Dehumidification system of laser radar, coded disc dehumidification method and device and vehicle

Abstract

The invention provides a dehumidification system of a laser radar, a coded disc dehumidification method and device and a vehicle, and relates to the technical field of photoelectricity. By adopting the method provided by the invention, the signal reflected by the laser radar can be monitored, whether condensation exists in the coded disc is determined by judging the reflected signal, the heater is started, condensation evaporation is realized, it is ensured that the transmitting signal and the reflected signal of the laser radar can normally pass through the coded disc, and normal work of the laser radar is ensured; the problems that the vehicle motor is abnormal or restarted due to the abnormality of the laser radar, the distance measurement accuracy is reduced due to the abnormal judgment of the point cloud performance, the obstacle cannot be correctly detected, and normal driving is influenced are prevented, and the user experience is ensured.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic technologies, and particularly to a dehumidification system for a lidar, a method and device for dehumidifying a code disk, and a vehicle. Background Art

[0002] A lidar is a radar system that detects the position, speed and other characteristic quantities of a target by emitting a laser beam. Its working principle is to emit a detection signal to the target, and then compare the received reflected signal reflected from the target with the emitted signal. After appropriate processing, relevant information about the target can be obtained, such as parameters of the target distance, azimuth, altitude, speed, attitude, and even shape. In order to detect targets in a larger range, detection signals need to be emitted at various angles. The code disk inside the lidar provides the angle for the laser emission of the lidar and provides the information of the emitted signal corresponding to the received reflected signal, so as to read the position data of the target. When condensation appears on the code disk, the lidar cannot normally emit and receive signals, and thus cannot further determine the position of the target, causing the lidar to lose its detection function. Summary of the Invention

[0003] In view of this, the present application provides a dehumidification system for a lidar, a method and device for dehumidifying a code disk, and a vehicle, mainly aiming to solve the problem that in a lidar, the code disk hinders the propagation of light due to condensation, resulting in the lidar being unable to normally send and receive detection signals and interfering with the normal operation of the lidar.

[0004] To achieve the above object, the first aspect of the present application discloses a dehumidification system for a lidar, including: a heater and a dehumidification system control unit;

[0005] The dehumidification system control unit is connected to the heater through a conductive wire and is used to control the heating state of the heater;

[0006] The heater is fixed below the code disk in the lidar and is used to heat and dehumidify the code disk.

[0007] Optionally, the heater is installed at any position where the distance between the heater heating area and the code disk is 0.5 mm to 1 mm.

[0008] Optionally, the code disk is in a ring structure of an open-hole disk, and the heater is fixed below the position between the inner ring and the outer ring of the code disk.

[0009] Optionally, N heaters are fixed below the code disk, and N is a positive integer.

[0010] The first aspect of the present application discloses a method for dehumidifying a code disk of a lidar, which is applied to the dehumidification system according to any item in the first aspect. The method includes:

[0011] Obtain the reflection signal in the code track at the corresponding angle from the code disk;

[0012] Calculate the signal strength value of the reflection signal;

[0013] If the signal strength value is less than the preset value, start the heater to heat and dehumidify the code disk.

[0014] In a possible embodiment, the step of if the signal strength value is less than the preset value, start the heater to heat and dehumidify the code disk includes:

[0015] If the signal strength value is less than the preset value, mark the reflection signal as an abnormal signal and accumulate the occurrence times of the abnormal signal;

[0016] If the accumulated times of the abnormal signal exceed the threshold, start the heater to heat and dehumidify the code disk.

[0017] In a possible embodiment, before the step of if the signal strength value is less than the preset value

[0018] mark the reflection signal as abnormal, the method further includes:

[0019] Extract the transmitted signal corresponding to the reflection signal;

[0020] Use the signal strength value of the transmitted signal as the preset value.

[0021] In a possible embodiment, the step of if the accumulated times of the abnormal signal exceed the threshold, start the heater to heat and dehumidify the code disk includes:

[0022] If the accumulated times of the abnormal signal exceed the threshold, record the target code track that outputs the abnormal signal;

[0023] Determine the range to be dehumidified according to the target code track and the distribution position of the target code track in the code disk;

[0024] Start the heater to heat and dehumidify the range to be dehumidified in the code disk.

