Laser radar, mobile device and diaphragm
By setting up conductive layers and dielectric layers on the window sheet of the lidar and reducing the water drop angle using electrostatic field technology, the problem of poor lidar detection effect in rainy environments is solved, achieving a more efficient detection effect.
Patent Information
- Application Number
- CN202311289738.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-28
- Publication Date
- 2025-03-28
AI Technical Summary
In rainy days or environments with high water vapor, water droplets adhere to the surface of the window sheet of the lidar, resulting in light beam scattering and affecting the detection effect.
By setting a conductive layer and a dielectric layer on the window sheet, and using a power supply module to provide electric potential to the conductive layer, an electrostatic field is formed, the effective surface energy of the dielectric layer relative to the water droplets, the water droplet angle is reduced, and the water droplets form a thinner water vapor film and reduce the beam scattering.
It effectively reduces the scattering effect of water droplets on the light beam, improves the detection effect of lidar in high humidity environments such as rainy days, and improves point cloud quality.
Smart Images
Figure CN119716804A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of laser radar technology, and more specifically, to a laser radar, a movable device and a window sheet. Background Art
[0002] Laser radar detects the distance, speed and other parameter information of the target object by emitting and receiving laser signals. The shell of the laser radar is usually provided with a window, and a window piece is provided on the window so that the laser signal can be transmitted and received through the window piece. In rainy days or environments with high water vapor, the detection effect of laser radar is not good. Summary of the invention
[0003] The inventors of the present application discovered that on rainy days or in environments with high water vapor, water droplets will adhere to the surface of the window piece, which will cause the light beam to be strongly scattered by the water droplets, thereby affecting the detection effect of the laser radar. For example, the point cloud of the laser radar may have defects due to the above reasons.
[0004] In order to solve the above problems, the present application provides a laser radar, a movable device and a window piece, aiming to improve the current situation in the related art that the laser radar detection effect is poor in rainy days or in environments with high water vapor.
[0005] In the first aspect, the present application provides a laser radar, including a shell, a window piece and a power supply module. The shell is provided with a through hole connecting the inner cavity of the shell with the outside world. The window piece is installed on the shell and blocks the through hole. The window piece allows laser to pass through. The window piece includes a window piece body, a conductive layer and a dielectric layer. The window piece body includes a first surface and a second surface arranged opposite to each other, the first surface is the surface of the window piece body facing the inner cavity; the conductive layer is arranged on the second surface; the dielectric layer is arranged on the side of the conductive layer away from the window piece body; the power supply module is connected to the dielectric layer, and the power supply module is used to provide an electric potential to the conductive layer.
[0006] In the above technical solution, the laser radar provided in the embodiment of the present application can provide an electric potential to the window piece through the power supply module, so that an electrostatic field is formed between the dielectric layer and the water droplets, that is, an electrostatic field is formed between the outer surface of the window piece and the ions in the water droplets. The electrostatic field can increase the effective surface energy of the dielectric layer relative to the water droplets, that is, increase the hydrophilicity of the dielectric layer, reduce the water drop angle of the water droplets on the surface of the window piece, so that the water droplets can form a thinner layer of water vapor film on the surface of the window piece, thereby reducing the scattering effect of water droplets on the light beam, thereby alleviating the problem of laser radar point cloud shortcomings and improving the detection effect of the laser radar in high humidity environments such as rainy days. In addition, the dielectric layer can play an insulating and protective role on the conductive layer to prevent the outer surface of the window piece from being charged and affecting its use.
[0007] In combination with the first aspect, in some possible implementations, the material of the conductive layer includes indium tin oxide.
[0008] In the above technical solution, indium tin oxide has high optical performance, good conductivity, and good magnetic field sensor performance, that is, indium tin oxide has both transparent and conductive properties. Therefore, using indium tin oxide as the material of the conductive layer can ensure that after the power supply module provides an electric potential to it, an electrostatic field can be formed between the conductive layer and the ions in water droplets and water vapor through indium tin oxide. By providing different electric potentials, the surface energy of the outer surface of the window piece can be changed accordingly. Since indium tin oxide has high transparency, the reliability of emitting and receiving lasers is also guaranteed while changing the surface energy of the second surface of the window piece body.
