Heating method and device for laser radar diaphragm and storage medium

Abstract

The embodiment of the invention discloses a heating method and device for a laser radar diaphragm and a storage medium. The method comprises the steps that shielded ranges of a first light-passing area and a second light-passing area are obtained, a diaphragm comprises the first light-passing area and the second light-passing area, the first light-passing area is plated with a first conductive film, and the second light-passing area is plated with a second conductive film; supplying power to the first conductive film according to the shielded range of the first light transmission area and a preset mapping relation; and supplying power to the second conductive film according to the shielded range of the second light transmission area and a preset mapping relation. According to the method, partition temperature regulation and control of the diaphragm can be realized, the problem of diaphragm condensation is effectively solved, and the power consumption of the laser radar is reduced.

Description

Technical Field

[0001] The present application relates to the field of laser radar, and specifically to a heating method, device and storage medium for a laser radar window. Background Art

[0002] LiDAR is a precision instrument that uses laser pulses for ranging and perception. It has been widely used in fields such as autonomous driving, industrial mapping, robotics, and smart transportation.

[0003] In an outdoor working environment with low temperature and high humidity, when the temperature at the window plate drops and there is a significant temperature difference with the external environment, frost, condensation or water mist will appear on the surface of the window plate, affecting the emission of the scanning beam and the reception of the echo beam, thereby reducing the detection accuracy and point cloud reliability of the LiDAR, affecting the data collection quality and vehicle driving safety. In the existing technical solution, the entire window plate is heated until the frost, condensation or water mist disappears. This method has high energy consumption and low efficiency. Summary of the invention

[0004] In order to improve the detection accuracy of laser radar, the embodiments of the present application disclose a heating method, device and storage medium for a laser radar window.

[0005] In a first aspect, an embodiment of the present application discloses a heating method for a laser radar window, the method comprising: Obtaining a blocked range of a first light-transmitting area and a blocked range of a second light-transmitting area, wherein the window sheet includes the first light-transmitting area and the second light-transmitting area, the first light-transmitting area is coated with a first conductive film, and the second light-transmitting area is coated with a second conductive film; Obtaining a first bias voltage according to the blocked range of the first light-transmitting area and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the blocked range of the light-transmitting area and the bias voltage of the conductive film corresponding to the light-transmitting area; Obtaining a second bias voltage according to the shielded range of the second light-transmitting area and the preset mapping relationship; The first conductive film and the second conductive film are powered according to the first bias voltage and the second bias voltage, respectively.

[0006] In some embodiments, the first light-transmitting area corresponds to the central field of view of the laser radar, and the second light-transmitting area corresponds to the edge field of view of the laser radar.

[0007] In some embodiments, the first light-transmitting area includes a plurality of first sub-areas, and the second light-transmitting area includes a plurality of second sub-areas; obtaining the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area includes: obtaining the number of the first sub-areas in the first light-transmitting area that are in a blocked state; obtaining the blocked range of the first light-transmitting area according to the number of the first sub-areas in the first light-transmitting area that are in a blocked state and the total number of the first sub-areas; obtaining the number of the second sub-areas in the second light-transmitting area that are in a blocked state; obtaining the blocked range of the second light-transmitting area according to the number of the second sub-areas in the second light-transmitting area that are in a blocked state and the total number of the second sub-areas.

[0008] In some embodiments, the laser radar includes multiple receiving units, one first sub-area corresponds to a receiving unit group, and one receiving unit group includes one or more receiving units, and obtaining the number of the first sub-areas in the first light-transmitting area that are in an obscured state includes: obtaining multiple first echo intensities, wherein the first echo intensity is the echo signal intensity received by the receiving unit group, and one first echo intensity corresponds to one receiving unit group; determining whether the first sub-area corresponding to each receiving unit group is in an obscured state based on each first echo intensity and a first preset threshold corresponding to each first echo intensity; and counting the number of the first sub-areas in the first light-transmitting area that are in an obscured state.

[0009] In some embodiments, the first bias voltage is greater than or equal to the second bias voltage. The first light-transmitting area corresponding to the central field of view is a key area for laser radar detection. Therefore, setting the first bias voltage to be greater than or equal to the second bias voltage can preferentially ensure that the occlusion problem of the first light-transmitting area is solved.

[0010] In some embodiments, the difference between the first bias voltage and the second bias voltage is less than or equal to a second preset threshold. The first light-transmitting area and the second light-transmitting area belong to the same window piece. Therefore, during the heating process, the temperature difference between the two light-transmitting areas cannot be too large, otherwise the degree of shading of the window piece will be aggravated.