[0025] In a possible embodiment, the step of start the heater to heat and dehumidify the range to be dehumidified in the code disk includes:

[0026] Determine the target heater closest to the range to be dehumidified;

[0027] Start the target heater to heat and dehumidify the code disk.

[0028] In a possible embodiment, starting the target heater to heat and dehumidify the code disk includes:

[0029] Reading the heating temperature of the target heater;

[0030] Obtaining the humidity value of the air in the lidar;

[0031] Combining the heating temperature and the humidity value to calculate the target heating time of the target heater;

[0032] Starting the target heater to heat and dehumidify the code disk within the target heating time.

[0033] In a possible embodiment, after starting the heater to heat and dehumidify the code disk, the method further includes:

[0034] Starting the lidar to identify the reflection signal in the code track;

[0035] If there is an abnormal signal less than the preset value in the reflection signal, controlling the heater to continuously heat the code disk within a preset time;

[0036] If there is an abnormal signal less than the preset value in the reflection signal after the continuous heating, determining that there are attachments on the code disk that cannot be removed by heating and dehumidification.

[0037] In a second aspect embodiment of the present application, there is provided a code disk dehumidification device for a lidar, the device includes:

[0038] An acquisition module, configured to acquire a reflection signal in a code track at a corresponding angle from the code disk;

[0039] A calculation module, configured to calculate the signal strength value of the reflection signal;

[0040] A start module, configured to start a heater to heat and dehumidify the code disk if the signal strength value is less than a preset value. In a third aspect embodiment of the present application, there is provided an electronic device, including:

[0041] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method described in the second aspect.

[0042] In a fourth aspect embodiment of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in the second aspect is implemented.

[0043] In a fifth aspect embodiment of the present application, a vehicle is provided, in which a dehumidification system for a lidar as described in the first aspect, a code disk dehumidification device for a lidar as described in the third aspect, or an electronic device as described in the fourth aspect is installed.

[0044] In summary, according to the technical solution disclosed in the present application, by obtaining the reflection signal in the code track at a corresponding angle from the code disk; calculating the signal intensity value of the reflection signal; if the signal intensity value is less than a preset value, starting the heater to heat and dehumidify the code disk. By obtaining the reflection signal and determining whether the reflection signal is abnormal, it is determined whether there is condensation on the code disk of the lidar, and then the code disk is heated. By using the method of the present application, the signal reflected by the lidar can be monitored. By judging the reflection signal, it is determined whether there is condensation on the code disk, and then the heater is started to evaporate the condensation, ensuring that the transmitted signal and the reflected signal of the lidar can normally pass through the code disk, ensuring the normal operation of the lidar, preventing abnormal operation or restart of the vehicle motor caused by the abnormality of the lidar, and preventing the decrease in ranging accuracy caused by abnormal point cloud performance judgment and the inability to correctly detect obstacles, which affects normal driving and ensures the user experience.

[0045] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and used together with the specification to explain the principles of the present application.

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0048] Figure 1 Shows a schematic structural diagram of a lidar provided by an embodiment of the present application;

[0049] Figure 2 Shows a flowchart of a method for dehumidifying the code disk of a lidar provided by an embodiment of the present application;

[0050] Figure 3 Shows a structural diagram of a code disk dehumidification device for a lidar provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] In order to more clearly understand the above-mentioned objects, features, and advantages of the present application, the solutions of the present application will be further described below. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0052] In order to solve the problem that in a lidar, the code disk hinders the propagation of light due to condensation, resulting in the lidar being unable to normally send and receive detection signals and interfering with the normal operation of the lidar. The present application provides the following embodiments to solve the above problems:

[0053] This embodiment provides a dehumidification system for a lidar, which is installed in the lidar as shown in Figure 1 and includes: a heater 11 and a dehumidification system control unit 12;

[0054] The dehumidification system control unit 12 is connected to the heater 11 through a conductive wire 13 and is used to control the heating state of the heater 11;

[0055] The heater 11 is fixed below the code disk 14 in the lidar and is used to heat and dehumidify the code disk 14.

