A heating method, device and storage medium for a lidar window sheet

Abstract

Embodiments of the present application disclose a heating method and device for a lidar window sheet and a storage medium. The method comprises: obtaining an occluded range of a first light transmission region and a second light transmission region, wherein the window sheet comprises the first light transmission region and the second light transmission region, a first conductive film is coated on the first light transmission region, and a second conductive film is coated on the second light transmission region; supplying power to the first conductive film according to the occluded range of the first light transmission region and a preset mapping relationship; and supplying power to the second conductive film according to the occluded range of the second light transmission region and the preset mapping relationship. The method can realize temperature regulation of the window sheet in different regions, effectively solve the condensation problem of the window sheet, and reduce the power consumption of the lidar.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of laser radar, in particular to a heating method and device for a laser radar window sheet and a storage medium. BACKGROUND

[0002] Laser radar is a precision instrument that uses laser pulses for ranging and sensing, and has been widely used in automatic driving, industrial mapping, robots and intelligent transportation, etc.

[0003] In an outdoor low-temperature and high-humidity working environment, when the temperature at the window sheet decreases and a significant temperature difference is generated with the external environment, ice, condensation or water mist will occur on the surface of the window sheet, affecting the emission of the scanning beam and the reception of the return beam, thereby reducing the detection accuracy and point cloud reliability of the laser radar, and affecting the data acquisition quality and vehicle driving safety. In the prior art, the entire window sheet is heated until the ice, condensation or water mist disappears. This method has high energy consumption and low efficiency. SUMMARY

[0004] To improve the detection accuracy of the laser radar, the present application discloses a heating method and device for a laser radar window sheet and a storage medium.

[0005] In a first aspect, the present application discloses a heating method for a laser radar window sheet, the method comprising:

[0006] obtaining a blocked range of a first light transmission area and a blocked range of a second light transmission area, wherein the window sheet comprises the first light transmission area and the second light transmission area, a first conductive film is coated on the first light transmission area, and a second conductive film is coated on the second light transmission area;

[0007] obtaining a first bias voltage according to the blocked range of the first light transmission area and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the blocked range of the light transmission area and the bias voltage of the conductive film corresponding to the light transmission area;

[0008] obtaining a second bias voltage according to the blocked range of the second light transmission area and the preset mapping relationship;

[0009] supplying power to the first conductive film and the second conductive film according to the first bias voltage and the second bias voltage, respectively.

[0010] In some embodiments, the first light transmission area corresponds to the central field of view of the laser radar, and the second light transmission area corresponds to the edge field of view of the laser radar.

[0011] In some embodiments, the first light transmission region includes a plurality of first sub-regions, and the second light transmission region includes a plurality of second sub-regions; the obtaining of the blocked range of the first light transmission region and the blocked range of the second light transmission region includes: obtaining a number of the first sub-regions in the first light transmission region that are in the blocked state; obtaining the blocked range of the first light transmission region according to the number of the first sub-regions in the first light transmission region that are in the blocked state and a total number of the first sub-regions; obtaining a number of the second sub-regions in the second light transmission region that are in the blocked state; and obtaining the blocked range of the second light transmission region according to the number of the second sub-regions in the second light transmission region that are in the blocked state and a total number of the second sub-regions.

[0012] In some embodiments, the laser radar includes a plurality of receiving units, one of the first sub-regions corresponds to one receiving unit group, and one receiving unit group includes one or more receiving units; the obtaining of the number of the first sub-regions in the first light transmission region that are in the blocked state includes: obtaining a plurality of first echo intensities, wherein the first echo intensity is an 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-region corresponding to each receiving unit group is in the blocked state according to each first echo intensity and a first preset threshold corresponding to each first echo intensity; and counting the number of the first sub-regions in the first light transmission region that are in the blocked state.

[0013] In some embodiments, the first bias voltage is greater than or equal to the second bias voltage. The first light transmission region corresponding to the central field of view is a key region of the laser radar detection, and therefore, the first bias voltage is set to be greater than or equal to the second bias voltage, so as to preferentially ensure that the blocked problem of the first light transmission region is solved.

[0014] In some embodiments, a difference between the first bias voltage and the second bias voltage is less than or equal to a second preset threshold. The first light transmission region and the second light transmission region belong to one window sheet, and therefore, during the heating process, the temperature difference between the two light transmission regions cannot be too large, otherwise, the degree of blocking of the window sheet will be aggravated.