[0009] In combination with the first aspect, in some possible implementations, the light transmittance of the conductive layer is higher than 90%.
[0010] In the above technical solution, the transmittance of the conductive layer is higher than 90% to ensure that the laser can pass through the conductive layer, that is, to ensure the reliability of the laser radar emitting and receiving the laser.
[0011] In combination with the first aspect, in some possible implementations, the relative dielectric constant of the dielectric layer is between 2 and 3.
[0012] In the above technical solution, the reliability of the dielectric layer in isolating the ions in the electrostatic field is ensured, thereby ensuring the insulation reliability of the dielectric layer to the conductive layer.
[0013] In combination with the first aspect, in some possible implementations, the material of the dielectric layer includes Teflon.
[0014] In the above technical solution, Teflon has good insulation performance and can ensure the insulation of the conductive layer; and Teflon has a certain hydrophobicity, so in a low humidity environment, small water droplets or impurities are not easily attached to the surface of the window piece; in a high humidity environment such as rainy weather, water droplets will adhere to the surface of the window piece. At this time, by providing an electric potential to the conductive layer, the electrostatic field formed between the water droplets and the conductive layer will increase the effective surface energy of the dielectric layer relative to the water droplets, thereby ensuring that the water droplets form a relatively flat water vapor film on the surface of the dielectric layer.
[0015] In combination with the first aspect, in some possible implementations, the thickness of the conductive layer is between 20 micrometers and 30 micrometers; the thickness of the dielectric layer is between 4 micrometers and 6 micrometers.
[0016] In combination with the first aspect, in some possible implementations, the window piece further includes a conductive member; one end of the conductive member is connected to the conductive layer, and the other end of the conductive member is connected to the power supply module.
[0017] In the above technical solution, the conductive member is used to ensure the reliability of the power supply module providing electric potential to the conductive layer, thereby ensuring the reliability of changing the surface energy of the window piece through the electric potential.
[0018] In combination with the first aspect, in some possible implementations, the second surface is provided with a mounting groove, and one end of the conductive member connected to the conductive layer is provided in the mounting groove; the conductive layer covers at least a portion of the mounting groove and is connected to the conductive member.
[0019] In the above technical solution, the conductive member is arranged in the installation groove, which avoids the problem of the conductive member being damaged by external force. At the same time, it can ensure that the thickness of the conductive layer is basically uniform everywhere, thereby ensuring the reliability of the conductive layer structure and the reliability of conduction.
[0020] In combination with the first aspect, in some possible implementations, the conductive layer includes a first area covered by the dielectric layer and a second area not covered by the dielectric layer, the first area blocks the opening, and the conductive element is connected to a side of the second area away from the window body.
[0021] In the above technical solution, the dielectric layer can be set only at the corresponding window (i.e., the shell opening) position, which reduces the size of the dielectric layer and the production cost. Moreover, the conductive part is not set in the second area, which will not affect the emission and reception of the laser, thereby ensuring the detection reliability of the laser radar.
[0022] In combination with the first aspect, in some possible implementations, the power supply module is a circuit board.
[0023] In a second aspect, the present application provides a movable device, comprising a movable main body and a laser radar as described in any optional manner in the first aspect, wherein the laser radar is mounted on the main body.
[0024] In the third aspect, the present application provides a window piece for installation in the shell of a laser radar, comprising a window piece body, a conductive layer and a dielectric layer; the window piece body comprises a first surface and a second surface arranged opposite to each other, the first surface being a surface facing the inner cavity of the shell; the conductive layer is arranged on the second surface, and the conductive layer is used to connect electricity to have an electric potential; the dielectric layer is arranged on the side of the conductive layer facing away from the window piece body.