[0056] In this embodiment, the dehumidification system is installed in the housing 17 of the lidar. When condensation appears in the code disk 14 of the lidar, this embodiment proposes to install a heater 11 that can perform heating and dehumidification below the code disk 14. In the lidar, the main functions of the rotating mirror 16 and the code disk 14 are to endow the laser signal emitted by the lidar with an emission angle, and when the lidar receives an external reflected signal, to identify the angle of the reflected signal according to the distribution position of the code tracks of the code disk 14 itself. After condensation appears in the code disk 14, the lidar cannot normally emit a laser signal at the target angle and cannot obtain the reflected signal at the corresponding angle.

[0057] Therefore, it can be known that when condensation appears in the code disk 14 of the lidar, it will affect the normal operation of the lidar. Therefore, the content of this embodiment proposes to set a heater 11 in the lidar, and the heater 11 is arranged below the code disk 14, which can realize heating of the code disk 14 to evaporate the condensation and prevent the condensation from hindering the transmission of the laser signal in the code disk 14. At the same time, a number of code tracks are provided in the code disk 14 for respectively corresponding to the transmission paths of light at each angle. The code tracks can be engraved on the lower surface position of the disk-shaped code disk. When condensation appears in the code disk 14, the condensation will hinder the transmission of the signal in the code tracks. Installing a heater below the code disk can realize rapid heating and removal of the condensation in the code tracks.

[0058] In a possible embodiment, the heater 11 is installed at any position where the distance between the heater 11 heating area and the code disk 14 is 0.5 mm to 1 mm.

[0059] In the content of this embodiment, the distance between the heater 11 and the code disk 14 is further described. Considering the height of the code disk 14 and ensuring the heating effect of the heater 1, the distance between the heater 11 and the code disk 14 is set. In Figure 1 this case, the code disk is supported by the code disk bracket 15. This embodiment proposes to set a preset distance according to the height of the code disk bracket, and at the same time comprehensively consider the energy consumption of the heater and the actual difference during the actual installation of the code disk to ensure the heating and dehumidification effect of the heater on the code disk.

[0060] In a possible embodiment, the code disk 14 is an annular structure of an open-hole disk, and the heater 11 is fixed below the position between the inner ring and the outer ring of the code disk.

[0061] In the content of this embodiment, when the heater is installed below the code disk, considering that the actual structure of the code disk can be annular, in order to achieve the heating and dehumidification of the code disk, the content of this embodiment emphasizes that when the code disk is annular, in order to achieve the best heating and dehumidification effect of the heater on the code disk, the spatial distance between the heater and the code disk is the shortest, that is, the heater is fixed below the position between the inner ring and the outer ring of the code disk.

[0062] In a possible embodiment, N heaters 11 are evenly distributed and fixed below the code disk 14, where N is a positive integer.

[0063] In this embodiment, the number of heaters is described. At the same time, in order to reduce the energy consumption during the startup process of the heaters, multiple heaters are installed below the code disk. Each heater corresponds to the corresponding position of the code disk evenly. When condensation appears in some positions of the code disk, the heater corresponding to the position where condensation appears is enabled to heat and dehumidify the code disk. By setting multiple heaters in the code disk, each heater can heat and dehumidify some positions of the code disk respectively, so that it is not necessary to heat the whole code disk during the process of heating and dehumidifying the code disk, achieving the effect of saving energy.

[0064] This embodiment provides a method for dehumidifying the code disk of a lidar. As Figure 2 shown, it is a flowchart of the method of this embodiment. The method of this embodiment may specifically include the following steps:

[0065] Step 201, obtain the reflection signal in the code track at the corresponding angle from the code disk.

[0066] LiDAR determines the distance to a target by measuring the time difference and phase difference of laser signals. LiDAR emits and receives laser signals, analyzes the round-trip time of the laser signals after encountering the target object, calculates the relative distance to the target, and uses the three-dimensional coordinates, reflectivity, texture, and other information of a large number of dense points on the target surface collected by multiple laser signals during this process to quickly obtain the three-dimensional model of the target and various related data such as lines, surfaces, and volumes, establish a three-dimensional point cloud map, and draw an environmental map to achieve the purpose of environmental perception. Since the speed of light is very fast and the flight time may be very short, it is required that the measuring device has very high precision. In terms of effect, the more lasers (laser beams) LiDAR emits and receives, the higher the measurement precision and the higher the safety.

