seriously affects the normal use of the optical lens. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a defog system, method and unmanned driving equipment for an optical lens, so as to solve the problem in the prior art that fog on the surface of the optical lens is difficult to dissipate, thus affecting the normal use of the optical lens.

[0004] To solve the above technical problems, the embodiments of the present application are implemented as follows:

[0005] On the one hand, an embodiment of the present application provides a defogging system for an optical lens, comprising an optical lens, a temperature measuring component, a wind heating device and a temperature control module; wherein:

[0006] The distance between the wind heating device and the optical lens is less than or equal to the preset distance, and the wind heating device is connected to the temperature control module; the temperature measuring component is connected to the optical lens and the temperature control module respectively;

[0007] The temperature measuring component is used to monitor the lens temperature of the optical lens and the ambient temperature of the environment in which the optical lens is located;

[0008] The temperature control module is used to obtain the lens temperature and the ambient temperature; calculate the temperature difference between the lens temperature and the ambient temperature; and control the wind heating device to heat or cool the optical lens according to the temperature difference.

[0009] On the other hand, an embodiment of the present application provides an unmanned driving device, including a device body; the device body is provided with a defogging system of the optical lens as described above;

[0010] The device body is used to receive the scheduling task sent by the control platform; determine the driving route of the unmanned driving device according to the scheduling task; and control the temperature control module to be turned on or off according to the driving route;

[0011] The defog system of the optical lens is used to heat up or cool down the optical lens when the device body controls the temperature control module to turn on.

[0012] On the other hand, an embodiment of the present application provides a defogging method for an optical lens, which is applied to the defogging system of the optical lens as described above, and the method includes:

[0013] Monitoring the lens temperature of the optical lens and the ambient temperature of the environment in which the optical lens is located;

[0014] Calculating the temperature difference between the lens temperature and the ambient temperature;

[0015] According to the temperature difference, the wind heating device is controlled to heat up or cool down the optical lens.

[0016] The defogging system of the optical lens provided in the embodiment of the present application comprises an optical lens, a temperature measuring component, a wind-heating device and a temperature control module. Among them, the position distance between the wind-heating device and the optical lens is less than or equal to the preset distance, the wind-heating device is connected to the temperature control module, and the temperature measuring component is connected to the optical lens and the temperature control module respectively. In the defogging system, the temperature measuring component can monitor the lens temperature of the optical lens, and monitor the ambient temperature of the environment in which the optical lens is located. The temperature control module can obtain the lens temperature and the ambient temperature monitored by the temperature measuring component, thereby calculating the temperature difference between the lens temperature and the ambient temperature, and then controlling the wind-heating device to heat up or cool down the optical lens according to the temperature difference. It can be seen that the defogging system of the optical lens provided in the embodiment of the present application can heat up or cool down the optical lens when it is detected that there is a temperature difference between the lens temperature of the optical lens and the ambient temperature, so that the lens temperature of the optical lens can be close to the ambient temperature, which is conducive to the temperature difference between the lens temperature and the ambient temperature being less than the dew point, and then the effect of removing the fog generated on the surface of the optical lens can be achieved, ensuring that the optical lens can be used normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 is a schematic block diagram of a defogging system for an optical lens according to an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the positional relationship between the optical lens and the wind heating device according to an embodiment of the present application;

[0020] Figure 3is a schematic block diagram of a defogging system for an optical lens according to another embodiment of the present application;

[0021] Figure 4 is a schematic block diagram of a defogging system for an optical lens according to another embodiment of the present application;

[0022] Figure 5 is a schematic block diagram of a defogging system for an optical lens according to another embodiment of the present application;

[0023] Figure 6 is a schematic flow chart of a defogging method for an optical lens according to an embodiment of the present application;

[0024] Figure 7 is a schematic flow chart of a defogging method for an optical lens according to another embodiment of the present application;

[0025] Figure 8 is a schematic block diagram of an unmanned driving device according to an embodiment of the present application;

[0026] Fig. 9 It is a schematic block diagram of a defog system for an optical lens applied to an AGV according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] The embodiments of the present application provide a defog system and method for an optical lens and an unmanned driving device, which are used to solve the problem in the prior art that fog on the surface of the optical lens is difficult to dissipate, thus affecting the normal use of the optical lens.

[0028] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0029] Figure 1 is a schematic block diagram of a defogging system for an optical lens according to an embodiment of the present application, such as Figure 1 As shown, the defogging system 100 of the optical lens includes an optical lens 10, a temperature measuring component 20, a wind heating device 30 and a temperature control module 40. The distance between the wind heating device 30 and the optical lens 10 is less than or equal to a preset distance, the wind heating device 30 is connected to the temperature control module 40, and the temperature measuring component 20 is connected to the optical lens 10 and the temperature control module 40, respectively.