[0025] In combination with the third aspect, in some possible implementations, the material of the conductive layer includes indium tin oxide, and the transmittance of the conductive layer is higher than 90%; the relative dielectric constant of the dielectric layer is between 2 and 3, and the material of the dielectric layer includes Teflon; the thickness of the conductive layer is between 20 and 30 microns, and the thickness of the dielectric layer is between 4 and 6 microns; the window piece also includes a conductive member, one end of which is connected to the conductive layer. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 It is a structural schematic diagram of a laser radar provided by the related technology;
[0027] Figure 2 is a schematic diagram of the structure of a laser radar provided in an embodiment of the present application;
[0028] Figure 3 This is a schematic diagram of the structure of a water drop or water vapor on a window sheet provided by an embodiment of the present application;
[0029] Figure 4 This is another schematic diagram of the structure of water droplets or water vapor on a window sheet provided in an embodiment of the present application;
[0030] Figure 5 It is a structural schematic diagram of a window sheet provided in an embodiment of the present application;
[0031] Figure 6 is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application;
[0032] Figure 7 is a schematic diagram of the structure of another laser radar provided in an embodiment of the present application;
[0033] Figure 8 This is a schematic diagram of the structure of another window sheet provided in an embodiment of the present application;
[0034] Fig. 9 It is a structural schematic diagram of another movable device provided in an embodiment of the present application.
[0035] Among them, the reference numerals in the figure are:
[0036] 1. Laser radar; 11. Shell; 1A. Through port; 12. Transmitter module; 13. Receiving module; 14. Window sheet; 15. Window sheet; 15A. Water vapor film; 15B. Water droplets; 151. Window sheet body; 151A. Mounting groove; 152. Conductive layer; 152A. First area; 152B. Second area; 153. Dielectric layer; 154. Conductive member; 16. Power supply module;
[0037] 2. Removable device; 21. Device body. DETAILED DESCRIPTION
[0038] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.
[0039] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.
[0040] Before introducing the embodiments of the present application, the professional terms that may be involved in the embodiments of the present application are explained below.
[0041] Lidar: A radar system that uses laser beams to detect the position, speed and other characteristic quantities of a target. Its working principle is to emit a detection signal (laser beam) to the target object, and then compare the received echo signal reflected from the target object with the detection signal (or local oscillator signal). After appropriate processing, relevant information about the target object relative to the Lidar can be obtained, such as distance, direction, height, speed, attitude, and even shape parameters.
[0042] Water drop angle: It is defined as the angle between the gas-liquid interface and the solid-liquid interface at the interface of solid, liquid and gas. A high contact angle indicates that the surface is hydrophobic, the surface is heavily organically contaminated or the surface adhesion is poor; a low contact angle indicates that the surface is hydrophilic and has strong surface adhesion.
[0043] like Figure 1 As shown, the laser radar 1 in the related art may include a housing 11, a transmitting module 12, a receiving module 13 and a window sheet 14. The housing 11 is provided with a through hole 1A connecting the inner cavity of the housing 11 with the outside, the transmitting module 12 and the receiving module 13 are placed in the housing 11, and the window sheet 14 is installed at the through hole 1A and blocks the through hole 1A, and the window sheet 14 can allow laser to pass through.
[0044] The housing 11 is a mounting base for the other components of the laser radar 1 and is also an external protective structure of the laser radar 1. The transmitting module 12 includes a light source ( Figure 1(not shown), the light source is used to emit a detection light signal to detect the target object. When the detection light signal encounters the target object, it is reflected on the surface of the target object to form an echo light signal and reflected back to the laser radar 1. The light source in the laser radar 1 may refer to a laser, and the number of lasers may be one or more. Exemplarily, the laser radar 1 may be a time of flight (TOF) laser radar, and accordingly, the laser may be specifically a pulsed laser diode (PLD); Exemplarily, the laser radar 1 may be a frequency modulated continuous wave (FMCW) laser radar, and accordingly, the laser may be a distributed feedback laser for emitting continuous waves. The receiving module 13 of the laser radar 1 includes a photoelectric detection unit ( Figure 1 (not shown), the photoelectric detection unit is used to receive the echo light signal. Depending on the specific detection principle of the laser radar 1, the selection of the photoelectric detection unit will also be different; for example, when the laser radar 1 is a TOF laser radar, the photoelectric detection unit may include an incoherent detector; when the laser radar 1 is a FMCW laser radar, the photoelectric detection unit may include a coherent detector. The above-mentioned detection light signal and the echo light signal can be transmitted and received through the window piece 14. Here, it is worth noting that the laser radar 1 can also be provided with a control module ( Figure 1 (not shown), the control module is used to properly process the electrical signal corresponding to the echo light signal to obtain the position information of the target object.
