Laser radar and mobile device

Abstract

The embodiment of the invention discloses a laser radar and a mobile device, the laser radar comprises a housing, a window sheet and a temperature adjusting member, the inner cavity of the housing comprises a first chamber and a second chamber, and the first chamber is closer to the window than the second chamber; the window piece comprises a light-transmitting area and a non-light-transmitting area, the temperature adjusting part comprises a heater and a refrigerator, the heater is closer to the window piece than the refrigerator, the temperature adjusting part is configured to enable the temperature of the first cavity to be higher than that of the second cavity, the heater is connected with the light-transmitting area, and the refrigerator is arranged corresponding to the non-light-transmitting area. Through the arrangement of the temperature adjusting part, the temperature of the diaphragm is not too low, and moisture in the laser radar is not liable to be cooled at the diaphragm to form internal condensation; therefore, compared with the first chamber, the second chamber is easier to generate condensation, namely, condensation is easier to generate in the second chamber far away from the diaphragm, and the phenomenon that the emission optical signal and the echo optical signal are influenced by internal condensation is not easy to exist.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to a laser radar and a movable device. Background Art

[0002] During the operation of the laser radar, there is a thermal effect inside it. When the external environment becomes cold during the operation of the laser radar, the moisture inside the laser radar will form internal condensation on the window piece when it encounters cold. The existence of internal condensation will modulate the emitted laser spot, making the spot divergent or blurred, resulting in a decrease in the ranging ability of the laser radar or causing high anti-expansion, crosstalk, etc., which is not conducive to the signal detection of the laser radar.

[0003] Among them, the fundamental reason for condensation on the surface of an object is that the temperature of the surface of the object is lower than the dew point of the humidity in the environment where the object is located. In related technologies, in order to prevent the occurrence of internal condensation, the absolute humidity of the gas is generally controlled so that the dew point of the gas is always lower than the lower limit temperature of the gas inside the machine, thereby avoiding condensation on the surface of the object. For example, a dehumidifier is placed inside the laser radar to avoid condensation inside the window, but the dehumidifier has a short validity period. Summary of the invention

[0004] The embodiments of the present application provide a laser radar and a movable device, which are used to improve the problem in the related art that a dehumidifier is placed inside the laser radar to avoid condensation inside the window piece, however, the dehumidifier has a short shelf life.

[0005] In a first aspect, an embodiment of the present application provides a laser radar, including:

[0006] A shell, wherein the shell is formed with an inner cavity, wherein the inner cavity includes a first chamber and a second chamber communicating with the first chamber, and the shell is provided with a window on a side of the first chamber facing away from the second chamber, wherein the window is communicating with the first chamber;

[0007] A window sheet, the window sheet covers the window, and the window sheet includes a light-transmitting area and a non-light-transmitting area connected to the light-transmitting area;

[0008] A temperature regulating member, the temperature regulating member is located in the inner cavity, the temperature regulating member includes a heater and a cooler, the heater is closer to the window piece than the cooler, the temperature regulating member is configured to make the temperature of the first chamber higher than the temperature of the second chamber, and the heater is connected to the light-transmitting area.

[0009] In a second aspect, an embodiment of the present application provides a movable device, including a device body and the above-mentioned laser radar, wherein the device body is connected to the laser radar.

[0010] In the laser radar and movable device of the present application, the heater of the temperature regulating member is arranged close to the window sheet, so that the heat generated by the heater is easily transferred to the window sheet, so that the temperature of the window sheet will not be too low, and condensation is not easy to form at the window sheet. Moreover, if the temperature of the first chamber is higher than that of the second chamber, condensation is more likely to form in the second chamber than in the first chamber, that is, even if condensation is formed in the inner cavity, it is more likely to form in the second chamber far away from the window sheet, and will hardly affect the transmission of the emitted light signal and the echo light signal at the window sheet.