[0067] LiDAR mainly includes four major systems: laser emission, scanning system, laser reception, and information processing. These four systems complement each other to form a sensing closed-loop. First, in the laser emission system, the excitation source periodically drives the laser to emit laser pulses. The laser modulator controls the direction and number of lines of the emitted laser through the beam controller. Finally, through the emission optical system, the laser is emitted to the target object; the scanning system is responsible for rotating at a stable speed to achieve scanning of the plane where it is located and generate real-time plan view information; in the laser reception system, the photodetector receives the laser reflected from the target object and generates a received signal; in the information processing system, the received signal undergoes amplification processing and analog-to-digital conversion, and is calculated by the information processing module to obtain characteristics such as the surface morphology and physical properties of the target, and finally establish an object model of the target.

[0068] In a rotating mirror LiDAR, the laser, which is the laser emission system, is fixed at a point and only emits laser signals in one direction. In order to achieve laser scanning of targets in various directions, the laser signals emitted by the laser are converted into laser signals at various angles through the code tracks arranged in the code disk. At the same time, after the laser reception system receives the laser signal reflected from the target, the received laser signal is transmitted to the code disk, and the angle corresponding to the code track of the code disk where it is transmitted represents the transmission angle of the reflected laser signal.

[0069] In the content of this embodiment, the reflected signal obtained from the code disk is the reflected signal obtained by the laser receiving system from the target. The laser receiving system transmits the received reflected signal to the code disk. At the same time, when the reflected signal is transmitted to the code disk, it is reflected back into the radar in a certain angular order. That is, the reflected signal is transmitted in the code track corresponding to the reflection angle. The value of the reflected signal can be extracted from the code track according to a certain order. However, when the reflected signal is abnormal or there is no reflected signal, when obtaining the reflected signal from the code track according to the order, there is no reflected signal in this code track, that is, it can be confirmed that there may be an abnormal transmission of the laser signal in the code track. Therefore, when it is confirmed that there is condensation in the code track, first monitor the reflected signal obtained in the code track to determine the transmission angle corresponding to the reflected signal.

[0070] Step 202, calculate the signal strength value of the reflected signal.

[0071] In the content of this embodiment, after the reflected signal transmitted to the code disk is extracted, the signal strength of the reflected signal is further identified.

[0072] When the lidar operates normally, after the transmitted signal obtains the corresponding transmission angle through the code disk, it is transmitted to the target, reflected on the target surface, received by the laser receiving system, and the reflection angle of the reflected signal is determined through the code disk.

[0073] However, when there is a large temperature difference between the inside and outside of the lidar and the air humidity is high, there is a high possibility of water vapor condensation. When condensation occurs on the code disk, especially in the code track of the code disk, the laser signal, whether it is a transmitted signal or a reflected signal, cannot be transmitted normally. When the laser signal is a transmitted signal, when the signal passes through the code disk, the code disk with condensation cannot give the transmitted signal a normal transmission angle, and the transmitted signal cannot be normally transmitted to the object in the target direction, so the corresponding reflected signal cannot be obtained normally. At the same time, when the laser signal is a reflected signal, when the signal passes through the code disk with condensation, the reflected signal cannot pass through the code track normally, and the information contained in the reflected light cannot be obtained through the subsequent information processing system.

[0074] When there is condensation in the code disk and the reflected signal passing through the code disk is necessarily abnormal, this embodiment proposes a process for verifying the reflected signal. Specifically, the signal strength value of the reflected signal can be calculated. It can be understood that due to the reflection effect of condensation on the signal, when the signal passes through the position where the condensation is located, there will be a great signal loss, specifically expressed as a decrease in the signal strength value. At the same time, the signal amplitude value can also be calculated and other methods can be used to further reflect whether the signal is lost, so as to determine whether the signal is abnormal.

[0075] Step 203, if the signal strength value is less than the preset value, start the heater to heat and dehumidify the code disk.