[0045] However, on rainy days or in environments with high water vapor, water droplets will adhere to the surface of the window, causing the light beam to be strongly scattered, thereby affecting the detection effect of the lidar. For example, the point cloud of the lidar may have shortcomings due to the above reasons.
[0046] To this end, the present application provides a laser radar, a movable device and a window piece. The laser radar can enhance the hydrophilicity of the window piece by reducing the effective surface energy of water droplets, that is, increasing the effective surface energy of the window piece surface relative to the water droplets, thereby reducing the angle of water droplets attached to the surface of the window piece and thus reducing the scattering degree of the light beam. The laser radar can improve the current situation in related technologies where water droplets adhere to the outer surface of the window piece, thereby resulting in poor laser radar detection effect.
[0047] It is worth mentioning here that, in application, the laser radar provided in the embodiment of the present application is not only suitable for fast, efficient and accurate distance measurement and speed measurement of close-range target objects, but also suitable for fast, efficient and accurate distance measurement and speed measurement of long-range target objects. It can be applied to smart transportation, aerospace, resource exploration, urban planning, agricultural development, water conservancy projects, land use, environmental monitoring, metallurgical manufacturing, textile manufacturing, virtual reality (VR), augmented reality (AR), and any other fields that require distance measurement and speed measurement. Specifically, it can be applied to unmanned vehicles, drones, robots, positioning systems, navigation systems, loading and unloading and handling equipment, metallurgical process control equipment, non-contact measurement equipment, etc.
[0048] Below, the laser radar, movable device and window sheet provided in the embodiments of the present application are exemplarily described in conjunction with the accompanying drawings.
[0049] For example, Figure 2 As shown, the laser radar 1 provided in the embodiment of the present application includes a shell 11, a window piece 15 and a power supply module 16. Among them, the shell 11 is provided with a through hole 1A connecting the inner cavity of the shell 11 and the outside of the shell 11. The window piece 15 is installed at the above-mentioned through hole and blocks the through hole 1A; the window piece 15 is transparent to the laser so that the laser radar 1 can realize the emission and reception of the detection light signal and the echo light signal. The power supply module 16 is connected to the window piece 15 to provide an electric potential to the window piece 15 so as to increase the effective surface energy of the window piece 15 relative to the water droplets. Here, it is worth explaining that the surface energy of the window piece 15 is related to the hydrophobicity and hydrophilicity. For example, as Figure 3 As shown, when the effective surface energy of the window sheet 15 relative to the water droplets is higher, its hydrophilicity is stronger; at this time, the water droplets can wet and spread on the surface of the window sheet 15 to form a thinner layer of water vapor film 15A, rather than a large water droplet. Figure 4 As shown, when the effective surface energy of the window piece 15 is lower than that of the water droplets, the hydrophobicity is stronger; at this time, the water droplets form granular water droplets 15B on the surface of the window piece 15; in this way, the detection light signal and the echo light signal in the area where the water droplets 15B are located may be affected by the water droplets 15B, resulting in a stronger scattering problem, which affects the detection effect of the laser radar 1 and the detection reliability is low.
[0050] In one example, if Figure 5 As shown, the window sheet 15 provided in the embodiment of the present application may include a window sheet body 151, a conductive layer 152 and a dielectric layer 153. The window sheet body 151, the conductive layer 152 and the dielectric layer 153 are stacked in sequence, and the above structures are described in detail below.
[0051] The window body 151 is the main part of the entire window 15, and is also the substrate for setting the conductive layer 152 and the dielectric layer 153. The window body 151 has a first surface facing the inner cavity of the housing 11 and a second surface facing the outside of the laser radar 1. The window body 151 can be made of at least one of polycarbonate and glass.