[0011] The temperature regulating device of the present application includes both a heater and a refrigerator, wherein the setting of the heater can accelerate the temperature rise rate of the first chamber, and the setting of the refrigerator can accelerate the temperature drop rate of the second chamber, that is, the temperature regulating device can accelerate the temperature difference adjustment speed between the first chamber and the second chamber to better avoid condensation at the window piece.

[0012] Connecting the heater to the light-transmitting area of ​​the window piece is conducive to more efficient transfer of heat generated by the heater to the light-transmitting area, avoiding condensation in the light-transmitting area, and thus avoiding affecting the transmission of the emitted light signal and the echo light signal in the light-transmitting area. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0014] Figure 1 is a schematic diagram of the structure of a laser radar provided in the first embodiment of the present application;

[0015] Figure 2 yes Figure 1 A schematic diagram of a partial cross-sectional structure of a laser radar in one direction is shown;

[0016] Figure 3 yes Figure 1 A schematic diagram of a partial cross-sectional structure of the laser radar in another direction is shown;

[0017] Figure 4 yes Figure 1 A schematic diagram of a partial explosion structure of a laser radar is shown;

[0018] Figure 5 is a partial perspective structural diagram of a laser radar provided in the second embodiment of the present application;

[0019] Figure 6 is a partial perspective structural diagram of a laser radar provided in a third embodiment of the present application;

[0020] Figure 7 is a schematic diagram of a partial cross-sectional structure of a laser radar in one direction provided by the fourth embodiment of the present application;

[0021] Figure 8 It is a schematic diagram of the structure of a movable device provided in an embodiment of the present application.

[0022] Description of reference numerals:

[0023] 1. Laser radar; 2. Mobile device; 201. Device body;

[0024] 10. outer shell; 11. inner cavity; 111. first chamber; 112. second chamber; 12. window;

[0025] 20. Window piece; 21. Light-transmitting area; 22. Non-light-transmitting area;

[0026] 30. Temperature regulating element; 31. Semiconductor refrigerator; 311. Hot end; 312. Cold end; 32. Heating element;

[0027] 40. heat conducting member; 41. first heat conducting portion; 42. second heat conducting portion;

[0028] 50. flow guide; 51. first end; 52. second end. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0030] 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. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0031] First, see Figures 1 to 4 An embodiment of the present application provides a laser radar 1, which includes a housing 10, a window piece 20 and a temperature adjustment component 30.

[0032] The housing 10 is formed with an inner cavity 11, and the inner cavity 11 includes a first cavity 111 and a second cavity 112 connected to the first cavity 111. The housing 10 is provided with a window 12 on a side of the first cavity 111 away from the second cavity 112, and the window 12 is connected to the first cavity 111. The window sheet 20 covers the window 12, and the window sheet 20 includes a light-transmitting area 21 and a non-light-transmitting area 22 connected to the light-transmitting area 21. The temperature regulating member 30 is located in the inner cavity 11, and the temperature regulating member 30 has a heater and a cooler. The heater is closer to the window sheet 20 than the cooler. The temperature regulating member 30 is configured to make the temperature of the first cavity 111 higher than the temperature of the second cavity 112, and the heater is connected to the light-transmitting area 21.

[0033] The heater of the temperature regulating member 30 is arranged close to the window sheet 20, so that the heat generated by the heater is easily transferred to the window sheet 20, so that the temperature of the window sheet 20 will not be too low, and condensation is not easy to be generated at the window sheet 20. Moreover, the temperature of the first chamber 111 is higher than the temperature of the second chamber 112, so that the second chamber 112 is more likely to generate condensation than the first chamber 111, that is, even if condensation is generated in the inner cavity 11, the condensation is more likely to be generated in the second chamber 112 far away from the window sheet 20, and will hardly affect the transmission of the emitted optical signal and the echo optical signal at the window sheet 20.