[0015] In some embodiments, the laser radar further comprises a temperature sensor for monitoring an ambient temperature, and before the obtaining of the blocked range of the first light transmission region and the blocked range of the second light transmission region, the method further comprises: when a 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 environment in which the laser radar is located, and then applying the third bias voltage to preheat the window sheet, the problem of blocking can be effectively prevented from being aggravated, and the heating efficiency can be improved.

[0016] 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, and the energy consumption of the laser radar can be reduced.

[0017] In a second aspect, the present application discloses a device applied to a laser radar window sheet, the device comprising a blocked range obtaining module, a matching module and a power supply module;

[0018] The blocked range obtaining module is configured to obtain a blocked range of a first light transmission region and a blocked range of a second light transmission region, wherein the window sheet comprises the first light transmission region and the second light transmission region, a first conductive film is coated on the first light transmission region, and a second conductive film is coated on the second light transmission region;

[0019] The matching module is configured to obtain a first bias voltage according to the blocked range of the first light transmission region and a preset mapping relationship, wherein the preset mapping relationship is a relationship between a blocked range of a light transmission region and a bias voltage of a conductive film corresponding to the light transmission region;

[0020] The matching module is further configured to obtain a second bias voltage according to the blocked range of the second light transmission region and the preset mapping relationship;

[0021] The power supply module is configured to supply power to the first conductive film according to the first bias voltage, and the power supply module is further configured to supply power to the second conductive film according to the second bias voltage.

[0022] In a third aspect, the present application discloses a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the computer program is used to implement the method according to any one of the preceding claims.

[0023] The application discloses a heating method, device and storage medium for a laser radar window sheet. The method applies different bias voltages to conductive films on different light transmission areas based on the degree of obstruction of the different light transmission areas, so as to realize partition temperature regulation of the laser radar window sheet. While effectively solving the obstruction problem caused by ice, frost, condensation or water mist, the method reduces the power consumption of the laser radar and improves the detection accuracy of the laser radar. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required by the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application.

[0025] Figure 1 A schematic diagram of a window sheet is provided for the embodiments of the present application.

[0026] Figure 2 A partition schematic diagram of a window sheet is provided for the embodiments of the present application.

[0027] Figure 3 A flowchart of a heating method is provided for the embodiments of the present application.

[0028] Figure 4 A schematic diagram of an obstruction condition of a third channel is provided for the embodiments of the present application.

[0029] Figure 5 A schematic diagram of an obstruction condition of a window sheet is provided for the embodiments of the present application.

[0030] Figure 6 A schematic diagram of a first control instruction is provided for the embodiments of the present application.

[0031] Figure 7 A schematic diagram of an obstruction condition of a window sheet is provided for the embodiments of the present application.

[0032] Figure 8 A schematic diagram of an obstruction condition of a window sheet is provided for the embodiments of the present application.

[0033] Legend of the drawings: 100, window sheet; 111, first channel; 112, second channel; 113, third channel; 114, fourth channel; 115, fifth channel; 121, first light transmission area; 122, second light transmission area; 200, condensation. DETAILED DESCRIPTION

[0034] For the purpose of making the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present application. Rather, they are simply examples of structures consistent with some aspects of the present application as detailed in the appended claims.

[0035] In the outdoor low-temperature and high-humidity working environment of the laser radar, due to the difference between the temperature of the internal chamber of the laser radar and the ambient temperature of the laser radar, ice, condensation or water mist will occur on the surface of the window sheet. The water droplets and ice crystals formed due to the above phenomena will block or reduce the transmittance of the light-transmitting area of the window sheet, thereby affecting the detection accuracy and point cloud reliability of the laser radar, and affecting the data acquisition quality and vehicle driving safety. Taking the condensation phenomenon as an example, if the temperature of the inside of the window sheet (i.e. the side of the window sheet facing the inside of the laser radar) is higher than the temperature of the outside of the window sheet (i.e. the other side of the window sheet facing the external environment), the condensation is formed on the inside of the window sheet; otherwise, if the temperature of the inside of the window sheet is lower than the temperature of the outside of the window sheet, the condensation is formed on the outside of the window sheet.