[0030] In this embodiment, the temperature measuring component is used to monitor the lens temperature of the optical lens and the ambient temperature of the environment in which the optical lens is located. The temperature control module is used to obtain the lens temperature and the ambient temperature, thereby calculating the temperature difference between the lens temperature and the ambient temperature, and then controlling the wind heating device to heat up or cool down the optical lens according to the temperature difference.

[0031] The optical lens may be an optical lens on an optical sensor, a camera, or other device. The temperature measurement component may include a third temperature sensor and a fourth temperature sensor. The third temperature sensor may be disposed on the surface of the optical lens to monitor the lens temperature of the optical lens. The fourth temperature sensor may be disposed in the environment where the optical lens is located to monitor the ambient temperature of the environment where the optical lens is located.

[0032] The preset distance may be a distance at which the wind heating device does not block the optical lens and can ensure that the wind heating device can effectively heat up or cool down the optical lens. In practical applications, the location of the wind heating device can be determined according to the working environment of the specific optical lens, and the embodiments of the present application do not limit this.

[0033] For example, for Figure 2 Assuming that the preset distance of the optical lens shown is 30 cm, the wind heat device can be set in the space with 210 and 220 as the two side boundaries, 30 cm away from the optical lens. Among them, setting it outside the boundary 210 can ensure that the wind heat device does not block the optical lens, and setting it within the boundary 220 and 30 cm away from the optical lens can ensure that the wind heat device effectively heats or cools the optical lens. It should be understood that Figure 2 The figure only schematically shows a positional relationship of the wind heat device relative to the optical lens. Along the inner circle of the optical lens, the boundary 210 can form a ring boundary 210, and along the outer circle of the optical lens, the boundary 220 can form a ring boundary 220. Figure 2 Similar to the figure, the wind heating device can be arranged in an annular space with annular boundary 210 and annular boundary 220 as two side boundaries, 30 cm away from the optical lens.

[0034] The defogging system of the optical lens provided in the embodiment of the present application comprises an optical lens, a temperature measuring component, a wind-heating device and a temperature control module. Among them, the position distance between the wind-heating device and the optical lens is less than or equal to the preset distance, the wind-heating device is connected to the temperature control module, and the temperature measuring component is connected to the optical lens and the temperature control module respectively. In the defogging system, the temperature measuring component can monitor the lens temperature of the optical lens, and monitor the ambient temperature of the environment in which the optical lens is located. The temperature control module can obtain the lens temperature and the ambient temperature monitored by the temperature measuring component, thereby calculating the temperature difference between the lens temperature and the ambient temperature, and then controlling the wind-heating device to heat up or cool down the optical lens according to the temperature difference. It can be seen that the defogging system of the optical lens provided in the embodiment of the present application can heat up or cool down the optical lens when it is detected that there is a temperature difference between the lens temperature of the optical lens and the ambient temperature, so that the lens temperature of the optical lens can be close to the ambient temperature, which is conducive to the temperature difference between the lens temperature and the ambient temperature being less than the dew point, and then the effect of removing the fog generated on the surface of the optical lens can be achieved, ensuring that the optical lens can be used normally.

[0035] In one embodiment, Figure 3 As shown, the wind heat device 30 includes a first heat dissipation module 310 and a first heating module 320 connected to each other. The first heat dissipation module 310 and the first heating module 320 are respectively connected to the temperature control module 40. It should be noted that, Figure 3 is Figure 1 The schematic block diagram of the wind heat device is obtained by refining it based on the Figure 3 Zhongyu Figure 1 For the connection relationship between components with the same label, please refer to Figure 1 , I will not go into details here.

[0036] In this embodiment, the first heating module is used to heat to a preset temperature under the control of the temperature control module. The first heat dissipation module is used to dissipate heat generated during the heating of the first heating module to a preset temperature under the control of the temperature control module.

[0037] Optionally, the first heating module may be a heating wire, a resistance wire, etc. In this embodiment, by arranging a heating module and a heat dissipation module in the wind heating device, it is possible to ensure that the wind heating device is heated under the control of the temperature control module, and the heat generated during the heating process is dissipated into the environment, which is conducive to achieving the effect of directing the heat to the optical lens, thereby achieving the heating or cooling treatment of the optical lens.