[0034] The temperature regulating component 30 of the present application includes both a heater and a refrigerator, wherein the setting of the heater can accelerate the temperature rise rate of the first chamber 111, and the setting of the refrigerator can accelerate the temperature drop rate of the second chamber 112, that is, the temperature regulating component 30 can accelerate the temperature difference adjustment speed between the first chamber 111 and the second chamber 112 to better avoid condensation at the window piece 20.

[0035] It should be noted that the laser radar 1 also includes circuit devices and the like, and the circuit devices are located in the second chamber 112 away from the window sheet 20, so that the temperature of the second chamber 112 is reduced, which is also beneficial to the heat dissipation in the laser radar 1. The circuit devices may include a transmitting board for emitting a transmission light signal, a receiving board for receiving an echo light signal, and the like, which are not limited thereto.

[0036] The light-transmitting area 21 is an area on the window 20 for light to pass through, and the non-light-transmitting area 22 is an area on the window 20 other than the light-transmitting area 21. When the laser radar 1 is working, the emission light signal in the laser radar 1 passes through the light-transmitting area 21 of the window 20 and is emitted to the outside of the laser radar 1, and the echo light signal outside the laser radar 1 passes through the light-transmitting area 21 of the window 20 and is incident to the inside of the laser radar 1. The above-mentioned connection of the heater to the light-transmitting area 21 of the window 20 is conducive to more efficient transfer of the heat generated by the heater to the light-transmitting area 21, avoiding condensation in the light-transmitting area 21, and thus avoiding affecting the transmission of the emission light signal and the echo light signal at the light-transmitting area 21.

[0037] The heater in the temperature regulating member 30 may be any device capable of heating, and the refrigerator may be any device capable of cooling.

[0038] For example, in an exemplary solution, the temperature adjustment member 30 may include a semiconductor refrigerator 31, the semiconductor refrigerator 31 is arranged corresponding to the non-light-transmitting area 22, and the semiconductor refrigerator 31 includes a hot end 311 and a cold end 312. At this time, the heater includes the hot end 311, and the refrigerator includes the cold end 312. The semiconductor refrigerator 31 is made using the Peltier effect of semiconductor materials; when a direct current passes through a thermocouple composed of two semiconductor materials, one end absorbs heat and the other end releases heat, thereby achieving heat conduction. That is, the semiconductor refrigerator 31 can achieve both heating and cooling effects with only one device, which can reduce assembly costs and save space in the laser radar 1 compared to separately setting up a heater and a refrigerator.

[0039] The semiconductor cooler 31 is arranged in the non-light-transmitting area 22 of the window plate 20 as described above, so that the semiconductor cooler 31 has little or no influence on the transmission of the emitted light signal and the echo light signal in the light-transmitting area 21 of the window plate 20, thereby ensuring the detection performance of the laser radar 1.

[0040] Among them, the semiconductor cooler 31 is set corresponding to the non-light-transmitting area 22 of the window sheet 20, which can be understood as: the projection of the semiconductor cooler 31 on the window sheet 20 is located in the non-light-transmitting area 22. Since the emission light signal and the echo light signal may be emitted or incident in a direction inclined relative to the window sheet 20, the semiconductor cooler 31 is set corresponding to the non-light-transmitting area 22 of the window sheet 20, and there may be a situation where the emission light signal and / or the echo light signal are blocked. Therefore, the semiconductor cooler 31 can be further designed to avoid the transmission path of the emission light signal, and / or the semiconductor cooler 31 can be set to avoid the transmission path of the echo light signal, so as to further reduce the influence of the semiconductor cooler 31 on the transmission of the emission light signal and the echo light signal.

[0041] In the embodiment of the present application, the semiconductor cooler 31 can be attached to the window sheet 20, or the semiconductor cooler 31 can be spaced apart from the window sheet 20. If the semiconductor cooler 31 is attached to the window sheet 20, the heat transfer rate from the hot end 311 of the semiconductor cooler 31 to the window sheet 20 will be faster, the heat will be more, and it will be less likely to condense on the window sheet 20. If the semiconductor cooler 31 is spaced apart from the window sheet 20, the assembly requirements of the semiconductor cooler 31 are lower and the assembly cost is lower.