[0036] In one embodiment, the laser radar includes a housing, a transmitting module, a receiving module and a processor installed in the housing. The housing includes a first opening, and the window sheet is embedded in the first opening. The surface of the window sheet is coated with a transparent conductive film such as indium tin oxide (ITO). The scanning beam emitted by the transmitting module is transmitted through the window sheet and then irradiates the detection area. The target object located in the detection area reflects the scanning beam to form a return beam, and the return beam is transmitted through the window sheet and received by the receiving module. After the laser radar is powered on, the processor is configured to control the transmitting module to emit the scanning beam. The processor is also configured to obtain point cloud data according to the return signal transmitted by the receiving module. The processor is further configured 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 scheme realizes the heating of the entire window sheet by supplying power to the ITO film, and controls 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 blocking the light-transmitting area. However, this technical scheme needs to heat the entire window sheet, which has a large heating area and high energy consumption.

[0037] In one embodiment, as 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 regions, and the five channels are arranged in sequence in the horizontal direction or in sequence in the vertical direction. In an 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 transmission region of the window sheet 100 is rectangular, elliptical or other geometric shapes, 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 first channel 111 corresponds to a horizontal field of view angle range of -60 degrees to -36 degrees and a vertical field of view angle range of -25 degrees to 25 degrees; the second channel 112 corresponds to a horizontal field of view angle range of -36 degrees to -12 degrees and a vertical field of view angle range of -25 degrees to 25 degrees; the third channel 113 corresponds to a horizontal field of view angle range of -12 degrees to 12 degrees and a vertical field of view angle range of -25 degrees to 25 degrees; the fourth channel 114 corresponds to a horizontal field of view angle range of 12 degrees to 36 degrees and a vertical field of view angle range of -25 degrees to 25 degrees; and the fifth channel 115 corresponds to a horizontal field of view angle range of 36 degrees to 60 degrees and a vertical field of view angle range of -25 degrees to 25 degrees. In an example, the central field of view of the laser radar corresponds to a central horizontal field of view range of -42 degrees to 42 degrees, and the central field of view of the laser radar corresponds to a vertical field of view range of -15 degrees to 15 degrees; in the detection field of view of the laser radar, the other regions except the central field of view are the edge field of view of the laser radar. The above field of view range division is only exemplary and can be adjusted according to actual application requirements.

[0038] In an example, each channel is divided into 16 sub-regions, and the light transmission region of the window sheet 100 includes a total of 80 sub-regions, each sub-region having the same or different area. The receiving module includes a plurality of receiving units, one sub-region corresponds to one or more receiving unit groups, and one receiving unit group includes one or more receiving units. The Figure 1 The total of 80 sub-regions in the five channels shown are divided into a first light transmission region (corresponding to the central field of view of the laser radar) and a second light transmission region (corresponding to the edge field of view of the laser radar). In combination with Figure 2 As shown, the first light transmission region 121 includes 28 first sub-regions B, and the second light transmission region 122 includes the remaining 52 second sub-regions A.

[0039] In order to reduce the influence of environmental temperature changes on the detection accuracy of the laser radar, the application provides a heating method for a laser radar window sheet. The method monitors the shading conditions of different light transmission regions of the window sheet in real time, changes the bias voltage applied to the conductive film corresponding to different light transmission regions, thereby achieving accurate partition control of the surface temperature of the window sheet, which is conducive to improving the detection accuracy of the laser radar and reducing the power consumption of the laser radar.

[0040] In one embodiment, such as Figure 3 As shown, the heating method includes steps S110 to S130:

[0041] S110, Obtain the occlusion range of the first light-transmitting area and the occlusion range of the second light-transmitting area;

[0042] S120. Obtain a first bias voltage based on the occlusion range of the first light-transmitting area and a preset mapping relationship; obtain a second bias voltage based on the occlusion range of the second light-transmitting area and a preset mapping relationship.

[0043] S130. Power supply is applied to the first conductive film based on the first bias voltage; power supply is applied to the second conductive film based on the second bias voltage.

[0044] In one embodiment, this application discloses a heating device for a lidar window, the device comprising an obstruction range acquisition module, a matching module, and a power supply module. The obstruction range acquisition module acquires the obstructed range of a first light-transmitting region and the obstructed range of a second light-transmitting region; the matching module obtains a first bias voltage based on the obstructed range of the first light-transmitting region and a preset mapping relationship; the matching module also obtains a second bias voltage based on the obstructed range of the second light-transmitting region and the preset mapping relationship; the power supply module supplies power to a first conductive film based on the first bias voltage, and the power supply module also supplies power to a second conductive film based on the second bias voltage.