[0011] In some embodiments, the laser radar further includes a temperature sensor for monitoring the ambient temperature. Before obtaining the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area, the method further includes: when the temperature value monitored by the temperature sensor is less than or equal to a third preset threshold, applying a third bias voltage to both the first conductive film and the second conductive film. Based on the temperature sensor monitoring the ambient temperature of the laser radar environment, and then applying the third bias voltage to preheat the window piece, it can effectively prevent the blockage problem from being aggravated and improve the heating efficiency.

[0012] In some embodiments, the third bias voltage is less than the first bias voltage, and the third bias voltage is less than the second bias voltage. The preheating process is in a low power consumption state, which can reduce the energy consumption of the laser radar.

[0013] In a second aspect, the present application discloses a device applied to a laser radar window, the device comprising an occlusion range acquisition module, a matching module and a power supply module; The blocking range acquisition module is used to acquire the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area, wherein the window sheet includes the first light-transmitting area and the second light-transmitting area, the first light-transmitting area is coated with a first conductive film, and the second light-transmitting area is coated with a second conductive film; The matching module is used to obtain a first bias voltage according to the blocked range of the first light-transmitting area and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the blocked range of the light-transmitting area and the bias voltage of the conductive film corresponding to the light-transmitting area; The matching module is further used to obtain a second bias voltage according to the shielding range of the second light-transmitting area and the preset mapping relationship; The power module is used to supply power to the first conductive film according to the first bias voltage, and the power module is also used to supply power to the second conductive film according to the second bias voltage.

[0014] In a third aspect, the present application discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is used to implement the method as claimed in any one of the above claims.

[0015] The present application discloses a heating method, device and storage medium for a laser radar window. The method applies different bias voltages to the conductive film on different light-transmitting areas based on the degree of shading of different light-transmitting areas, thereby realizing zoned temperature control of the laser radar window. While effectively solving the shading problem caused by frost, condensation or water mist, the power consumption of the laser radar is reduced and the detection accuracy of the laser radar is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application.

[0017] Figure 1 A schematic diagram of a window sheet provided by an embodiment of the present invention; Figure 2 A schematic diagram of partitions of a window sheet provided by an embodiment of the present invention; Figure 3 A schematic flow chart of a heating method provided by an embodiment of the present invention; Figure 4 A schematic diagram of a third channel being blocked provided by an embodiment of the present invention; Figure 5 A schematic diagram of a window sheet being blocked provided by an embodiment of the present invention; Figure 6 A schematic diagram of a first control instruction provided by an embodiment of the present invention; Figure 7 A schematic diagram of a window sheet being blocked provided by an embodiment of the present invention; Figure 8 A schematic diagram of a window sheet provided by an embodiment of the present invention being blocked.

[0018] Explanation of reference numerals: 100, window piece; 111, first channel; 112, second channel; 113, third channel; 114, fourth channel; 115, fifth channel; 121, first light-transmitting area; 122, second light-transmitting area; 200, condensation. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples of structures consistent with some aspects of the present application as detailed in the attached claims.

[0020] When the laser radar is working in an outdoor low-temperature and high-humidity environment, frost, condensation or water mist will appear on the surface of the window due to the difference between the temperature of the internal chamber of the laser radar and the ambient temperature of the laser radar. The water droplets, ice crystals, etc. formed by the above phenomena will block the light-transmitting area of ​​the window or reduce the light transmittance of the light-transmitting area of ​​the window, thereby affecting the detection accuracy and point cloud reliability of the laser radar, affecting the data collection quality and vehicle driving safety. Taking the condensation phenomenon as an example, if the temperature of the inner side of the window (that is, the side of the window facing the inside of the laser radar) is higher than the temperature of the outer side of the window (that is, the other side of the window facing the external environment), condensation will form on the inner side of the window; conversely, if the temperature of the inner side of the window is lower than the temperature of the outer side of the window, condensation will form on the outer side of the window.

[0021] In one embodiment, a laser radar includes a housing and a transmitting module, a receiving module and a processor installed in the housing. The housing includes a first opening, a window sheet is embedded in the first opening, and a transparent conductive film such as indium tin oxide (ITO) is plated on the surface of the window sheet. The scanning light beam emitted by the transmitting module is transmitted through the window sheet and then emitted to the detection area. The echo light beam formed by the target in the detection area reflecting the scanning light beam is transmitted through the window sheet and received by the receiving module. After the laser radar is powered on, the processor is used to control the transmitting module to emit the scanning light beam, and the processor is also used to obtain point cloud data according to the echo signal transmitted by the receiving module. The processor is also used to control the power supply circuit of the laser radar to supply power to the conductive film and adjust the bias voltage and / or current on the conductive film. The above technical solution realizes heating of the entire window sheet by supplying power to the ITO film, and regulates the surface temperature of the window sheet until the water droplets or ice crystals on the surface of the window sheet disappear, thereby solving the problem of the light-transmitting area being blocked. However, since this technical solution needs to heat the entire window sheet, the heating area is large and the energy consumption is high.