[0052] The conductive layer 152 is arranged on the second surface of the window body 151, and is made of a conductive material. The conductive layer 152 is used to connect electricity to have an electric potential. Optionally, the material of the conductive layer 152 may include indium tin oxide (ITO). ITO has high laser transmittance, good conductivity, and good magnetic field sensor performance, that is, ITO has both light transmittance and conductivity. Therefore, using ITO as the material of the conductive layer 152 can ensure that after the power supply module 16 provides an electric potential to it, an electrostatic field can be formed between the conductive layer 152 and the water droplets. Exemplarily, the transmittance of the conductive layer 152 provided in the embodiment of the present application can be higher than 90% to ensure that the laser can pass through the conductive layer 152, that is, to ensure the reliability of the laser radar 1 emitting and receiving the laser. The transmittance of the conductive layer 152 can also be set according to actual needs, and this application does not make specific restrictions. In this embodiment, the thickness of the conductive layer 152 can be between 20 microns and 30 microns. In this way, the conductive layer 152 can have good conductivity and can also avoid the thickness being too high to affect its transmittance. Of course, in other embodiments of the present application, the thickness of the conductive layer 152 can also be adaptively adjusted according to actual needs, and the present application does not impose any specific restrictions on this.
[0053] The dielectric layer 153 is disposed on the side of the conductive layer 152 away from the window body 151, and is used to provide an insulating environment for the surface of the conductive layer 152 away from the window body 151 to prevent the outer surface of the window 15 from being charged. Optionally, the relative dielectric constant ε of the dielectric layer 153 is rBetween 2 and 3, to ensure the reliability of the insulation protection of the dielectric layer 153 to the conductive layer 152. In some embodiments, the dielectric layer 153 can be made of insulating materials such as Teflon. On the one hand, Teflon has good insulation performance and can ensure the insulation of the conductive layer 152; on the other hand, Teflon has a certain hydrophobicity, so in a low humidity environment, it is not easy for small water droplets or impurities to adhere to the surface of the window piece 15; on the other hand, in a high humidity environment such as rainy weather, water droplets will adhere to the surface of the window piece 15. At this time, the effective surface energy of the dielectric layer 153 can be increased by providing an electric potential to the conductive layer 152, thereby ensuring that the water droplets form a relatively flat water vapor film 15A on the surface of the dielectric layer. Of course, in other embodiments of the present application, the dielectric layer 153 can also be made of any other insulating material, as long as it can ensure that it can insulate the conductive layer 152. As for the thickness of the dielectric layer 153, in this embodiment, the thickness d of the dielectric layer 153 is between 4 microns and 6 microns; on the one hand, this thickness can provide reliable insulation performance, and on the other hand, this thickness is not too large, thereby significantly reducing the strength of the above-mentioned electrostatic field and weakening the effect of reducing the water drop angle. Of course, in other implementations of the present application, the thickness d of the dielectric layer 153 can also be adaptively adjusted according to actual needs, and the present application does not impose specific restrictions on this.
[0054] The power supply module 16 is arranged in the inner cavity of the shell 11 and connected to the conductive layer 152, and is used to provide an electric potential to the conductive layer 152. In this way, the effective surface energy of the outer surface of the window piece 15 can be changed by applying an electric potential. Specifically, when water droplets are attached to the outer surface of the window piece 15, an electric potential is provided to the conductive layer 152 by the power supply module 16, so that an electrostatic field can be formed between the outer surface of the window piece 15 and the ions in the water droplets. Since the dielectric layer 153 is a material layer located between the conductive layer 152 and the water droplets, the existence of the electrostatic field can increase the effective surface energy of the dielectric layer 153 relative to the water droplets, that is, increase the hydrophilicity of the dielectric layer 153, reduce the water drop angle of the water droplets on the surface of the window piece 15, so that the water droplets can form a thinner layer of water vapor film 15A on the surface of the window piece 15, thereby reducing the scattering effect of the water droplets on the light beam, thereby alleviating the problem of the point cloud shortcomings of the laser radar 1 and improving the detection effect of the laser radar 1 in high humidity environments such as rainy days. It is worth noting that the dielectric layer 153 can, on the one hand, provide insulation protection for the conductive layer 152 to prevent the conductive layer 152 from being directly charged and affecting its use; on the other hand, the dielectric layer 153 also isolates the conductive layer 152 from the water droplets with charged particles, so that the electrostatic field can be maintained between the conductive layer 152 and the water droplets. In this embodiment, the power supply module 16 is a circuit board disposed inside the housing 11, and an electric potential is provided to the conductive layer 152 through the circuit board; of course, in other embodiments, the power supply module 16 can also be an independent power supply, and an electric potential is provided to the conductive layer 152 through the power supply.