[0038] In one embodiment, the first heat dissipation module 310 includes a first heat sink 3110 and a second heat sink 3120. Figure 4 As shown in Figure 4As shown, the wind heat device 30 includes a first heat sink 3110, a first heating module 320 and a second heat sink 3120 connected in sequence. The first heat sink 3110 is connected to the temperature control module 40. It should be noted that, Figure 4 is Figure 3 Based on the schematic block diagram obtained by refining the first heat dissipation module, therefore, Figure 4 Zhongyu Figure 3 For the connection relationship between components with the same label, please refer to Figure 3 , I will not go into details here.

[0039] In this embodiment, the second radiator is used to dissipate heat generated by the first heating module when it is heated to a preset temperature. The second radiator can start working when the first heating module starts heating. The first radiator is used to dissipate heat generated by the second radiator during the heat dissipation process under the control of the temperature control module.

[0040] Optionally, the first heat sink may be a fan, and the second heat sink may be a radiator. In this embodiment, by arranging a heat sink and a fan in the wind heating device, it is possible to ensure that the wind heating device, under the control of the temperature control module, dissipates the heat generated during the heating process into the environment, and controls the dissipation direction of the heat dissipated into the environment so that it is directed to the optical lens, thereby ensuring that the optical lens is effectively heated or cooled.

[0041] In one embodiment, the temperature measurement component includes a plurality of first temperature sensors, each of which is disposed at a different position on the first heating module, and the plurality of first temperature sensors are used to monitor the sampling temperature at different positions on the first heating module.

[0042] In this embodiment, the temperature control module is used to obtain multiple sampled temperatures monitored by multiple first temperature sensors, so as to control the first heating module to stop heating when the multiple sampled temperatures meet preset fault conditions.

[0043] Among them, the preset fault conditions include at least one of the following: at least one sampling temperature among the multiple sampling temperatures exceeds the preset temperature range, the preset temperature range is the temperature range that the temperature control module can control the first heating module to heat; the temperature difference between every two sampling temperatures among the multiple sampling temperatures is greater than the preset temperature difference threshold.

[0044] For example, the temperature measurement component includes two first temperature sensors, the preset temperature range is -25°C to 105°C, and the preset temperature difference threshold is 5°C. Then, when the two sampling temperatures monitored by the two first temperature sensors are 95°C and 100°C respectively, it can be determined that the two sampling temperatures do not meet the preset fault conditions; when the two sampling temperatures monitored by the two first temperature sensors are 93°C and 100°C respectively, it can be determined that the two sampling temperatures meet the preset fault conditions, and the temperature control module controls the first heating module to stop heating; when the two sampling temperatures monitored by the two first temperature sensors are 107°C and 120°C respectively, it can be determined that the two sampling temperatures meet the preset fault conditions, and the temperature control module controls the first heating module to stop heating; when the two sampling temperatures monitored by the two first temperature sensors are 110°C and 113°C respectively, it can be determined that the two sampling temperatures meet the preset fault conditions, and the temperature control module controls the first heating module to stop heating.

[0045] In this embodiment, by arranging multiple temperature sensors on the heating module to monitor the sampling temperature, the temperature control module can detect the failure of the heating module in time, thereby timely controlling the heating module to stop heating, avoiding ineffective heating or cooling of the optical lens, and avoiding damage to the optical lens due to excessively high or low temperature.

[0046] In one embodiment, the temperature control module is used to determine the correlation between the heating time of the first heating module and the specified temperature control factor according to the temperature difference, so as to control the wind heating device to heat up or cool down the optical lens according to the correlation.

[0047] The specified temperature control factor may include at least one of the following: the heating power of the first heating module; the rotation speed of the first radiator; the temperature change value of the lens temperature. Optionally, in the case of different temperature differences, the correlation between the heating time of the first heating module and the specified temperature control factor may be the same or different. The correlation between the heating time of the first heating module and the specified temperature control factor may be represented by a curve, which is not limited in the embodiments of the present application.

[0048] In this embodiment, the correlation between the heating time of the first heating module and the specified temperature control factor is determined according to the temperature difference, so that the wind heating device is controlled to heat up or cool down the optical lens according to the correlation, which is beneficial to ensure that the optical lens is heated up or cooled more effectively and improves the reliability of the solution.

[0049] In one embodiment, the specified temperature control factor includes the heating power of the first heating module. The temperature control module is used to determine each target heating power of the first heating module during the heating process according to the correlation between the heating time and the heating power of the first heating module, thereby controlling the first heating module to heat according to each determined target heating power.

[0050] Optionally, during the heating process, the temperature control module can obtain multiple sampling temperatures monitored by multiple first temperature sensors, so as to control the first heating module to stop heating when the temperature difference between at least one of the multiple sampling temperatures and the target temperature exceeds a preset threshold.