[0045] In one embodiment, the LiDAR processor includes an occlusion range acquisition module and a matching module. The power module is electrically connected to the internal power supply circuit of the LiDAR, which is connected to an external power source via a wiring harness.

[0046] In one embodiment, when frost, water mist, or condensation occurs in a sub-region due to temperature changes, the intensity of the echo signal received by the receiving unit group corresponding to that sub-region will change. The processor can determine whether each sub-region is blocked by water droplets or ice crystals based on the change in echo signal intensity received by the receiving unit corresponding to each sub-region. Step S110 includes: obtaining the number of first sub-regions in the first light-transmitting region that are in a blocked state; obtaining the blocked range of the first light-transmitting region based on the number of first sub-regions in the first light-transmitting region that are in a blocked state and the total number of first sub-regions; obtaining the number of second sub-regions in the second light-transmitting region that are in a blocked state; obtaining the blocked range of the second light-transmitting region based on the number of second sub-regions in the second light-transmitting region that are in a blocked state and the total number of second sub-regions.

[0047] Obtaining the number of first sub-regions in the first light-transmitting area that are in a blocked 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-region corresponding to each receiving unit group is in a blocked 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-regions in the first light-transmitting area that are in a blocked state.

[0048] The first preset threshold is determined experimentally, and the first preset threshold may be the same or different for each first echo intensity. In one example, for the receiving unit group C corresponding to sub-region B1, a lidar is used to scan the same target at a fixed detection distance. The processor obtains the second echo intensity of sub-region B1 in an unobstructed state and the third echo intensity of sub-region B1 in a completely obstructed state (complete obstruction means that the surface of sub-region B1 is completely covered by water droplets or ice crystals) based on the echo signal transmitted by 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 a first coefficient, where 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-region corresponding to the receiving unit group is in an obstructed state.

[0049] In another example, the window 100 includes an inner surface facing the internal cavity of the lidar and an outer surface facing the ambient air. Since both the inner and outer surfaces of the window 100 have a certain reflectivity, when the transmitting module emits a scanning beam, the beam will undergo specular reflection and / or diffuse reflection on the inner surface of the window or at the interface between the inner and outer surfaces. Detectors are placed along the optical paths of specular and diffuse reflection corresponding to different sub-regions to monitor changes in the intensity of specular and / or diffuse reflection. Based on the intensity changes of specular and / or diffuse reflection received by the detectors corresponding to each sub-region, the processor can determine whether each sub-region is obstructed.

[0050] In the above embodiments, by dividing the light-transmitting area of ​​the window 100 into multiple sub-regions, the light transmission status of each sub-region can be obtained separately, thereby determining whether different sub-regions on the window 100 are in a shading state.

[0051] In one embodiment, taking the third channel 113 as an example, the third channel 113 includes eight first sub-regions B and eight second sub-regions A. For example... Figure 4 As shown, after the processor judges the occlusion status of each sub-region, condensation 200 appears on 8 first sub-regions B and 4 second sub-regions A in the third channel 113, and the total occlusion range of the third channel 113 is 75%.

[0052] Based on the above calculation rules, in one embodiment, the occlusion status of window 100 is as follows: Figure 5 As shown, six second sub-regions A in the first channel 111 are obstructed; all sub-regions in the second channel 112 are obstructed; all sub-regions in the third channel 113 are obstructed; all sub-regions in the fourth channel 114 are obstructed; and eight second sub-regions A in the fifth channel 115 are obstructed. A total of 24 first sub-regions B in the first light-transmitting area 121 are obstructed, resulting in an obstruction rate of 85.7%. A total of 38 second sub-regions A in the second light-transmitting area 122 are obstructed, resulting in an obstruction rate of 73.1%.

[0053] In one embodiment, step S120 includes: after calculating the obstructed range of the first light-transmitting region 121 and the second light-transmitting region 122, the processor is configured to set the bias voltages of the first light-transmitting region 121 and the second light-transmitting region 122 respectively according to a preset mapping relationship. The preset mapping relationship is a linear function or a nonlinear function. For example, the preset mapping relationship includes a first preset mapping relationship, which refers to the correspondence between the obstructed range S of the light-transmitting region and the bias voltage P of the conductive film corresponding to the light-transmitting region. In one example, the range of the bias voltage is 0 to 7V, and the first preset mapping relationship is: when 0... At 20%, the bias voltage P is 1V; when 20% At 40%, the bias voltage P is 2V; when 40 At 60%, the bias voltage P is 3V; when 60%... At 70%, the bias voltage P is 4V; when 70%... At 80%, the bias voltage P is 5V; when 80%... At 90%, the bias voltage P is 6V; when 90%... At 100%, the bias voltage P is 7V.