[0042] The semiconductor cooler 31 can be connected to the window sheet 20 and / or the housing 10 to achieve fixation in the housing 10. That is, the semiconductor cooler 31 can be connected to the window sheet 20 in the housing 10, can be connected to the housing 10 in the window sheet 20 and the housing 10, or can be connected to both the window sheet 20 and the housing 10, which is not limited.

[0043] If the semiconductor cooler 31 is attached to and connected to the window sheet 20, the semiconductor cooler 31 and the window sheet 20 may be connected by adhesive, snap-fit, etc., without limitation. If the semiconductor cooler 31 and the window sheet 20 are spaced apart and connected to the window sheet 20, the semiconductor cooler 31 and the window sheet 20 may be connected by a connecting rod, etc., without limitation.

[0044] If the semiconductor cooler 31 is connected to the housing 10, the size of the housing 10 is larger than the size of the window 20, which is conducive to the connection operation between the semiconductor cooler 31 and the housing 10. Among them, the housing 10 can be provided with positioning structures such as positioning grooves and positioning columns, and the semiconductor cooler 31 can be set at the positioning structure. The setting of the positioning structure is conducive to positioning the installation position of the semiconductor cooler 31 on the housing 10, which is conducive to improving the installation accuracy between the semiconductor cooler 31 and the housing 10, and improving the temperature transfer efficiency between the semiconductor cooler 31 and the window 20.

[0045] Optionally, the semiconductor cooler 31 and the housing 10 may also be an integrally formed structure to reduce the assembly process between the semiconductor cooler 31 and the housing 10 and improve the connection reliability between the semiconductor cooler 31 and the housing 10 .

[0046] It can be understood that the semiconductor cooler 31 is set corresponding to the non-light-transmitting area 22 of the window piece 20, and the non-light-transmitting area 22 will receive the heat from the hot end 311 of the semiconductor cooler 31, and the heat of the non-light-transmitting area 22 can be transferred to the light-transmitting area 21. The heater is connected to the light-transmitting area 22, and the heat of the heater can also be transferred to the light-transmitting area 21. In this way, the heat source at the light-transmitting area 21 can be partly from the non-light-transmitting area 22 and partly from the heater (such as the hot end 311), so that the heat distribution of various parts of the light-transmitting area 21 is relatively uniform, and condensation is not easy in various parts of the light-transmitting area 21.

[0047] See also Figure 5When the temperature adjustment member 30 includes a semiconductor refrigerator 31 corresponding to the non-transparent area 22, the laser radar 1 may further include a heat conductor 40, which is located in the inner cavity 11 and connects the hot end 311 of the semiconductor refrigerator 31 and the transparent area 21 of the window sheet 20. The provision of the heat conductor 40 can speed up the heat transfer speed and heat transfer amount between the hot end 311 and the transparent area 21, so that the temperature at the transparent area 21 is higher and condensation is not easy to occur.

[0048] The heat conducting member 40 includes a first heat conducting portion 41 connected to the hot end 311 and a second heat conducting portion 42 connected to the light-transmitting area 21 , and the first heat conducting portion 41 is connected to the second heat conducting portion 42 .

[0049] The first heat conducting part 41 can be connected to any position of the hot end 311. For example, the first heat conducting part 41 can be connected to a part of the hot end 311, or the first heat conducting part 41 can be spread all over the hot end 311. If the first heat conducting part 41 is connected to a part of the hot end 311, the material used for the first heat conducting part 41 can be reduced, the manufacturing cost can be reduced, etc. If the first heat conducting part 41 is spread all over the hot end 311, the heat from more parts of the hot end 311 can be transferred to the light-transmitting area 21 through the heat conducting member 40, so as to better avoid condensation in the light-transmitting area 21.