[0051] In this embodiment, the target temperature is the temperature that the first heating module can heat to under the target heating power. If the temperature difference between the sampled temperature and the target temperature exceeds the preset threshold, it means that the first heating module is not currently heating according to the target heating power at the corresponding moment. At this time, the temperature control module controls the first heating module to stop heating, which can avoid ineffective heating or cooling of the optical lens.

[0052] In one embodiment, the specified temperature control factor includes a rotation speed of the first radiator. The temperature control module is used to determine each target rotation speed of the first radiator during the heating process according to the correlation between the heating time of the first heating module and the rotation speed of the first radiator, thereby controlling the operation of the first radiator according to each determined target rotation speed.

[0053] Optionally, during the heating process, the temperature control module may monitor the real-time rotation speed of the first radiator, and control the first heating module to stop heating when the real-time rotation speed is inconsistent with the target rotation speed at the corresponding moment.

[0054] In this embodiment, if the real-time rotational speed is inconsistent with the target rotational speed at the corresponding moment, it means that the first radiator is not currently operating at the target rotational speed at the corresponding moment. At this time, the temperature control module controls the first heating module to stop heating, which can avoid ineffective heating or cooling of the optical lens and can avoid the first heating module being damaged due to insufficient heat dissipation.

[0055] In one embodiment, the specified temperature control factor includes a temperature change value of the lens temperature. The temperature control module is used to determine each target temperature change value of the lens temperature during the heating process according to the correlation between the heating time of the first heating module and the temperature change value of the lens temperature, and to obtain the real-time temperature of the optical lens monitored by the temperature measuring component in the process of controlling the wind heating device to heat up or cool down the optical lens, thereby determining the real-time temperature change value of the lens temperature according to the lens temperature and the real-time temperature, and then determining whether the first heating module is working abnormally according to each determined target temperature change value and the real-time temperature change value. In the case that the first heating module is working abnormally, the first heating module is controlled to stop heating.

[0056] Among them, if the target temperature change value is inconsistent with the real-time temperature change value at the corresponding moment, it means that the first heating module has not been heated to the temperature it should be heated to at the corresponding moment. At this time, it can be determined that the first heating module is working abnormally; if the target temperature change value is consistent with the real-time temperature change value at the corresponding moment, it can be determined that the first heating module is working normally.

[0057] In this embodiment, the temperature control module can avoid ineffective heating or cooling of the optical lens by controlling the first heating module to stop heating when it is determined that the first heating module is working abnormally.

[0058] In one embodiment, Figure 5 As shown, the wind heat device 30 includes a first radiator 3110, a first heating module 320 and a second radiator 3120 connected in sequence, and can also include a third radiator 510, a second heating module 520 and a fourth radiator 530 connected in sequence, and the third radiator 510 and the second heating module 520 are respectively connected to the temperature control module 40. It should be noted that Figure 5 is Figure 4 The schematic block diagram of the wind heat device is obtained by refining it based on the Figure 5 Zhongyu Figure 4 For the connection relationship between components with the same label, please refer to Figure 4 , I will not go into details here.

[0059] The second heating module is used to heat to a preset temperature under the control of the temperature control module. The fourth radiator is used to dissipate heat generated by the second heating module when it is heated to a preset temperature, and the fourth radiator can start working when the second heating module starts heating. The third radiator is used to dissipate heat generated by the fourth radiator during the heat dissipation process under the control of the temperature control module.

[0060] Optionally, the second heating module may be a heating wire, a resistance wire, etc., the third heat sink may be a fan, and the fourth heat sink may be a radiator.

[0061] In this embodiment, the temperature measurement component may include a plurality of second temperature sensors, each of which is disposed at a different position on the second heating module, and the plurality of second temperature sensors are used to monitor the sampling temperatures at different positions on the second heating module. The temperature control module is used to obtain the plurality of sampling temperatures monitored by the plurality of second temperature sensors, so as to control the second heating module to stop heating when the plurality of sampling temperatures meet the preset fault conditions.

[0062] Among them, the preset fault conditions include at least one of the following: at least one sampling temperature among the multiple sampling temperatures exceeds the preset temperature range, the preset temperature range is the temperature range that the temperature control module can control the second heating module to heat to; the temperature difference between every two sampling temperatures among the multiple sampling temperatures is greater than the preset temperature difference threshold.

[0063] In this embodiment, by providing a wind heating device consisting of two sets of heating modules and a heat sink, it is possible to avoid the failure of optical lens defogger due to the failure of one set of heating modules and heat sinks, and provide a hardware foundation for effectively heating or cooling the optical lens. In addition, by providing multiple temperature sensors on the heating module to monitor the sampling temperature, it is helpful for the temperature control module to promptly detect the failure of the heating module, so as to promptly control the heating module to stop heating, avoid ineffective heating or cooling of the optical lens, and avoid damage to the optical lens due to excessively high or low temperatures.