[0054] In one embodiment, step S130 includes: the processor sending a first control command to the power module according to a first preset mapping relationship; the power module adjusting the magnitude of the bias voltage supplied to the first light-transmitting region 121 and the second light-transmitting region 122 according to the first control command, thereby achieving zoned control of the surface temperature of the window slab 100. In one example, the shading situation of the window slab 100 is as follows: Figure 5 ​​​​​​​As shown, a total of 24 first sub-regions B in the first light-transmitting region 121 are in the obstructed state, and the calculation can obtain an obstructed range of 85.7%. A total of 38 second sub-regions A in the second light-transmitting region 122 are in the obstructed state, and the calculation can obtain an obstructed range of 73.1%. According to the first preset mapping relationship, the bias voltage corresponding to the first light-transmitting region 121 is 6V, and the bias voltage corresponding to the second light-transmitting region 122 is 5V. The processor sends a first control instruction of 1 bit to the power module according to the first preset mapping relationship. The first control instruction is an instruction signal of 0xbc (hexadecimal), which is converted into binary as 10111100. Among them, from right to left are the 0th bit to the 7th bit. As shown in FIG. 1C, the 0th bit is used as the first light-transmitting region indication bit, the 1st bit to the 3rd bit are the first instruction area, corresponding to the bias voltage size required to be applied to the first light-transmitting region, and the 1st bit to the 3rd bit (110) correspond to the decimal number 6. The 5th bit to the 7th bit are the second instruction area, corresponding to the bias voltage size required to be applied to the second light-transmitting region, and the 5th bit to the 7th bit (101) correspond to the decimal number 5. Figure 6

[0055] Based on the heating method, the obstructed range of each light-transmitting region of the window sheet 100 can be monitored in real time, and the bias voltage of each conductive film is adjusted according to the real-time monitored obstructed range. In one example, when the processor detects that the obstructed range on the window sheet 100 decreases, the example changes from the obstructed condition shown in FIG. 1B to the condition shown in FIG. 1D. Figure 5 Figure 7 As shown in FIG. 1D, 4 second sub-regions A in the first channel 111 are in the obstructed state, 2 first sub-regions B and 1 second sub-region A of the second channel 112 are in the obstructed state, all the first sub-regions B and 4 second sub-regions A of the third channel 113 are in the obstructed state, 2 first sub-regions B and 1 second sub-region A of the fourth channel 114 are in the obstructed state, and 4 second sub-regions A of the fifth channel 115 are in the obstructed state. A total of 12 first sub-regions B in the first light-transmitting region 121 are in the obstructed state, and the calculation can obtain an obstructed range of 42.9%. A total of 14 second sub-regions A in the second light-transmitting region 122 are in the obstructed state, and the calculation can obtain an obstructed range of 26.9%. The processor adjusts the first control instruction to 0x56 (hexadecimal), and 0x56 is converted into binary as 01010110. The 1st bit to the 3rd bit (011) correspond to the decimal number 3. The 5th bit to the 7th bit (010) correspond to the decimal number 2. Correspondingly, the processor controls the power module to set the bias voltage of the first light-transmitting region 121 to 3V, and the processor controls the power module to set the bias voltage of the second light-transmitting region 122 to 2V. ​​

[0056] In another example, when condensation on the window sheet 100 is eliminated, the processor adjusts the first control instruction to 0x10 (hexadecimal), which is converted to 2 binary as 00010000. The first to third bits (000) correspond to a decimal value of 0. The fifth to seventh bits (000) correspond to a decimal value of 0. Accordingly, the processor controls the power module to disconnect the voltage supplied to the first light-transmitting area 121 and the second light-transmitting area 122, i.e., to stop heating the window sheet 100. 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, steps S110 to S130 are performed under each current point cloud frame or at intervals of multiple point cloud frames to achieve accurate partition control of the window sheet 100, thereby dynamically adjusting the surface temperature of the window sheet 100, effectively solving the influence of fog or condensation on the window sheet 100 on the scanning effect of the lidar, and facilitating the improvement of the detection accuracy of the lidar. In addition, the technical solution of accurate partition control effectively improves the working performance and stability of the lidar in complex environments, and is beneficial to expanding the application scenarios of the lidar.