[0022] In one embodiment, Figure 1As shown, the surface of the window sheet 100 is divided into a first channel 111, a second channel 112, a third channel 113, a fourth channel 114 and a fifth channel 115 according to different field of view areas, and the five channels are arranged in sequence in the horizontal direction or in sequence in the vertical direction. In one example, the horizontal field of view angle range of the laser radar is -60 degrees to 60 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees. The light-transmitting area of ​​the window sheet 100 is a rectangle, an ellipse or other geometric shapes, and the five channels are arranged in sequence in the horizontal direction, and the optical axis of the receiving module of the laser radar passes through the geometric center of the third channel 113. The horizontal field of view angle range of the first channel 111 is -60 degrees to -36 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees; the horizontal field of view angle range of the second channel 112 is -36 degrees to -12 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees; the horizontal field of view angle range of the third channel 113 is -12 degrees to 12 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees; the horizontal field of view angle range of the fourth channel 114 is 12 degrees to 36 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees; the horizontal field of view angle range of the fifth channel 115 is 36 degrees to 60 degrees, and the vertical field of view angle range is -25 degrees to 25 degrees. In an example, the central horizontal field of view range corresponding to the central field of view of the laser radar is -42 degrees to 42 degrees, and the vertical field of view range corresponding to the central field of view of the laser radar is -15 degrees to 15 degrees; in the detection field of view of the laser radar, the other areas except the central field of view are the edge fields of view of the laser radar. The above field of view division is only for illustrative purposes and can be adjusted according to actual application requirements.

[0023] In one example, each channel is divided into 16 sub-areas, and the light-transmitting area of ​​the window sheet 100 includes a total of 80 sub-areas, and the area of ​​each sub-area is the same or different. The receiving module includes a plurality of receiving units, and one sub-area corresponds to one or more receiving unit groups, and one receiving unit group includes one or more receiving units. Figure 1 The total of 80 sub-areas in the five channels shown are divided into the first light-transmitting area (corresponding to the central field of view of the laser radar) and the second light-transmitting area (corresponding to the edge field of view of the laser radar). Figure 2 As shown, the first light-transmitting area 121 includes 28 first sub-areas B, and the second light-transmitting area 122 includes the remaining 52 second sub-areas A.

[0024] In order to reduce the impact of ambient temperature changes on the detection accuracy of the laser radar, the embodiment of the present application provides a method for heating the laser radar window. The method monitors the shading of different light-transmitting areas of the window in real time, changes the bias voltage applied to the conductive film corresponding to the different light-transmitting areas, and thus realizes precise control of the surface temperature of the window in different zones, which is beneficial to improving the detection accuracy of the laser radar and reducing the power consumption of the laser radar.

[0025] In one embodiment, Figure 3 As shown, the heating method includes steps S110 to S130: S110, obtaining a blocked range of the first light-transmitting area and a blocked range of the second light-transmitting area; S120, obtaining a first bias voltage according to a blocked range of the first light-transmitting area and a preset mapping relationship; obtaining a second bias voltage according to a blocked range of the second light-transmitting area and a preset mapping relationship; S130 , supplying power to the first conductive film based on the first bias voltage; and supplying power to the second conductive film based on the second bias voltage.

[0026] In one embodiment, the present application discloses a heating device for a laser radar window, which includes an occlusion range acquisition module, a matching module, and a power supply module. The occlusion range acquisition module is used to obtain the occlusion range of the first light-transmitting area and the occlusion range of the second light-transmitting area; the matching module is used to obtain a first bias voltage according to the occlusion range of the first light-transmitting area and a preset mapping relationship; the matching module is also used to obtain a second bias voltage according to the occlusion range of the second light-transmitting area and a preset mapping relationship; the power supply module is used to supply power to the first conductive film according to the first bias voltage, and the power supply module is also used to supply power to the second conductive film according to the second bias voltage.

[0027] In one embodiment, the processor of the laser radar includes an occlusion range acquisition module and a matching module. The power supply module is electrically connected to a power supply circuit inside the laser radar, and the power supply circuit is connected to an external power supply through a wiring harness.