[0064] Figure 6 is a schematic flow chart of a defogging method for an optical lens according to an embodiment of the present application, which is applied to Figures 1 to 5 The defogging system 100 of the optical lens is shown. Figure 6 As shown, the defogging method of the optical lens may include:

[0065] S602, monitoring the lens temperature of the optical lens, and monitoring the ambient temperature of the environment where the optical lens is located.

[0066] S604, calculating the temperature difference between the lens temperature and the ambient temperature.

[0067] S606, controlling the wind heating device to heat up or cool down the optical lens according to the temperature difference.

[0068] By adopting the technical solution of the embodiment of the present application, the lens temperature of the optical lens is monitored, as well as the ambient temperature of the environment in which the optical lens is located, the temperature difference between the lens temperature and the ambient temperature is calculated, and then according to the temperature difference, the wind heating device is controlled to heat up or cool down the optical lens. In this way, the lens temperature of the optical lens can be made close to the ambient temperature, which is conducive to the temperature difference between the lens temperature and the ambient temperature being less than the dew point, thereby achieving the effect of removing the fog generated on the surface of the optical lens, ensuring that the optical lens can be used normally.

[0069] In one embodiment, Figure 7 As shown, S606 can be executed as follows S6061-S6062:

[0070] S6061: Determine the correlation between the heating time of the first heating module and the specified temperature control factor according to the temperature difference.

[0071] The specified temperature control factor may include at least one of the following: the heating power of the first heating module; the rotation speed of the first radiator; and the temperature change value of the lens temperature.

[0072] S6062, based on the correlation, control the wind heating device to heat up or cool down the optical lens.

[0073] In this embodiment, the correlation between the heating time of the first heating module and the specified temperature control factor is determined according to the temperature difference, so that the wind heating device is controlled to heat up or cool down the optical lens according to the correlation, which is beneficial to ensure that the optical lens is heated up or cooled more effectively and improves the reliability of the solution.

[0074] Those skilled in the art should understand that Figure 6 and Figure 7 The defog method of the optical lens can be implemented by the defog system of the optical lens described above, and the detailed description thereof should be similar to the corresponding part description above. To avoid tediousness, it will not be repeated here.

[0075] Figure 8 is a schematic block diagram of an unmanned driving device according to an embodiment of the present application, such as Figure 8 As shown, the unmanned driving device 800 includes a device body 810, and the device body 810 is provided with Figures 1 to 5 A defog system 100 for an optical lens is shown.

[0076] In this embodiment, the device body 810 is used to receive the scheduling task sent by the control platform, thereby determining the driving route of the unmanned driving device 800 according to the scheduling task, and then controlling the temperature control module to be turned on or off according to the driving route. The optical lens defog system 100 is used to heat up or cool down the optical lens when the device body 810 controls the temperature control module to be turned on.

[0077] Among them, according to the driving route, it can be determined whether the unmanned driving equipment needs to travel through an area with a large temperature difference; if necessary, the temperature control module is controlled to be turned on; if not, the temperature control module is controlled to be turned off.

[0078] The unmanned driving equipment provided in the embodiment of the present application may be an AGV (Automated Guided Vehicle), an unmanned car or other equipment, and the embodiment of the present application is not limited to this.

[0079] The unmanned driving device provided in the embodiment of the present application includes a device body, and the device body is provided with a defog system for the optical lens as described above. The device body is used to receive the scheduling task sent by the control platform, so as to determine the driving route of the unmanned driving device according to the scheduling task, and then control the temperature control module to be turned on or off according to the driving route. The defog system of the optical lens is used to heat up or cool down the optical lens when the device body controls the temperature control module to be turned on. It can be seen that by adopting this technical solution, the temperature control module can be controlled to be turned on or off according to the driving route of the unmanned driving device, so that the optical lens can be heated up or cooled down by the defog system of the optical lens, so as to achieve the effect of removing fog on the surface of the optical lens, and effectively solve the problem of fogging of the optical lens when the unmanned driving device is shuttling in high and low temperature environments.