[0050] The first heat conducting part 41 may be connected to a part of the hot end 311, which may be at least a part of the edge area of ​​the hot end 311. For example, the first heat conducting part 41 may be connected to at least one edge of the upper edge, the lower edge, the left edge, and the right edge of the hot end 311; or, the first heat conducting part 41 may be connected to at least one corner of the hot end 311, etc. The first heat conducting part 41 may be connected to a part of the hot end 311, which may be the central area of ​​the hot end 311. The specific arrangement orientation of the first heat conducting part 41 may be various.

[0051] The second heat conducting part 42 can be connected to any position of the light-transmitting area 21. For example, the second heat conducting part 42 can be connected to a part of the light-transmitting area 21, or the second heat conducting part 42 can be spread over the entire light-transmitting area 21. If the second heat conducting part 42 is connected to a part of the light-transmitting area 21, the material used for the second heat conducting part 42 can be reduced, the manufacturing cost can be reduced, and the like. If the second heat conducting part 42 is spread over the entire light-transmitting area 21, the heat distribution of each part of the light-transmitting area 21 can be made more uniform, and condensation is not easily generated in each part of the light-transmitting area 21.

[0052] The second heat-conducting portion 42 is connected to a part of the light-transmitting area 21, and the second heat-conducting portion 42 is connected to at least a part of the edge area of ​​the light-transmitting area 21. For example, the second heat-conducting portion 42 is connected to at least one edge of the upper edge, the lower edge, the left edge, and the right edge of the light-transmitting area 21; or, the second heat-conducting portion 42 is connected to at least one corner of the light-transmitting area 21, etc. The second heat-conducting portion 42 is connected to a part of the light-transmitting area 21, and the second heat-conducting portion 42 is connected to the central area of ​​the light-transmitting area 21. The specific arrangement orientation of the second heat-conducting portion 42 can be various.

[0053] In the heat-conducting member 40, at least the second heat-conducting part 42 is light-transmissive, so that even if the second heat-conducting part 42 is connected to the light-transmissive area 21, the emission light signal and the echo light signal can also pass through the second heat-conducting part 42 at the light-transmissive area 21, so that the setting of the second heat-conducting part 42 will not block the transmission of the emission light signal and the echo light signal. It should be noted that the specific transmittance of the second heat-conducting part 42 to the emission light signal and the echo light signal can be flexibly designed according to actual needs, and there is no limitation on this. For example, the second heat-conducting part 42 can include a thermally conductive gel, which has good thermal conductivity efficiency and light transmittance, and can better meet the use requirements.

[0054] It should be noted that even if the second heat conducting portion 42 is light-transmissive, its transmittance is difficult to reach 100%. Figure 5 The second heat conducting portion 42 is connected to at least a portion of the edge area of ​​the light-transmitting area 21. Compared with the second heat conducting portion 42 being completely distributed over the light-transmitting area 21, the setting of the second heat conducting portion 42 can have a relatively small effect on the emitted light signal and the echo light signal at the light-transmitting area 21.

[0055] It is understandable that the preparation materials of the first heat-conducting part 41 and the second heat-conducting part 42 can be the same or different. If the preparation material of the first heat-conducting part 41 is the same as the preparation material of the second heat-conducting part 42, for example, the second heat-conducting part 42 includes a thermally conductive gel and the first heat-conducting part 41 includes a thermally conductive gel, the manufacturing process of the heat-conducting part 40 can be reduced. If the preparation material of the first heat-conducting part 41 is different from the preparation material of the second heat-conducting part 42, the first heat-conducting part 41 can use a heat-conducting material with lower cost and more convenient setting. For example, the first heat-conducting part 41 can use an opaque material, etc., which is not limited to this. In the embodiment of the present application, the heat-conducting part 40 includes a thermally conductive gel, which has good thermal conductivity efficiency and light transmittance, and can better meet the use requirements.