[0057] In one embodiment, in the actual working of the lidar, the central field of view of the lidar often contains more environmental information that needs to be concerned. At this time, the shielding condition of the plurality of sub-areas of the first light-transmitting area is an important factor affecting the detection accuracy of the lidar. 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, for example, the second preset threshold is 1V. To avoid excessive temperature difference from causing condensation again or causing more condensation, thereby causing the shielding range to increase and affecting the detection accuracy of the lidar. In one example, the shielding range of the first light-transmitting area 121 is 85%, according to the first preset mapping relationship, the power module needs to supply a bias voltage of 6V to the first light-transmitting area 121. The shielding range of the second light-transmitting area 122 is 55%. According to the first preset mapping relationship, the power module needs to supply a bias voltage of 3V to the second light-transmitting area 122. 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 condensation elimination effect corresponding to the central field of view area, the power module supplies a bias voltage of 5V to the second light-transmitting area 122.

[0058] In an embodiment, the preset mapping relationship further includes a second preset mapping relationship. Step S130 includes: the processor performs zoned heating on the first light transmission region 121 and the second light transmission region 122 according to the occluded range of different regions and the second preset mapping relationship. The range of the bias voltage is 0-7V, 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% 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 occluded range is small, can realize fine control for different occluded ranges, and improve the control accuracy of the temperature of the laser radar window sheet 100. In addition, taking the first light transmission region 121 as an example, when the occluded range is large, such as when the occluded range of the first light transmission region 121 is greater than 60%, considering that the laser radar detection accuracy is affected by the condensation problem, the processor controls the power module to apply a maximum bias voltage of 7V to the first light transmission region 121, thereby improving the heating efficiency of the surface of the first light transmission region 121 and realizing rapid solution to the occlusion problem.

[0059] In some embodiments, the preset mapping relationship of the first light transmission region 121 and the preset mapping relationship of the second light transmission region 122 can be the same or different.

[0060] In an embodiment, the processor performs zoned heating on different channels according to the occluded range of different channels and the first preset mapping relationship or the second preset mapping relationship. In an example, as shown in FIG. 1, the laser radar window sheet 100 includes a first channel 1101 and a second channel 1102. The first channel 1101 includes the first light transmission region 121 and the second light transmission region 122, and the second channel 1102 includes a third light transmission region 123 and a fourth light transmission region 124. The processor performs zoned heating on the first channel 1101 and the second channel 1102 according to the occluded range of different channels and the first preset mapping relationship or the second preset mapping relationship. Figure 8As shown, four sub-regions of the first channel 111 are occluded, with an occlusion range of 25%. Six sub-regions of the second channel 112 are occluded, with an occlusion range of 37.5%. Eight sub-regions of the third channel 113 are occluded, with an occlusion range of 50%. Six sub-regions of the fourth channel 114 are occluded, with an occlusion range of 37.5%. Four sub-regions of the fifth channel 115 are occluded, with an occlusion range of 25%. Based on the occlusion range of each channel and a second preset mapping relationship, the processor controls the power module to supply a bias voltage of 3V to the first channel 111, 4V to the second channel 112, 5V to the third channel 113, 4V to the fourth channel 114, and 3V to the fifth channel 115.

[0061] In another example, such as Figure 7 As shown, four sub-regions of the first channel 111 are occluded, with an occlusion range of 25%. Three sub-regions of the second channel 112 are occluded, with an occlusion range of 18.75%. Twelve sub-regions of the third channel 113 are occluded, with an occlusion range of 75%. Three sub-regions of the fourth channel 114 are occluded, with an occlusion range of 18.75%. Four sub-regions of the fifth channel 115 are occluded, with an occlusion range of 25%. Based on the occlusion range of each channel and the second preset mapping relationship, the bias voltage supplied by the processor control power module to the first channel 111 should be 3V, to the second channel 112 should be 2V, to the third channel 113 should be 7V, to the fourth channel 114 should be 2V, and to the fifth channel 115 should be 3V. However, considering the significant difference in bias voltage between the third channel 113 and the other channels, to avoid expanding the condensation range, the difference in bias voltage between adjacent channels needs to be controlled to be less than 1V. Therefore, the processor control power module supplies a bias voltage of 5V to the first channel 111, 6V to the second channel 112, 7V to the third channel 113, 6V to the fourth channel 114, and 5V to the fifth channel 115. This ensures the effective resolution of the condensation problem by the lidar.