[0080] In one embodiment, the unmanned driving equipment provided by the embodiment of the present application can be an AGV, and the demisting method of the optical lens can be applied to the scene of demisting the surface of the optical lens such as the laser and the code reading camera on the AGV that shuttles in the high and low temperature environment. In the related technology, when applied in the cold chain industry, when the AGV shuttles in the high and low temperature environment, under the blessing of alternating hot and cold and high humidity, the surface of the optical lens such as the laser and the code reading camera that comes standard with the AGV is very easy to fog. Once fogged, the laser will report an obstacle alarm, resulting in abnormal parking, and the code reading camera will not be able to recognize the ground code in real time, resulting in serious situations such as deviation or abnormal parking. These will cause the AGV to be unable to perform tasks normally, thereby causing the AGV and other projects to be unable to land in the cold chain industry. Therefore, safely and reliably solving the fog on the surface of the laser and code reading camera lenses is a difficult problem that needs to be solved urgently in this special application industry. Based on this, the embodiment of the present application provides a demisting system for optical lenses applied to AGVs.

[0081] Fig. 9 is a schematic block diagram of a defogging system for an optical lens applied to an AGV according to an embodiment of the present application, such as Fig. 9 As shown, the defogging system for the optical lens applied to the AGV includes an AGV body 910 and a control platform 920. The AGV body includes an optical sensor 9110, a wind heating device 30, a temperature control module 40 and an AGV main control module 9120.

[0082] Optionally, the optical sensor 9110 may be disposed on the surface of the AGV body or inside the AGV body, and correspondingly, the wind heating device 30 may be disposed on the surface of the AGV body or inside the AGV body, which is not limited in the embodiment of the present application. Fig. 9 The figure schematically shows the situation where the optical sensor 9110 and the wind heating device 30 are both arranged inside the AGV body.

[0083] The optical sensor 9110 has an optical lens 10, and a third temperature sensor NTC1 is arranged on the optical lens 10. The wind heating device 30 includes a first heat sink 3110, a first heating module 320 and a second heat sink 3120 connected in sequence, and also includes a third heat sink 510, a second heating module 520 and a fourth heat sink 530 connected in sequence. The first heat sink 3110, the first heating module 320, the third heat sink 510 and the second heating module 520 are respectively connected to the temperature control module 40. Two first temperature sensors NTC2 and NTC3 are arranged on the first heating module 320, and two second temperature sensors NTC4 and NTC5 are arranged on the second heating module 520.

[0084] The AGV body is also provided with a fourth temperature sensor NTC6, which is connected to the temperature control module 40, and NTC1-NTC5 are also connected to the temperature control module respectively (this connection relationship is not shown in FIG. Fig. 9 In the AGV body, the temperature control module 40 is connected to the AGV main control module 9120. The AGV main control module 9120 is connected to the control platform 920 for communication.

[0085] The following details Fig. 9 The working principle of the defog system of the optical lens applied to AGV is shown below:

[0086] When the AGV is used, the AGV main control module receives the dispatching task sent by the control platform, and determines the driving route of the unmanned driving equipment according to the dispatching task, and then controls the temperature control module to turn on or off according to the driving route. If the driving route has high and low temperature environments, the temperature control module is controlled to turn on; if the driving route does not have high and low temperature environments, the temperature control module is controlled to turn off or maintain low power operation.

[0087] When the temperature control module is turned on, the temperature control module monitors the lens temperature of the optical lens through NTC1, which is recorded as T1. At the same time, the temperature control module monitors the ambient temperature of the environment where the optical lens is located through NTC6, which is recorded as T0.

[0088] The temperature control module calculates the temperature difference between the lens temperature T1 and the ambient temperature T0, and determines the correlation between the heating time of the first heating module and the corresponding designated temperature control factor according to the temperature difference, and determines the correlation between the heating time of the second heating module and the corresponding designated temperature control factor, so as to control the wind heating device to heat up or cool down the optical lens according to the correlation. The designated temperature control factor corresponding to the heating time of the first heating module includes at least one of the following: the heating power of the first heating module; the rotation speed of the first radiator; the temperature change value of the lens temperature. The designated temperature control factor corresponding to the heating time of the second heating module includes at least one of the following: the heating power of the second heating module; the rotation speed of the third radiator; the temperature change value of the lens temperature.

[0089] Optionally, the temperature control module may determine each target heating power of the first heating module during the heating process according to the correlation between the heating time and the heating power of the first heating module, thereby controlling the first heating module to perform heating according to each determined target heating power. The temperature control module may determine each target heating power of the second heating module during the heating process according to the correlation between the heating time and the heating power of the second heating module, thereby controlling the second heating module to perform heating according to each determined target heating power.