[0028] In one embodiment, when frost, mist or condensation occurs on a sub-area due to temperature changes, the echo signal strength received by the receiving unit group corresponding to the sub-area will change. The processor can determine whether each sub-area is blocked by water droplets or ice crystals based on the change in the echo signal strength received by the receiving unit corresponding to each sub-area. Step S110 includes: obtaining the number of first sub-areas in the first light-transmitting area that are in a blocked state; obtaining the blocked range of the first light-transmitting area based on the number of first sub-areas in the first light-transmitting area that are in a blocked state and the total number of first sub-areas; obtaining the number of second sub-areas in the second light-transmitting area that are in a blocked state; obtaining the blocked range of the second light-transmitting area based on the number of second sub-areas in the second light-transmitting area that are in a blocked state and the total number of second sub-areas.

[0029] Obtaining the number of first sub-areas in the first light-transmitting area that are in an obstructed state includes: obtaining multiple first echo intensities, wherein the first echo intensity is the echo signal intensity received by the receiving unit group, and one first echo intensity corresponds to one receiving unit group; determining whether the first sub-area corresponding to each receiving unit group is in an obstructed state based on each first echo intensity and a first preset threshold corresponding to each first echo intensity; and counting the number of first sub-areas in the first light-transmitting area that are in an obstructed state.

[0030] The first preset threshold is measured experimentally, and the first preset threshold corresponding to each first echo intensity is the same or different. In one example, for the receiving unit group C corresponding to the sub-area B1, a laser radar is used to scan the same target object at a fixed detection distance. The processor obtains the second echo intensity of the sub-area B1 in an unblocked state and the third echo intensity of the sub-area B1 in a completely blocked state (complete blocking means that the surface of the sub-area B1 is completely covered by water droplets or ice crystals) according to the echo signal transmitted by the receiving unit group C. The first preset threshold is greater than or equal to the third echo intensity, and the first preset threshold is less than or equal to the product of the second echo intensity and the first coefficient, and the first coefficient is less than 1 and greater than 0. When the first echo intensity is less than or equal to the first preset threshold, it is determined that the sub-area corresponding to the receiving unit group is in a blocked state.

[0031] In another example, the window 100 includes an inner surface facing the inner chamber of the laser radar and an outer surface facing the air environment. Since both the inner and outer surfaces of the window 100 have a certain reflectivity, when the transmitting module emits a scanning light beam, the scanning light beam will be specularly reflected and / or diffusely reflected on the inner surface of the window or the junction between the inner surface and the outer surface of the window. Detectors are set on the optical paths of the specular reflection and diffuse reflection corresponding to different sub-areas to monitor the intensity changes of the specular reflection and / or diffuse reflection. The processor can determine whether each sub-area is blocked based on the intensity change value of the specular reflection and / or diffuse reflection received by the detector corresponding to each sub-area.

[0032] In the above embodiment, by dividing the light-transmitting area of ​​the window sheet 100 into a plurality of sub-areas, the light transmittance of each sub-area can be obtained respectively, thereby determining whether different sub-areas on the window sheet 100 are in a blocked state.

[0033] In one embodiment, taking the third channel 113 as an example, the third channel 113 includes 8 first sub-areas B and 8 second sub-areas A. Figure 4 As shown, after the processor determines the shielding condition of each sub-area, condensation 200 appears on 8 first sub-areas B and 4 second sub-areas A in the third channel 113, and the total shielding range of the third channel 113 is 75%.

[0034] Based on the above calculation rules, in one embodiment, the shading condition of the window sheet 100 is as follows: Figure 5 As shown, 6 second sub-areas A in the first channel 111 are in an obstructed state, all sub-areas of the second channel 112 are in an obstructed state, all sub-areas of the third channel 113 are in an obstructed state, all sub-areas of the fourth channel 114 are in an obstructed state, and 8 second sub-areas A in the fifth channel 115 are in an obstructed state. A total of 24 first sub-areas B in the first light-transmitting area 121 are in an obstructed state, and the obstructed range can be calculated to be 85.7%. A total of 38 second sub-areas A in the second light-transmitting area 122 are in an obstructed state, and the obstructed range can be calculated to be 73.1%.