[0076] In the present embodiment, the steps for comparing the signal strength values ​​are proposed. It should be understood that in the normal transmission process of the laser signal, the laser signal is emitted to the target and transmitted back to the laser radar after reflection. Although there may be a certain signal loss, there is still a significant difference in signal strength values ​​compared to the reflected signal passing through the condensation. Therefore, the abnormal signal can be calibrated with a preset value, and the reflected signal with a signal strength value less than the preset value can be regarded as an abnormal signal.

[0077] At the same time, when the laser radar transmits signals to various angles or receives signals from various angles, it is realized separately through various code channels of the code disk. Since condensation often appears in blocks and is attached to multiple code channels at the same time, when the reflected signal passes through the code channel attached to the condensation, the signal strength value of the reflected signal will be less than the preset value, and the reflected signal is marked as an abnormal signal. At the same time, in another case, when realizing a plane scan of a target in the direction of the radar target, the reflected signal is transmitted to the code disk in a certain angle sequence, and due to the influence of condensation, the transmitted signal loses a certain signal strength value when it is transmitted to the target, and there may also be an angle deflection. Therefore, when the reflected signal is transmitted to the code disk, there may be insufficient signal strength value, or there may be no reflected signal in the code disk. At this time, the signal strength value in the code disk must be less than the preset value.

[0078] By obtaining the reflected signal and determining whether the reflected signal is abnormal, it is determined whether there is condensation on the laser radar code disk, and the code disk is heated. The method of this application can monitor the signal reflected by the laser radar, determine whether there is condensation on the code disk by judging the reflected signal, start the heater to evaporate the condensation, ensure that the laser radar's transmission signal and reflected signal can pass through the code disk normally, ensure the normal operation of the laser radar, prevent the abnormality of the vehicle motor or restart caused by the abnormality of the laser radar, and prevent the range measurement accuracy from being reduced due to the abnormal judgment of the point cloud performance, and fail to correctly detect obstacles, affecting normal driving, and ensuring user experience.

[0079] In a possible embodiment, if the signal strength value is less than a preset value, starting the heater to heat and dehumidify the code disk includes:

[0080] If the signal strength value is less than the preset value, the reflected signal is marked as an abnormal signal, and the number of occurrences of the abnormal signal is accumulated; if the accumulated number of abnormal signals exceeds the threshold, the heater is started to heat and dehumidify the code disk.

[0081] When the first abnormal signal appears, record the abnormal signal and the corresponding encoder port of the abnormal signal, and continue to execute signal acquisition and recognition. Usually, when there is condensation in the encoder, the condensation often covers multiple code tracks in the form of patches, affecting the transmission of laser signals corresponding to the angles of the covered code tracks, so that the reflected signals in these directions cannot be received. Therefore, the content of this embodiment proposes to accumulate the reflected signals marked as abnormal signals. When the accumulated quantity exceeds a certain threshold, it can be determined that there is condensation in the encoder. When an abnormal signal appears, continue to execute the positioning function of the lidar, continue to acquire the reflected signals of multiple angular targets, and when it is confirmed that there are signal abnormalities in multiple reflected signals, it is determined that condensation appears on the encoder of the lidar, and the heater is started to heat the encoder, and the condensation on the encoder is evaporated by raising the temperature to ensure the normal operation of the encoder.

[0082] In a possible embodiment, before starting the heater to heat and dehumidify the encoder if the signal intensity value is less than the preset value, the method further includes:

[0083] Extract the transmitted signal corresponding to the reflected signal; use the signal intensity value of the transmitted signal as the preset value.

[0084] In the content of this embodiment, a specific calculation method for the preset value is proposed. The lidar determines the distance to the target by measuring the time difference and phase difference of the laser signal. The lidar analyzes the round-trip time of the laser signal after encountering the target object by transmitting and receiving the laser signal. In order to calculate the distance, it is necessary to ensure the correspondence between the transmitted signal and the reflected signal, that is, when the lidar receives the reflected signal, it needs to determine the transmitted signal corresponding to the corresponding angle. Although there is a certain signal loss during the transmission and reflection of the laser signal, generally speaking, the signal loss has a certain functional relationship. Therefore, by combining the calculation of the signal intensity value of the transmitted signal and the effective transmission distance of the laser signal, the theoretically signal intensity value of the reflected signal can be obtained, and this theoretically signal intensity value can be used as the preset value for comparison with the actual reflected signal intensity value.