[0090] In this embodiment, during the heating process, the temperature control module can obtain multiple sampling temperatures monitored by multiple first temperature sensors (i.e., NTC2 and NTC3), so that when the temperature difference between at least one of the multiple sampling temperatures and the target temperature exceeds a preset threshold, the first heating module is controlled to stop heating, and this situation can be fed back to the AGV main control module, so that the AGV main control module handles this abnormal situation according to a preset fault handling strategy (such as controlling the AGV to stop and wait). Similarly, during the heating process, the temperature control module can obtain multiple sampling temperatures monitored by multiple second temperature sensors (i.e., NTC4 and NTC5), so that when the temperature difference between at least one of the multiple sampling temperatures and the target temperature exceeds a preset threshold, the second heating module is controlled to stop heating, and this situation can be fed back to the AGV main control module, so that the AGV main control module handles this abnormal situation according to a preset fault handling strategy (such as controlling the AGV to stop and wait).

[0091] Optionally, the temperature control module may determine each target speed of the first radiator during the heating process according to the correlation between the heating time of the first heating module and the speed of the first radiator, thereby controlling the operation of the first radiator according to each determined target speed. The temperature control module may determine each target speed of the third radiator during the heating process according to the correlation between the heating time of the second heating module and the speed of the third radiator, thereby controlling the operation of the third radiator according to each determined target speed.

[0092] In this embodiment, during the heating process, the temperature control module can monitor the real-time rotation speed of the first radiator, and control the first heating module to stop heating when the real-time rotation speed is inconsistent with the target rotation speed at the corresponding moment, and can also feedback this situation to the AGV main control module, so that the AGV main control module can handle this abnormal situation according to the preset fault handling strategy (such as controlling the AGV to stop and wait). Similarly, during the heating process, the temperature control module can monitor the real-time rotation speed of the third radiator, and control the second heating module to stop heating when the real-time rotation speed is inconsistent with the target rotation speed at the corresponding moment, and can also feedback this situation to the AGV main control module, so that the AGV main control module can handle this abnormal situation according to the preset fault handling strategy (such as controlling the AGV to stop and wait).

[0093] Optionally, the temperature control module can determine each target temperature change value of the lens temperature during the heating process according to the correlation between the heating time of the first heating module and the temperature change value of the lens temperature, and obtain the real-time temperature of the optical lens monitored by the temperature measuring component during the process of controlling the wind heating device to heat up or cool down the optical lens, thereby determining the real-time temperature change value of the lens temperature according to the lens temperature and the real-time temperature, and then determining whether the first heating module is working abnormally according to each determined target temperature change value and the real-time temperature change value; in the case where the first heating module is working abnormally, the first heating module is controlled to stop heating. The temperature control module can determine each target temperature change value of the lens temperature during the heating process according to the correlation between the heating time of the second heating module and the temperature change value of the lens temperature, and obtain the real-time temperature of the optical lens monitored by the temperature measuring component during the process of controlling the wind heating device to heat up or cool down the optical lens, thereby determining the real-time temperature change value of the lens temperature according to the lens temperature and the real-time temperature, and then determining whether the second heating module is working abnormally according to each determined target temperature change value and the real-time temperature change value; in the case where the second heating module is working abnormally, the second heating module is controlled to stop heating.

[0094] The defogging system of the optical lens provided by the embodiment of the present application can heat up or cool down the optical lens when it is detected that there is a temperature difference between the lens temperature of the optical lens and the ambient temperature, so that the lens temperature of the optical lens can be close to the ambient temperature, which is conducive to the temperature difference between the lens temperature and the ambient temperature being less than the dew point, and then the effect of removing the fog generated on the surface of the optical lens can be achieved, ensuring that the optical lens can be used normally. In addition, by setting a wind heating device composed of two sets of heating modules and a radiator, it is possible to avoid the situation where the optical lens fails to be defogged due to a failure of a set of heating modules and radiators, and provide a hardware foundation for effectively heating or cooling the optical lens. In addition, by setting multiple temperature sensors on the heating module to monitor the sampling temperature, it is beneficial for the temperature control module to promptly detect the failure of the heating module, so as to promptly control the heating module to stop heating, avoid ineffective heating or cooling of the optical lens, and avoid damage to the optical lens due to excessively high or low temperature.

[0095] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0096] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A defogging system for an optical lens, characterized in that: It includes an optical lens, a temperature measurement component, a wind heating device and a temperature control module; among which, The distance between the wind heating device and the optical lens is less than or equal to the preset distance, and the wind heating device is connected to the temperature control module; the temperature measuring component is connected to the optical lens and the temperature control module respectively; The temperature measuring component is used to monitor the lens temperature of the optical lens and the ambient temperature of the environment in which the optical lens is located; The temperature control module is used to obtain the lens temperature and the ambient temperature; calculate the temperature difference between the lens temperature and the ambient temperature; and control the wind heating device to heat or cool the optical lens according to the temperature difference.