[0035] In one embodiment, step S120 includes: after calculating the blocked range of the first light-transmitting area 121 and the second light-transmitting area 122, the processor is used to set the bias voltages of the first light-transmitting area 121 and the second light-transmitting area 122 respectively according to a preset mapping relationship. The preset mapping relationship is a linear function or a nonlinear function. Exemplarily, the preset mapping relationship includes a first preset mapping relationship, which refers to the correspondence between the blocked range S of the light-transmitting area and the bias voltage P of the conductive film corresponding to the light-transmitting area. In one example, the bias voltage range is 0 to 7V, and the first preset mapping relationship is: when 0 20%, the bias voltage P is 1V; when 20% 40%, the bias voltage P is 2V; when 40 When the bias voltage P is 3V, the bias voltage P is 3V. When the bias voltage P is 4V, the bias voltage P is 4V. When the bias voltage P is 5V, the When the bias voltage P is 6V, the At 100%, the bias voltage P is 7V.

[0036] In one embodiment, step S130 includes: the processor sends a first control instruction to the power module according to the first preset mapping relationship, and the power module adjusts the magnitude of the bias voltage supplied to the first light-transmitting area 121 and the second light-transmitting area 122 according to the first control instruction, thereby realizing the zoning control of the surface temperature of the window sheet 100. In one example, the shading condition of the window sheet 100 is as follows: Figure 5 ​​​​​​​As shown, a total of 24 first sub-areas B in the first light-transmitting area 121 are in a blocked state, and the calculated blocked range is 85.7%. A total of 38 second sub-areas A in the second light-transmitting area 122 are in a blocked state, and the calculated blocked range is 73.1%. According to the first preset mapping relationship, the bias voltage corresponding to the first light-transmitting area 121 is 6V, and the bias voltage corresponding to the second light-transmitting area 122 is 5V. The processor sends a 1-bit first control instruction to the power module according to the first preset mapping relationship. The first control instruction is a command signal of 0xbc (hexadecimal), which is converted to binary as 10111100. Among them, from right to left are bit 0 to bit 7. As Figure 6 As shown, the 0th bit is used as the first light-transmitting area indicator, the 1st bit to the 3rd bit are the first instruction area, corresponding to the bias voltage required to be applied to the first light-transmitting area, and the decimal value corresponding to the 1st bit to the 3rd bit (110) is 6. The 5th bit to the 7th bit are the second instruction area, corresponding to the bias voltage required to be applied to the second light-transmitting area, and the decimal value corresponding to the 5th bit to the 7th bit (101) is 5.

[0037] Based on the heating method, the shading range of each light-transmitting area of ​​the window sheet 100 can be monitored in real time, and the bias voltage of each conductive film can be adjusted according to the shading range monitored in real time. In one example, when the processor detects that the shading range on the window sheet 100 is reduced, the shading condition is exemplarily Figure 5 The shown changes to Figure 7 The situation shown. The 4 second sub-areas A in the first channel 111 are in an obstructed state, the 2 first sub-areas B and 1 second sub-area A in the second channel 112 are in an obstructed state, all the first sub-areas B and 4 second sub-areas A in the third channel 113 are in an obstructed state, the 2 first sub-areas B and 1 second sub-area A in the fourth channel 114 are in an obstructed state, and the 4 second sub-areas A in the fifth channel 115 are in an obstructed state. A total of 12 first sub-areas B in the first light-transmitting area 121 are in an obstructed state, and the obstructed range can be calculated to be 42.9%. A total of 14 second sub-areas A in the second light-transmitting area 122 are in an obstructed state, and the obstructed range can be calculated to be 26.9%. The processor adjusts the first control instruction to 0x56 (hexadecimal), and 0x56 is converted to binary to 01010110. The decimal value corresponding to the first bit to the third bit (011) is 3. The decimal value corresponding to the 5th bit to the 7th bit (010) is 2. Accordingly, the processor controls the power module to set the bias voltage of the first light-transmitting area 121 to 3V, and the processor controls the power module to set the bias voltage of the second light-transmitting area 122 to 2V.

[0038] In another example, when the condensation on the window sheet 100 is detected to be eliminated, the processor adjusts the first control instruction to 0x10 (hexadecimal), which is converted to 00010000 after being converted to binary. The decimal value corresponding to the first bit to the third bit (000) is 0. The decimal value corresponding to the fifth bit to the seventh bit (000) is 0. Accordingly, the processor controls the power supply module to disconnect the voltage supplied to the first light-transmitting area 121 and the second light-transmitting area 122, that is, the heating of the window sheet 100 is stopped. In the above embodiment, the bias voltage of the first light-transmitting area 121 and the bias voltage of the second light-transmitting area 122 can be adjusted in real time based on the first preset mapping relationship according to the actual shielding condition of the window sheet 100. For example, in each current point cloud frame or at intervals of multiple point cloud frames, steps S110 to S130 are executed to achieve precise control of the partitions of the window sheet 100, thereby achieving dynamic adjustment of the surface temperature of the window sheet 100, effectively solving the impact of fog or condensation on the window sheet 100 on the laser radar scanning effect, and helping to improve the detection accuracy of the laser radar. In addition, this technical solution of precise control of partitions effectively improves the working performance and working stability of the laser radar in complex environments, and helps to expand the application scenarios of the laser radar.