[0056] It should be noted that when the temperature adjustment component 30 includes a semiconductor refrigerator 31, the heater includes the hot end 311 of the semiconductor refrigerator 31, and the refrigerator includes the cold end 312 of the semiconductor refrigerator 31. In this way, the temperature adjustment component 30 may include only the semiconductor refrigerator 31, or may include other refrigerators and / or heaters in addition to the semiconductor refrigerator 31, and there is no limitation on this.

[0057] In another exemplary embodiment, see Figure 6 The temperature regulating member 30 may include a heating member 32, the heating member 32 is light-transmissive, and the heating member 32 is attached to the light-transmissive area 21. The heater includes the heating member 32. The heating member 32 is attached to the light-transmissive area 21, which can accelerate the heat rise speed of the light-transmissive area 21, so that the temperature at the light-transmissive area 21 is higher and condensation is not easy to occur.

[0058] The heating element 32 can be connected to any position of the light-transmitting area 21. For example, the heating element 32 can be connected to a part of the light-transmitting area 21, or the heating element 32 can be spread all over the light-transmitting area 21. If the heating element 32 is connected to a part of the light-transmitting area 21, the material used for the heating element 32 can be reduced, the manufacturing cost can be reduced, and the like. If the heating element 32 is spread all over the light-transmitting area 21, more parts of the light-transmitting area 21 can be heated by the heating element 32, and condensation can be better avoided in the light-transmitting area 21.

[0059] The heating element 32 is connected to a part of the light-transmitting area 21, and the heating element 32 may be connected to at least a part of the edge area of ​​the light-transmitting area 21. For example, the heating element 32 is connected to at least one edge of the upper edge, the lower edge, the left edge, and the right edge of the light-transmitting area 21; or, the heating element 32 is connected to at least one corner of the light-transmitting area 21, etc. The heating element 32 is connected to a part of the light-transmitting area 21, and the heating element 32 may be connected to the central area of ​​the light-transmitting area 21. The specific arrangement orientation of the heating element 32 may be various.

[0060] The heating element 32 is light-transmissive, so that even if the heating element 32 is connected to the light-transmissive area 21, the emission light signal and the echo light signal can pass through the heating element 32 at the light-transmissive area 21, so that the setting of the heating element 32 will not block the transmission of the emission light signal and the echo light signal. It should be noted that the specific transmittance of the heating element 32 to the emission light signal and the echo light signal can be flexibly designed according to actual needs, and there is no limitation on this. For example, the heating element 32 can include one or more of a heating resistor wire and a conductive film, and the heating resistor wire and the conductive film have good heating performance and light transmittance, which can better meet the use requirements.

[0061] It should be noted that even if the heating element 32 is light-transmissive, its transmittance is difficult to reach 100%. Figure 6The heating element 32 is connected to at least part of the edge area of ​​the light-transmitting area 21. Compared with covering the entire light-transmitting area 21 with the heating element 32, the setting of the heating element 32 can have a relatively small impact on the emitted light signal and the echo light signal at the light-transmitting area 21.

[0062] It is understandable that when the temperature adjustment member 30 includes the heating member 32, the heater includes the heating member 32. At this time, the refrigerator in the temperature adjustment member 30 can be any refrigerator in the related art, and there is no limitation on this.

[0063] In another exemplary embodiment, the temperature regulating element 30 may include a semiconductor refrigerator 31 and a heating element 32 , wherein the semiconductor refrigerator 31 and the heating element 32 and their arrangement and the like may be as described above and will not be described in detail herein.