[0085] In the content of this embodiment, before comparing the signal intensity values, the calculation process of the preset value participating in the intensity value comparison is proposed. Specifically, through the comparison relationship between the transmitted signal and the reflected signal in the lidar, the theoretically reflected signal is calculated through the transmitted signal, and this theoretically reflected signal is used as the comparison signal, and the intensity value of the comparison signal is identified, so that the intensity value of the comparison signal is used as the preset value to participate in the subsequent comparison with the signal intensity value of the reflected signal. Ensure the reliability of the preset value, prevent misjudgment of the encoder caused by incorrect setting of the preset value, prevent mis-starting of the heater, and maintain the normal working state of the lidar.

[0086] In a possible embodiment, if the cumulative number of abnormal signals exceeds a threshold, the heater is activated to heat and dehumidify the code disk, including:

[0087] If the cumulative number of abnormal signals exceeds the threshold, record the target track where the abnormal signal is output; determine the dehumidification range to be processed according to the target track and its distribution position on the code disk; activate the heater to heat and dehumidify the dehumidification range to be processed on the code disk.

[0088] In the content of this embodiment, a corresponding technical solution for determining the dehumidification range to be processed is proposed. When condensation forms, the condensation often does not cover the entire code disk, but only occupies a part of the code disk. Therefore, if the heater is directly activated to heat the entire code disk after confirming the presence of condensation on the code disk, energy will be wasted under the same heating power.

[0089] Therefore, to reduce energy waste, the technical solution in this embodiment proposes to only heat the positions with condensation on the code disk. Before heating a part of the code disk, it is necessary to determine the specific position of the condensation on the code disk. There is a certain correlation between the acquisition track corresponding to the abnormal signal obtained due to condensation coverage and the code disk. In the content of this embodiment, by recording the target reflection angle corresponding to the abnormal signal and further determining the corresponding target track, the dehumidification range to be processed is determined in combination with the track. When the lidar sends radar signals in a certain angular order, when receiving the reflected signals, as the tracks covered by condensation, abnormal signals corresponding to the corresponding angles are obtained. Therefore, the dehumidification range to be processed can be deduced and determined in combination with the angular parameters corresponding to the abnormal signals, so as to realize heating and dehumidifying only the code disk in the dehumidification range to be processed.

[0090] In the content of this embodiment, when realizing the heating and dehumidification of the heater, considering the problem of energy loss, it is proposed to determine the specific position of the condensation range on the code disk when condensation is found on the code disk, so as to realize precise heating and dehumidification of the condensation in the dehumidification range to be processed by the heater. In the content of this embodiment, it is proposed to determine the angle corresponding to the abnormal signal with the abnormal situation, and in the corresponding relationship between the angle of the abnormal signal and the angle value of the code track depicted on the code disk, determine the track on the code disk where the abnormality occurs, combine the track to determine the position set where the abnormal signal occurs on the code disk, and thus use this position set to determine the dehumidification range to be processed, realize precise heating and dehumidification of the condensation, reduce energy consumption during the heating process, and reduce the loss of battery life.

[0091] In a possible embodiment, activating the heater to heat and dehumidify the dehumidification range to be processed on the code disk includes:

[0092] Determine the target heater closest to the dehumidification range to be processed; activate the target heater to heat and dehumidify the code disk.

[0093] In the content of this embodiment, in the related technical solution of accurately heating the area to be dehumidified of the code disk proposed in the above embodiment, to implement the above solution, a plurality of heaters are arranged near the code disk, which are respectively used to heat different ranges of the code disk.

[0094] The technical solution of this embodiment can achieve accurate heating of the code disk, improve the energy utilization efficiency during heating of the heater, reduce energy consumption during the heating process, and reduce the loss of battery life.

[0095] In a possible embodiment, starting the target heater to heat and dehumidify the code disk includes:

[0096] Reading the heating temperature of the target heater; obtaining the humidity value of the air in the lidar; combining the heating temperature and the humidity value to calculate the target heating time of the target heater; starting the target heater to heat and dehumidify the code disk within the target heating time.