[0039] In one embodiment, in the actual operation of the laser radar, the central field of view of the laser radar often contains more environmental information that needs attention. At this time, the occlusion of multiple sub-areas of the first light-transmitting area is an important factor affecting the detection accuracy of the laser radar. In one example, the first bias voltage is greater than the second bias voltage. And the difference between the bias voltage of the first light-transmitting area 121 and the bias voltage of the second light-transmitting area 122 is less than or equal to the second preset threshold value. For example, the second preset threshold value is 1V. Avoid condensation due to excessive temperature difference or avoid more condensation, which will increase the occlusion range and affect the detection accuracy of the laser radar. In one example, the occlusion range of the first light-transmitting area 121 is 85%. According to the first preset mapping relationship, the bias voltage that the power module needs to supply to the first light-transmitting area 121 is 6V. The occlusion range of the second light-transmitting area 122 is 55%. According to the first preset mapping relationship, the bias voltage that the power module needs to supply to the second light-transmitting area 122 is 3V. In order to prevent the temperature difference between the first light-transmitting area 121 and the second light-transmitting area 122 from being too large while ensuring the dew removal effect corresponding to the central field of view area, the bias voltage supplied by the power module to the second light-transmitting area 122 is set to 5V.

[0040] In one embodiment, the preset mapping relationship further includes a second preset mapping relationship. Step S130 includes: the processor performs zone heating on the first light-transmitting area 121 and the second light-transmitting area 122 according to the blocked range of different areas and the second preset mapping relationship. The bias voltage range is 0 to 7V, and the second preset mapping relationship is: when 0 10%, the bias voltage P is 1V; when 10% 20%, the bias voltage P is 2V; when 20 30%, the bias voltage P is 3V; when 30% 40%, the bias voltage P is 4V; when 40% 50%, the bias voltage P is 5V; when 50% 60%, the bias voltage P is 6V; when 60% When the shading range is 100%, the bias voltage P is 7V. Compared with the first preset mapping relationship, the second preset mapping relationship has more levels of division of the bias voltage when the shading range is small, which can realize fine regulation for different shading ranges and improve the control accuracy of the temperature of the laser radar window 100. In addition, taking the first light-transmitting area 121 as an example, when the shading range is large, such as the shading range of the first light-transmitting area 121 is greater than 60%, considering that the laser radar detection accuracy is aggravated by the condensation problem. The processor controls the power supply module to apply a maximum bias voltage of 7V to the first light-transmitting area 121, thereby improving the heating efficiency of the surface of the first light-transmitting area 121 and achieving a quick solution to the shading problem.

[0041] In some embodiments, the preset mapping relationship of the first light-transmitting area 121 and the preset mapping relationship of the second light-transmitting area 122 may be the same or different.

[0042] In one embodiment, the processor performs zone heating on different channels according to the blocked range of different channels and the first preset mapping relationship or the second preset mapping relationship. Figure 8 ​​​​​​​As shown, the 4 sub-areas of the first channel 111 are in a blocked state, and the blocked range is 25%. The 6 sub-areas of the second channel 112 are in a blocked state, and the blocked range is 37.5%. The 8 sub-areas of the third channel 113 are in a blocked state, and the blocked range is 50%. The 6 sub-areas of the fourth channel 114 are in a blocked state, and the blocked range is 37.5%. The 4 sub-areas of the fifth channel 115 are in a blocked state, and the blocked range is 25%. Based on the blocked range of each channel and the second preset mapping relationship, the processor controls the power supply module to supply a bias voltage of 3V to the first channel 111, a bias voltage of 4V to the second channel 112, a bias voltage of 5V to the third channel 113, a bias voltage of 4V to the fourth channel 114, and a bias voltage of 3V to the fifth channel 115.