2. The system according to claim 1, characterized in that The wind-heating device comprises a first heat dissipation module and a first heating module connected to each other; the first heat dissipation module and the first heating module are respectively connected to the temperature control module; The first heating module is used to heat to a preset temperature under the control of the temperature control module; The first heat dissipation module is used to dissipate heat generated when the first heating module is heated to a preset temperature under the control of the temperature control module.

3. The system according to claim 2, characterized in that The first heat dissipation module includes a first heat sink and a second heat sink; the wind heating device includes the first heat sink, the first heating module and the second heat sink connected in sequence; the first heat sink is connected to the temperature control module; The second radiator is used to dissipate heat generated when the first heating module is heated to a preset temperature; The first radiator is used to dissipate heat generated by the second radiator during a heat dissipation process under the control of the temperature control module.

4. The system according to claim 2, characterized in that The temperature measurement component includes a plurality of first temperature sensors, each of which is respectively arranged at a different position on the first heating module, and the plurality of first temperature sensors are used to monitor the sampling temperature at different positions on the first heating module; The temperature control module is further used to obtain a plurality of sampled temperatures monitored by the plurality of first temperature sensors; when the plurality of sampled temperatures meet a preset fault condition, control the first heating module to stop heating; The preset fault condition includes at least one of the following: at least one sampling temperature among the multiple sampling temperatures exceeds a preset temperature range, and the preset temperature range is a temperature range to which the temperature control module can control the first heating module to heat; the temperature difference between every two sampling temperatures among the multiple sampling temperatures is greater than a preset temperature difference threshold.

5. The system according to claim 3, characterized in that The temperature control module is further used to determine the correlation between the heating time of the first heating module and the specified temperature control factor according to the temperature difference; According to the correlation, controlling the wind heating device to heat or cool the optical lens; The specified temperature control factor includes at least one of the following: the heating power of the first heating module; the rotation speed of the first radiator; and the temperature change value of the lens temperature.

6. The system according to claim 5, characterized in that The specified temperature control factor includes the heating power of the first heating module; The temperature control module is further used to determine each target heating power of the first heating module during the heating process according to the correlation between the heating time of the first heating module and the heating power; According to each determined target heating power, the first heating module is controlled to perform heating.

7. The system according to claim 5, characterized in that The specified temperature control factor includes the rotation speed of the first radiator; The temperature control module is further used to determine each target rotation speed of the first radiator during the heating process according to the correlation between the heating time of the first heating module and the rotation speed of the first radiator; The first radiator is controlled to operate according to each of the determined target rotation speeds.

8. The system according to claim 5, characterized in that The specified temperature control factor includes a temperature change value of the lens temperature; The temperature control module is further used to determine each target temperature change value of the lens temperature during the heating process according to the correlation between the heating time of the first heating module and the temperature change value of the lens temperature; In the process of controlling the wind heating device to heat up or cool down the optical lens, obtaining the real-time temperature of the optical lens monitored by the temperature measuring component; Determining a real-time temperature change value of the lens temperature according to the lens temperature and the real-time temperature; Determining whether the first heating module operates abnormally according to each of the determined target temperature change values ​​and the real-time temperature change value; When the first heating module works abnormally, the first heating module is controlled to stop heating.

9. The system according to claim 4, characterized in that The wind heating device also includes a third radiator, a second heating module and a fourth radiator connected in sequence, and the third radiator and the second heating module are respectively connected to the temperature control module; The temperature measurement component further includes a plurality of second temperature sensors, each of which is respectively arranged at a different position on the second heating module, and the plurality of second temperature sensors are used to monitor the sampling temperature at different positions on the second heating module; The temperature control module is further used to obtain multiple sampling temperatures monitored by the multiple second temperature sensors; when the multiple sampling temperatures meet the preset fault conditions, control the second heating module to stop heating.

10. An unmanned driving device, comprising a device body; the device body is provided with a defog system for an optical lens according to any one of claims 1 to 9; The device body is used to receive the scheduling task sent by the control platform; determine the driving route of the unmanned driving device according to the scheduling task; and control the temperature control module to be turned on or off according to the driving route; The defog system of the optical lens is used to heat up or cool down the optical lens when the device body controls the temperature control module to turn on.

11. A method for defogging an optical lens, characterized in that: A defogging system for an optical lens as claimed in any one of claims 1 to 9, the method comprising: Monitoring the lens temperature of the optical lens and the ambient temperature of the environment in which the optical lens is located; Calculating the temperature difference between the lens temperature and the ambient temperature; According to the temperature difference, the wind heating device is controlled to heat up or cool down the optical lens.

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