[0055] Next, the principle of reducing the water drop angle in the embodiment of the present application is described in detail.
[0056] First, before the power supply module 16 applies an electric potential to the conductive layer 152, the first water drop angle θ0 between the outer surface of the window sheet 15 and the water drop can be calculated by the following formula (1). At this time, the first water drop angle θ0 refers to the initial water drop angle:
[0057] cosθ0=(σ1-σ2) / σ3 Formula (1)
[0058] Among them, θ0 is the first water drop angle between the outer surface of the window sheet 15 and the water drop, σ1 is the first surface tension between the outer surface of the window sheet 15 and the air, σ2 is the second surface tension between the outer surface of the window sheet 15 and the water drop, and σ3 is the third surface tension between the water drop and the air.
[0059] Then, after applying an electric potential to the conductive layer 152 through the power supply module 16, the surface tension σ2 between the outer surface of the window sheet 15 and the water droplet will decrease, and the change in surface tension σ2′ can be calculated by the following formula (2):
[0060]
[0061] Wherein, σ2′ is the changed surface tension between the outer surface of the window plate 15 and the water droplet, ε0 is the vacuum dielectric constant, and ε r is the relative dielectric constant of the dielectric layer 153, d is the thickness of the dielectric layer 153, and V is the applied voltage, that is, the potential provided by the power supply module 16 to the conductive layer. For example, in some embodiments, the above voltage may be between 20V and 100V.
[0062] From the above formula (2), it can be known that after the power supply module 16 provides an electric potential to the conductive layer 152, the surface tension σ2 between the outer surface of the window sheet 15 and the water droplet will also change to σ2′. Then, combined with formula (1), it can be known that the water drop angle between the outer surface of the window sheet 15 and the water droplet will also change accordingly. The second water drop angle θ after applying the electric potential can be calculated by the following formula (3). At this time, the second water drop angle θ refers to the water drop angle that changes after applying the electric potential:
[0063]
[0064] Thus, it can be known from formula (3) that by changing the applied voltage V, the size of the second water drop angle θ between the outer surface of the window sheet 15 and the water drop can be changed to change the form of the water drop attached to the window sheet 15, that is, the water bead form or the film form. The degree of change of the water drop angle can be adjusted according to the actual needs of the electric potential of the conductive layer. For example, assuming that when the laser radar 1 is working, a lower voltage V can be provided to reduce the water drop angle to a smaller extent, and a higher voltage V can also be provided to reduce the water drop angle to a greater extent. The specific situation can be determined according to the specific use scenario of the laser radar 1.
[0065] In order to ensure the reliability of the potential provided by the power supply module 16, in one example, Figure 6 As shown, the window sheet 15 may further include a conductive member 154; the conductive layer 152 may be connected to the power supply module 16 through the conductive member 154 to ensure the reliability of the conductive layer receiving the electric potential. Exemplarily, the conductive member 154 may be a linear or sheet-shaped conductive component, and the power supply module 16 may be connected to the conductive layer 152 through the conductive member 154 to ensure the reliability of the transmission of the electric potential, thereby ensuring the reliability of changing the surface energy of the window sheet 15 through the electric potential.