[0043] In another example, Figure 7 As shown, the 4 sub-areas of the first channel 111 are in a blocked state, and the blocked range is 25%. The 3 sub-areas of the second channel 112 are in a blocked state, and the blocked range is 18.75%. The 12 sub-areas of the third channel 113 are in a blocked state, and the blocked range is 75%. The 3 sub-areas of the fourth channel 114 are in a blocked state, and the blocked range is 18.75%. The 4 sub-areas of the fifth channel 115 are in a blocked state, and the blocked range is 25%. Based on the blocked range of each channel and the second preset mapping relationship, the processor controls the power supply module to supply a bias voltage of 3V to the first channel 111, a bias voltage of 2V to the second channel 112, a bias voltage of 7V to the third channel 113, a bias voltage of 2V to the fourth channel 114, and a bias voltage of 3V to the fifth channel 115. However, considering that the bias voltage corresponding to the third channel 113 is quite different from that of other channels, in order to avoid the expansion of the condensation range, the difference between the bias voltages of adjacent channels needs to be controlled to be less than 1V. Therefore, the processor controls the power supply module to supply a bias voltage of 5V to the first channel 111, a bias voltage of 6V to the second channel 112, a bias voltage of 7V to the third channel 113, a bias voltage of 6V to the fourth channel 114, and a bias voltage of 5V to the fifth channel 115. This ensures that the laser radar effectively solves the condensation problem.

[0044] In one embodiment, the determination of the preset mapping relationship is calibrated based on experiments. Under fixed ambient temperature and ambient humidity, taking the first light-transmitting area 121 as an example, when the first light-transmitting area 121 is blocked by 60% and the bias voltage is 2V, the condensation problem cannot be solved within the first preset time, that is, the blocking ratio drops to 0%, 2% or 5%; when the first light-transmitting area 121 is blocked by 60% and the bias voltage is 4V, the condensation problem is solved within the first preset time; when the first light-transmitting area 121 is blocked by 60% and the bias voltage is 5V, the condensation problem is solved within the second preset time, and the second preset time is shorter than the first preset time. Then the bias voltage 4V is used as the preset bias voltage of the first conductive film under the blocked range of 60%. In the embodiment of the present application, while keeping the environmental conditions, window sheet, and conductive film material unchanged, the minimum bias voltage required to solve the condensation problem under different blocked ranges is recorded through experiments as the preset bias voltage of the first conductive film under the blocked range. Then, a preset mapping relationship between the shielded range and the bias voltage is generated.

[0045] In one embodiment, before step S110, the laser radar also includes a temperature sensor for monitoring the ambient temperature. When the temperature value monitored by the temperature sensor is less than or equal to a third preset threshold, a third bias voltage is applied to both the first conductive film and the second conductive film. The third preset threshold is 5 degrees Celsius, 0 degrees Celsius or -5 degrees Celsius. In one example, the third bias voltage is less than the first bias voltage, and the third bias voltage is less than the second bias voltage. By preheating the conductive film with a lower bias voltage value, the problem of being blocked can be prevented from being aggravated without excessively increasing the power consumption of the entire machine. In another example, after step S130, a third bias voltage is applied to both the first conductive film and the second conductive film. By maintaining a certain bias voltage, the heating time can be extended to prevent the surface temperature of the window from dropping rapidly.

[0046] In one embodiment, the laser radar processor can individually adjust the bias voltage of the conductive film on each sub-area. The first light-transmitting area corresponds to the region of interest (ROI) of the laser radar, and the bias voltage of the conductive film on the corresponding sub-area is adjusted according to the change of the laser radar ROI area.

[0047] In some embodiments, the laser radar is one of a mechanical laser radar, an optical phased array (OPA) solid-state laser radar, a microelectromechanical system (MEMS) solid-state laser radar or a flash solid-state laser radar. The window is made of glass, resin or other high-transmittance materials. The conductive film is made of an ITO film, a conductive polymer film, a graphene film or other conductive film material with high transmittance, and the transmittance of the conductive film is greater than or equal to 95% (the transmittance is for the wavelength range of the laser emitted by the emission module). Exemplarily, the conductive film is arranged inside the window substrate, or the conductive film is arranged on the surface of the window substrate. The emission module includes a planar array emission array or a plurality of linear array emission arrays, each emission array including a laser diode, a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting laser (EEL). The receiving module includes multiple receiving units, which are single photon avalanche diodes (SPADs) or silicon photomultiplier tubes. Multiple receiving units form a planar array receiving chip or a linear array receiving chip.

[0048] In some embodiments, the processor is a field programmable gate array (FPGA), a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit, a micro controller unit (MCU), an application-specific integrated circuit (ASIC), or any combination thereof for implementing relevant functions.