[0064] It should be noted that no matter the temperature adjusting component 30 includes the semiconductor refrigerator 31 and the semiconductor refrigerator 31 in the heating component 32; the temperature adjusting component 30 includes the semiconductor refrigerator 31 and the heating component 32; or the temperature adjusting component 30 includes the semiconductor refrigerator 31 and the heating component 32, that is, no matter which of the above three exemplary schemes the temperature adjusting component 30 selects, the temperature adjusting component 30 can be configured to make the temperature of the central area of ​​the light-transmitting area 21 higher than the temperature of the edge area of ​​the light-transmitting area 21, so that the central area of ​​the light-transmitting area 21 is less prone to condensation.

[0065] Among them, if the temperature adjustment component 30 includes a semiconductor cooler 31 and a heating component 32, the temperature adjustment component 30 is configured to make the temperature of the central area of ​​the light-transmitting area 21 higher than the temperature of the edge area of ​​the light-transmitting area 21. The hot end 311 of the semiconductor cooler 31 can be connected to the edge area of ​​the light-transmitting area 21, and the heating component 32 is connected to the central area of ​​the light-transmitting area 21, so that the central area of ​​the light-transmitting area 21 is less prone to condensation.

[0066] It should be noted that the temperature regulating member 30 may include one refrigerator or multiple refrigerators. When the temperature regulating member 30 includes multiple refrigerators, the multiple refrigerators may be spaced apart in the inner cavity 11. The multiple refrigerators are used to reduce the temperature of the second chamber 112. The temperature regulating member 30 may include one heater or multiple heaters. When the temperature regulating member 30 includes multiple heaters, the multiple heaters may be spaced apart in the inner cavity 11. The multiple heaters are used to increase the temperature of the first chamber 111.

[0067] See also Figure 7The laser radar 1 may further include a guide 50, which is located in the inner cavity 11. The guide 50 includes a first end 51 and a second end 52. The first end 51 is closer to the window sheet 20 than the second end 52. The first end 51 is arranged corresponding to the refrigerator (such as the cold end 312, etc.), and is used to receive the condensed water on the refrigerator and guide the condensed water toward the second end 52. That is, the guide 50 can guide the condensed water on the refrigerator toward a direction away from the window sheet 20, which can further avoid condensation on the window sheet 20.

[0068] It should be noted that there are circuit devices in the laser radar 1, and the second end 52 can be set away from the circuit devices to prevent condensed water from causing rust on the circuit devices, thereby causing failure of the electrical characteristics of the circuit devices, failure of the laser radar 1, and so on.

[0069] In order for the guide member 50 to smoothly guide the condensed water toward the second end 52 , the first end 51 of the guide member 50 may be higher than the second end 52 , so that the condensed water received by the first end 51 can flow toward the second end 52 more smoothly under the action of gravity.

[0070] In an exemplary solution, the guide member 50 may be substantially in the form of a flat plate. If the guide member 50 is in the form of a flat plate, the first end 51 of the guide member 50 is higher than the second end 52, which can be achieved by tilting the guide member 50. In another exemplary solution, the guide member 50 may also be formed with a guide groove, which can better gather condensed water and prevent the water received by the guide member 50 from being dispersed. If the guide member 50 is formed with a guide groove, the guide member 50 may be substantially in the form of an arched structure, a cylindrical structure, etc., which is not limited thereto.

[0071] The guide member 50 may include one or more of a glass sheet, a ceramic sheet, and a metal piece, and may be flexibly selected in combination with actual needs. The guide member 50 may be connected to a refrigerator (e.g., a cold end 312, etc.) and / or the housing 10. Of course, the guide member 50 may also be formed as an integral structure with the housing 10, in which case the material of the guide member 50 may be the same as or different from the material of the housing 10. If the material of the guide member 50 is the same as the material of the housing 10, it may be understood that a portion of the housing 10 is defined as the guide member 50.

[0072] Second, see Figure 8, the embodiment of the present application provides a movable device 2, the movable device 2 includes a device body 201 and the above-mentioned laser radar 1, and the device body 201 is connected to the laser radar 1. In some embodiments, the movable device 2 is a car, the above-mentioned device body 201 is the car body, and the laser radar 1 is mounted on the car body; it can be understood that in other implementations of the present application, the movable device 2 can also be a device other than a car equipped with a laser radar 1, such as a drone, a robot, etc., and the present application does not limit this.