[0066] In one example, if Figure 7 As shown, the second surface of the window body 151 can be provided with a mounting groove 151A, one end of the conductive member 154 is filled in the mounting groove 151A and connected to the conductive layer 152, and the other end of the conductive member 154 is connected to the power supply module 16. In this way, the thickness of the conductive layer 152 can be basically uniform everywhere, thereby ensuring the reliability of the structure and the reliability of the conductivity of the conductive layer 152. Preferably, the mounting groove 151A is adapted to the shape of the end of the conductive member 154. Specifically, the shape and size of the conductive member 154 extending into the mounting groove 51 are consistent with the mounting groove 151A; in this way, the end of the conductive member 154 can be just filled in the mounting groove 151A, so that when the conductive layer 152 is set, the conductive layer 152 can be covered on the second surface of the window body 151 and the conductive member 154 without filling it in the mounting groove 151A. In addition, since the end of the conductive member 154 is embedded relative to the window sheet 15, it is not easy to be damaged by vibration and the like, thereby affecting the reliability of its conduction to the conductive layer 152. Optionally, the conductive layer 152 can cover part of the mounting groove 151A, thereby achieving connection with the conductive member 154; of course, in other embodiments, the conductive layer 152 can also completely cover the mounting groove 51.
[0067] In one example, if Figure 8As shown, the area covered by the dielectric layer 153 is smaller than the area covered by the conductive layer 152. Specifically, the conductive layer 152 includes a first area 152A covered by the dielectric layer 153 and a second area 152B not covered by the dielectric layer 153. Among them, the first area 152A is an area corresponding to the opening of the shell, and the second area 152B is an area corresponding to the rest of the shell. The conductive layer 152 blocks the opening of the shell 11 through the first area; the dielectric layer 153 is arranged on the surface of the first area 152A, which also blocks the opening of the shell 11 and insulates and protects the first area 152A. Correspondingly, one end of the above-mentioned conductive member 154 is connected to the side of the second area 152B away from the window sheet body 151, and the other end is connected to the power supply module 16. The edge of the window piece 15 is located in the inner cavity of the shell 11 and is close to the inner wall of the shell 11 for installation. Since the edge of the window piece 15 itself exceeds the edge of the opening of the shell 11, it is only necessary to ensure that the conductive layer 152 is not exposed in the area where the window piece 15 blocks the opening. This embodiment not only meets the packaging requirements of the window piece 15, but also facilitates electrical connection with the conductive member 154. In addition, since the size of the dielectric layer 153 is smaller than the conductive layer 152, the manufacturing cost of the window piece 15 can be reduced to a certain extent. In this embodiment, Figure 8 As shown, the second area 152B is arranged around the first area 152A as a whole, but the present application is not limited to this; in other embodiments of the present application, the second area 152B may also be a strip area or a right-angle area located at the edge of the first area 152A and connected to the first area 152A, as long as the relative opening is not exposed.
[0068] In the embodiment of the present application, the laser radar 1 includes a housing 11, a transmitting module 12, a receiving module 13, a window 15 and a power supply module 16. In addition, the laser radar 1 may also include a scanning module, an amplifying module, an optical circulator, an optical collimator, a signal processing module, etc. The specific structure of the laser radar 1 can be set according to actual needs, and this application does not make specific restrictions on this. Here, it should be noted that the above is an example of the system structure of the laser radar 1 provided in the embodiment of the present application. The technician can delete, replace or add new devices according to the actual situation, and this embodiment of the present application does not limit this.
[0069] In summary, the window piece 15 in the laser radar 1 provided in the embodiment of the present application is provided with a window piece body 151, a conductive layer 152 and a dielectric layer 153. After the power supply module 16 provides an electric potential to the conductive layer 152, an electrostatic field is formed between the dielectric layer 153 and the water droplets, that is, an electrostatic field is formed between the outer surface of the window piece 15 and the ions in the water droplets. Through the electrostatic field, the effective surface energy of the dielectric layer 153 relative to the water droplets can be improved, that is, the hydrophilicity of the dielectric layer 153 is improved, and the water drop angle of the water droplets on the surface of the window piece 15 is reduced, so that the water droplets can form a thinner layer of water vapor film 15A on the surface of the window piece 15, thereby reducing the scattering effect of water droplets on the light beam, thereby alleviating the problem of the point cloud shortcomings of the laser radar 1, and improving the detection effect of the laser radar 1 in high humidity environments such as rainy days. In addition, the present application can also connect the power supply module 16 to the conductive layer 152 through the conductive member 154 to ensure the transmission reliability of the electric potential, and then ensure the reliability of changing the surface energy of the window piece 15 by the electric potential.