[0049] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

[0050] In the description of the present application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present application. The terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. It should be noted that when an element is referred to as "fixed to" or "set to" another element, it can be directly on another element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to another element or indirectly connected to the other element. It should be understood that the orientation or position relationship indicated by the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Among them, the first feature "on" or "below" the second feature can include the first and second features directly contacting, and can also include the first and second features not being directly contacting but contacting through another feature between them. Moreover, the first feature being “above”, “above” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being “below”, “below” and “below” the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0051] The terms "and / or" and "and / or" used in this document describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. The singular forms of "one" and "an" are also intended to include plural forms, unless the context clearly indicates otherwise. When the terms "comprising" and / or "including" are used in this specification, they indicate the presence of the features, elements and / or components, but do not exclude the presence or addition of one or more other features, elements, components and / or combinations thereof, i.e., any and all combinations of one or more related listed items. The ordinals such as "first" and "second" cited in the embodiments of the present application are merely identifiers and do not refer to other meanings such as a specific order or imply relative importance.

[0052] For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to the specific circumstances. The "one or more embodiments" used herein do not refer to the same embodiment, but are based on any suitable combination of specific features, structures or characteristics. The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A heating method for a laser radar window, characterized in that: The method comprises: Obtaining a blocked range of a first light-transmitting area and a blocked range of a second light-transmitting area, wherein the window sheet includes the first light-transmitting area and the second light-transmitting area, the first light-transmitting area is coated with a first conductive film, and the second light-transmitting area is coated with a second conductive film; Obtaining a first bias voltage according to the blocked range of the first light-transmitting area and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the blocked range of the light-transmitting area and the bias voltage of the conductive film corresponding to the light-transmitting area; Obtaining a second bias voltage according to the shielded range of the second light-transmitting area and the preset mapping relationship; The first conductive film and the second conductive film are powered according to the first bias voltage and the second bias voltage, respectively.

2. The method according to claim 1, characterized in that The first light-transmitting area corresponds to the central field of view of the laser radar, and the second light-transmitting area corresponds to the edge field of view of the laser radar.

3. The method according to claim 2, characterized in that The first light-transmitting area includes a plurality of first sub-areas, and the second light-transmitting area includes a plurality of second sub-areas; The step of obtaining the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area includes: Acquire the number of the first sub-areas in the first light-transmitting area that are in a shielded state; Obtaining a blocked range of the first light-transmitting area according to the number of the first sub-areas in the blocked state and the total number of the first sub-areas in the first light-transmitting area; Acquire the number of the second sub-areas in the second light-transmitting area that are in a shielded state; The blocked range of the second light-transmitting area is obtained according to the number of the second sub-areas in the blocked state and the total number of the second sub-areas in the second light-transmitting area.

4. The method according to claim 3, wherein the laser radar comprises a plurality of receiving units, one of the first sub-areas corresponds to one receiving unit group, and one of the receiving unit groups comprises one or more of the receiving units, characterized in that: The obtaining the number of the first sub-areas in the first light-transmitting area that are in a shielded state includes: Acquire multiple first echo strengths, wherein the first echo strength is the echo signal strength received by the receiving unit group, and one first echo strength corresponds to one receiving unit group; Determining whether the first sub-area corresponding to each of the receiving unit groups is in a shielded state according to each of the first echo strengths and a first preset threshold corresponding to each of the first echo strengths; The number of the first sub-areas in the first light-transmitting area that are in a shielded state is counted.

5. The method according to claim 2, characterized in that: The first bias voltage is greater than or equal to the second bias voltage.

6. The method according to claim 5, characterized in that A difference between the first bias voltage and the second bias voltage is less than or equal to a second preset threshold.

7. The method according to claim 1, wherein the laser radar further comprises a temperature sensor for monitoring the ambient temperature, wherein: Before obtaining the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area, the method further includes: When the temperature value monitored by the temperature sensor is less than or equal to a third preset threshold, a third bias voltage is applied to both the first conductive film and the second conductive film.

8. The method according to claim 7, characterized in that The third bias voltage is lower than the first bias voltage, and the third bias voltage is lower than the second bias voltage.

9. A device for a laser radar window, characterized in that: The device includes an occlusion range acquisition module, a matching module and a power supply module; The blocking range acquisition module is used to acquire the blocked range of the first light-transmitting area and the blocked range of the second light-transmitting area, wherein the window sheet includes the first light-transmitting area and the second light-transmitting area, the first light-transmitting area is coated with a first conductive film, and the second light-transmitting area is coated with a second conductive film; The matching module is used to obtain a first bias voltage according to the blocked range of the first light-transmitting area and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the blocked range of the light-transmitting area and the bias voltage of the conductive film corresponding to the light-transmitting area; The matching module is further used to obtain a second bias voltage according to the shielding range of the second light-transmitting area and the preset mapping relationship; The power module is used to supply power to the first conductive film according to the first bias voltage, and the power module is also used to supply power to the second conductive film according to the second bias voltage.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the method according to any one of claims 1 to 8.

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