[0062] In an embodiment, the determination of the preset mapping relationship is calibrated according to experiments. For example, under a fixed ambient temperature and ambient humidity, when the first light transmission area 121 is 60% obstructed and the bias voltage is 2V, the condensation problem cannot be solved within the first preset time, i.e., the obstruction ratio is reduced to 0%, 2% or 5%; when the first light transmission area 121 is 60% obstructed and the bias voltage is 4V, the condensation problem is solved within the first preset time; when the first light transmission area 121 is 60% obstructed and the bias voltage is 5V, the condensation problem is solved within the second preset time, which is shorter than the first preset time. Then, the bias voltage 4V is taken as the preset bias voltage of the first conductive film under the obstruction ratio of 60%. In the embodiment of the application, under the condition that the environmental conditions, the window sheet and the conductive film material remain unchanged, the minimum bias voltage required to solve the condensation problem under different obstruction ratios is recorded through experiments, which is taken as the preset bias voltage of the first conductive film under the obstruction ratio. Further, the preset mapping relationship between the obstruction ratio and the bias voltage is generated.

[0063] In an embodiment, before step S110, the lidar further comprises a temperature sensor for monitoring the ambient temperature, and 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 an 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 obstruction problem can be prevented from being aggravated without excessively increasing the overall power consumption. In another example, after step S130, the 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 prolonged to prevent the surface temperature of the window sheet from rapidly decreasing.

[0064] In an embodiment, the processor of the lidar can individually regulate the bias voltage of the conductive film on each sub-area. The first light transmission area corresponds to the Region of Interest (ROI) area of the lidar, and the bias voltage of the conductive film on the corresponding sub-area is adjusted according to the change of the ROI area of the lidar.

[0065] In some embodiments, the laser radar is one of a mechanical laser radar, an optical phased array (OPA) solid-state laser radar, a micro electromechanical system (MEMS) solid-state laser radar, or a flash solid-state laser radar. The window sheet 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 materials 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). The conductive film is disposed inside the window sheet substrate, or the conductive film is disposed on the surface of the window sheet substrate. The emission module includes a planar array emission array or a plurality of linear array emission arrays, each of which includes a laser diode, a vertical-cavity surface-emitting laser (VCSEL), or an edge-emitting laser (EEL). The receiving module includes a plurality of receiving units, which are single photon avalanche diodes (SPADs) or silicon photomultipliers, and the plurality of receiving units form a planar array receiving chip or a linear array receiving chip.

[0066] 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 related functions.

[0067] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

[0068] In the description of this application, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the application. It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it may be directly on or indirectly on that other element. When an element is referred to as being "connected to" another element, it may be directly connected to or indirectly connected to that other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Wherein, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features not being direct contact but through another feature between them. Furthermore, "above," "over," and "on top" of the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" of the first feature and the second feature include the first feature being directly below or diagonally below the second feature, or simply indicating that the first feature is at a lower horizontal level than the second feature.

[0069] The terms "and / or" and "and / or" as used herein describe the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a" and "an" are also intended to include the 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 stated 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., including any and all combinations of one or more of the related listed items. Ordinal numbers such as "first" and "second" referenced in the embodiments of this application are merely identifiers and do not imply any particular order or relative importance.