[0070] The embodiment of the present application further provides a window piece 15 , which is the window piece 15 in the above embodiment. Its structure and technical effects have been described in the above embodiment and will not be repeated here.
[0071] The present application also provides a movable device 2, which includes the movable device body 21 and the laser radar 1 in the above embodiment, and the laser radar 1 is mounted on the device body 21. In some embodiments, Fig. 9 As shown, the movable device 2 can be a car, the device body 21 is the car body, and the laser radar 1 is mounted on the car body; it can be understood that in other implementations of the present application, the movable device can also be a device other than a car equipped with the laser radar 1, such as a drone, a robot, etc., and the present application does not limit this. The beneficial effects that can be achieved by the movable device include the beneficial effects that can be achieved by the laser radar 1, which will not be repeated.
[0072] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.
[0073] In the embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0074] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A laser radar, characterized in that: It includes a shell, a window sheet and a power supply module. The shell is provided with a through hole connecting the inner cavity of the shell with the outside. The window sheet is installed on the shell and blocks the through hole. The window sheet can allow laser to pass through. The window sheet includes: The window sheet body comprises a first surface and a second surface which are arranged opposite to each other, wherein the first surface is a surface of the window sheet body facing the inner cavity; a conductive layer disposed on the second surface; and A dielectric layer is disposed on a side of the conductive layer away from the window sheet body; The power supply module is connected to the dielectric layer, and the power supply module is used to provide an electric potential to the conductive layer.
2. The laser radar according to claim 1, characterized in that: The material of the conductive layer includes indium tin oxide.
3. The laser radar according to claim 1, characterized in that: The light transmittance of the conductive layer is higher than 90%.
4. The laser radar according to claim 1, characterized in that: The relative dielectric constant of the dielectric layer is between 2 and 3.
5. The laser radar according to claim 1, characterized in that: The material of the dielectric layer includes Teflon.
6. The laser radar according to claim 1, characterized in that: The thickness of the conductive layer is between 20 microns and 30 microns; The thickness of the dielectric layer is between 4 micrometers and 6 micrometers.
7. The laser radar according to any one of claims 1 to 6, characterized in that: The window piece also includes a conductive member; One end of the conductive element is connected to the conductive layer, and the other end is connected to the power supply module.
8. The laser radar according to claim 7, characterized in that: The second surface is provided with a mounting groove, and one end of the conductive member connected to the conductive layer is arranged in the mounting groove; The conductive layer covers at least a portion of the mounting groove and is connected to the conductive member.
9. The laser radar according to claim 7, characterized in that: The conductive layer includes a first area covered by the dielectric layer and a second area not covered by the dielectric layer. The first area blocks the through opening, and the conductive element is connected to a surface of the second area away from the window sheet body.
10. The laser radar according to claim 7, characterized in that: The power supply module is a circuit board.
11. A movable device, characterized in that: It comprises a movable main body and a laser radar as described in any one of claims 1 to 10, wherein the laser radar is mounted on the main body.
12. A window sheet, characterized in that: A housing for installation on a laser radar, comprising: The window sheet body comprises a first surface and a second surface which are arranged opposite to each other, wherein the first surface is a surface facing the inner cavity of the housing; a conductive layer, disposed on the second surface, the conductive layer being used for being electrically connected to have an electric potential; and The dielectric layer is disposed on a side of the conductive layer away from the window plate body.
13. The window sheet according to claim 12, characterized in that: The material of the conductive layer includes indium tin oxide, and the light transmittance of the conductive layer is higher than 90%; The relative dielectric constant of the dielectric layer is between 2 and 3, and the material of the dielectric layer includes Teflon; The thickness of the conductive layer is between 20 and 30 microns, and the thickness of the dielectric layer is between 4 and 6 microns; The window piece further includes a conductive member, one end of which is connected to the conductive layer.