[0073] The movable device 2 includes a laser radar 1, and the specific structure of the laser radar 1 refers to the above embodiment. Since the movable device 2 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0074] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to at least two, for example, two, three, four, etc. "And / or" describes 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.

[0075] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A laser radar, characterized in that: include: A shell, wherein the shell is formed with an inner cavity, wherein the inner cavity includes a first chamber and a second chamber communicating with the first chamber, and the shell is provided with a window on a side of the first chamber facing away from the second chamber, wherein the window is communicating with the first chamber; A window sheet, the window sheet covers the window, and the window sheet includes a light-transmitting area and a non-light-transmitting area connected to the light-transmitting area; A temperature regulating member, the temperature regulating member is located in the inner cavity, the temperature regulating member includes a heater and a cooler, the heater is closer to the window piece than the cooler, the temperature regulating member is configured to make the temperature of the first chamber higher than the temperature of the second chamber, and the heater is connected to the light-transmitting area.

2. The laser radar according to claim 1, characterized in that: The temperature regulating member comprises: A semiconductor refrigerator is provided corresponding to the non-light-transmitting area, the semiconductor refrigerator comprises a hot end and a cold end, the heater comprises the hot end, and the refrigerator comprises the cold end.

3. The laser radar according to claim 1, characterized in that: The temperature regulating member comprises: A semiconductor refrigerator, the semiconductor refrigerator is arranged corresponding to the non-light-transmitting area, the semiconductor refrigerator includes a hot end and a cold end, the heater includes the hot end, the hot end is connected to the edge area of ​​the light-transmitting area, and the refrigerator includes the cold end; A heating element, the heating element is light-transmissive, the heating element is in contact with the light-transmissive area, the heater includes the heating element, and the heating element is connected to the central area of ​​the light-transmissive area; Wherein, the temperature regulating member is configured to make the temperature of the central area of ​​the light-transmitting area higher than the temperature of the edge area of ​​the light-transmitting area.

4. The laser radar according to claim 2 or 3, characterized in that: Also includes: A heat conducting member is located in the inner cavity and is connected to the hot end and the light-transmitting area.

5. The laser radar according to claim 4, characterized in that: The heat conducting member comprises a first heat conducting portion and a second heat conducting portion connected to the first heat conducting portion, the first heat conducting portion is connected to the hot end, and the second heat conducting portion is connected to the light-transmitting area; in the heat conducting member, at least the second heat conducting portion is light-transmitting; And / or, the thermally conductive element includes thermally conductive gel.

6. The laser radar according to claim 2 or 3, characterized in that: The semiconductor refrigerator and the shell are an integrally formed structure.

7. The laser radar according to claim 1 or 2, characterized in that: The temperature regulating member comprises: A heating element, wherein the heating element is light-transmitting, the heating element is in contact with the light-transmitting area, the heating element is arranged at an edge area of ​​the light-transmitting area or the heating element covers the entire light-transmitting area, and the heater includes the heating element.

8. The laser radar according to claim 1, characterized in that: Also includes: A flow guide member, wherein the flow guide member is located in the inner cavity, and the flow guide member includes a first end and a second end, wherein the first end is closer to the window piece than the second end, and the first end is arranged corresponding to the refrigerator, and is used to receive condensed water on the refrigerator and guide the condensed water toward the second end.

9. The laser radar according to claim 8, characterized in that: The first end is higher than the second end; And / or, the guide member includes one or more of a glass sheet, a ceramic sheet, and a metal piece; And / or, the flow guide is connected to the refrigerator and / or the housing.

10. A movable device, characterized in that: It comprises a device body and a laser radar as described in any one of claims 1 to 9, wherein the device body is connected to the laser radar.

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