[0070] The specific meanings of the above terms can be understood according to specific circumstances by those of ordinary skill in the art. "One or more embodiments" used herein do not refer to the same embodiment, but combine specific features, structures or characteristics in any appropriate manner. The above is only the preferred embodiment of the application, and is not intended to limit the application. Any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A heating method for a lidar window sheet, the lidar comprising a temperature sensor for monitoring an ambient temperature, characterized in that, The method comprises: In step 110, the occluded ranges of a first light-transmitting region and a second light-transmitting region are obtained, wherein the window sheet comprises the first light-transmitting region and the second light-transmitting region, the first light-transmitting region is coated with a first conductive film, the second light-transmitting region is coated with a second conductive film, the first light-transmitting region corresponds to a central field of view of the laser radar, and the second light-transmitting region corresponds to an edge field of view of the laser radar; In step 120, a first bias voltage is obtained according to the occluded range of the first light-transmitting region and a preset mapping relationship, wherein the preset mapping relationship is a relationship between the occluded range of a light-transmitting region and a bias voltage of the conductive film corresponding to the light-transmitting region; A second bias voltage is obtained according to the occluded range of the second light-transmitting region and the preset mapping relationship; In step 130, the first conductive film and the second conductive film are powered according to the first bias voltage and the second bias voltage respectively, the first bias voltage is greater than the second bias voltage, a difference between the first bias voltage and the second bias voltage is less than or equal to a second preset threshold, and the second preset threshold is 1V; After step 130, a third bias voltage is applied to the first conductive film and the second conductive film; Before step 110, the method further comprises: When a temperature value monitored by the temperature sensor is less than or equal to a third preset threshold, a third bias voltage is applied to the first conductive film and the second conductive film, the third bias voltage is less than the first bias voltage, and the third bias voltage is less than the second bias voltage; The first light-transmitting region comprises a plurality of first sub-regions, and the second light-transmitting region comprises a plurality of second sub-regions; Step 110 comprises: The number of the first sub-regions in the first light-transmitting region in an occluded state is obtained; The occluded range of the first light-transmitting region is obtained according to the number of the first sub-regions in the first light-transmitting region in the occluded state and the total number of the first sub-regions; The number of the second sub-regions in the second light-transmitting region in the occluded state is obtained; The occluded range of the second light-transmitting region is obtained according to the number of the second sub-regions in the second light-transmitting region in the occluded state and the total number of the second sub-regions.

2. The method of claim 1, the lidar comprising a plurality of receiving units, one said first sub-area corresponding to one group of receiving units, one said group of receiving units comprising one or more said receiving units, characterized in that, The number of the first sub-regions in the first light-transmitting region in the occluded state is obtained, comprising: A plurality of first echo intensities are obtained, wherein the first echo intensity is an echo signal intensity received by the receiving unit group, and one first echo intensity corresponds to one receiving unit group; Whether the first sub-region corresponding to each receiving unit group is in an occluded state is determined according to each first echo intensity and a first preset threshold corresponding to each first echo intensity; The number of the first sub-regions in the first light-transmitting region in the occluded state is counted.

3. An apparatus for application to a lidar window sheet, the lidar comprising a temperature sensor, characterized in that, The device comprises an occluded range obtaining module, a matching module, and a power supply module. The occlusion range acquisition module is configured to acquire an occluded range of a first light-transmitting region and an occluded range of a second light-transmitting region, wherein the window sheet includes the first light-transmitting region and the second light-transmitting region, the first light-transmitting region is coated with a first conductive film, the second light-transmitting region is coated with a second conductive film, the first light-transmitting region corresponds to a central field of view of the laser radar, and the second light-transmitting region corresponds to an edge field of view of the laser radar. The matching module is configured to obtain a first bias voltage according to the occluded range of the first light-transmitting region and a preset mapping relationship, wherein the preset mapping relationship is a relationship between an occluded range of a light-transmitting region and a bias voltage of a conductive film corresponding to the light-transmitting region. The matching module is further configured to obtain a second bias voltage according to the occluded range of the second light-transmitting region and the preset mapping relationship. The power supply module is configured to supply power to the first conductive film according to the first bias voltage, and supply power to the second conductive film according to the second bias voltage, the first bias voltage is greater than the second bias voltage, a difference between the first bias voltage and the second bias voltage is less than or equal to a second preset threshold, and the second preset threshold is 1 V. The power supply module is further configured to apply a third bias voltage to the first conductive film and the second conductive film, the third bias voltage is less than the first bias voltage, and the third bias voltage is less than the second bias voltage. The first light-transmitting region includes a plurality of first sub-regions, and the second light-transmitting region includes a plurality of second sub-regions; the acquisition of the occluded range of the first light-transmitting region and the occluded range of the second light-transmitting region includes: acquiring a number of the first sub-regions in the first light-transmitting region in an occluded state; obtaining the occluded range of the first light-transmitting region according to the number of the first sub-regions in the occluded state in the first light-transmitting region and a total number of the first sub-regions; acquiring a number of the second sub-regions in the second light-transmitting region in an occluded state; obtaining the occluded range of the second light-transmitting region according to the number of the second sub-regions in the occluded state in the second light-transmitting region and a total number of the second sub-regions.

4. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1 to 2.

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