[0097] In the content of this embodiment, the heating duration of the heater, that is, the target heating time, is further described. When condensation appears on the code disk, through the combination judgment of the air humidity generated during heating and the heating temperature, the accurate removal duration of the condensation can be achieved. When the heating temperature is constant, affected by different humidities inside the lidar, there will be corresponding different heating durations. Among them, after the calculation result of the generation duration is generated, the generated result is less than the preset time, and the preset time is the maximum duration required to heat the condensation.

[0098] When condensation appears on the code disk, by combining the heating temperature and the humidity of the air during heating, the final heating duration can be calculated. At the same time, to prevent long-term heating of the code disk, the time for starting the heater to heat is limited as the preset time, which is used as a reference for the calculation result of the heating duration, to prevent long-term heating of the code disk, ensure that the code disk is not in an abnormal working environment for a long time, and further reduce energy consumption.

[0099] In a possible embodiment, after starting the heater to heat and dehumidify the code disk, the method further includes:

[0100] Starting the lidar to identify the reflection signal in the code track; if there is an abnormal signal less than the preset value in the reflection signal, controlling the heater to continuously heat the code disk within the preset time; if there is an abnormal signal less than the preset value in the reflection signal after continuous heating, determining that there are attachments on the code disk that cannot be removed by heating and dehumidification.

[0101] After confirming that the encoder disk is heated and dehumidified by the heater and an abnormal signal can still be received, continue to heat the encoder disk. At this time, the heating time is used as the test time, which can be determined according to the actual measurement results. For example, it can be 10 seconds. After the test time, run the lidar and determine whether the lidar can normally execute the ability to identify objects. If the lidar can normally perform object ranging and identification at this time, it is determined that the condensation removal is completed; if an abnormal signal still appears when the lidar is working after the test time, it is determined that there are attachments on the encoder disk that cannot be removed by heating and dehumidification, and it is necessary to report and alarm.

[0102] In this embodiment, after heating the condensation, it further includes relevant steps for verification, which can continuously heat after heating and dehumidification, repeatedly verify the heating effectiveness, and further output the corresponding results of the abnormality, so as to facilitate the user to timely discover the problems of the lidar.

[0103] This embodiment provides a schematic structural diagram of a dehumidification device for the encoder disk of a lidar, as Figure 3 shown, including: an acquisition module 31, a calculation module 32, and a start module 33;

[0104] The acquisition module 31 is used to acquire the reflected signal in the code track at the corresponding angle from the encoder disk;

[0105] The calculation module 32 is used to calculate the signal intensity value of the reflected signal;

[0106] The start module 33 is used to start the heater to heat and dehumidify the encoder disk if the signal intensity value is less than a preset value.

[0107] In a possible embodiment, the start module 33 is specifically used for:

[0108] If the signal intensity value is less than the preset value, mark the reflected signal as an abnormal signal and accumulate the occurrence times of the abnormal signal;

[0109] If the cumulative number of the abnormal signals exceeds the threshold, start the heater to heat and dehumidify the encoder disk.

[0110] In a possible embodiment, the start module 33 is further used for:

[0111] Extract the transmitted signal corresponding to the reflected signal;

[0112] Use the signal intensity value of the transmitted signal as the preset value.

[0113] In a possible embodiment, the start module 33 is specifically used for:

[0114] If the cumulative number of the abnormal signals exceeds a threshold value, record and output the target track number of the abnormal signals;

[0115] Determine a range to be dehumidified according to the target track number and the distribution position of the target track number in the code disk;

[0116] Start a heater to heat and dehumidify the range to be dehumidified in the code disk.

[0117] In a possible embodiment, the starting module 33 is specifically configured to:

[0118] Determine a target heater closest to the range to be dehumidified;

[0119] Start the target heater to heat and dehumidify the code disk.

[0120] In a possible embodiment, the starting module 33 is specifically configured to:

[0121] Obtain the heating temperature of the target heater;

[0122] Extract the humidity value of the lidar when the target heater heats the code disk within a preset time;

[0123] Combine the heating temperature and the humidity value to calculate the target heating time of the target heater, where the target heating time is longer than the preset time;

[0124] Start the target heater to heat and dehumidify the code disk within the target heating time and read the heating temperature of the target heater;

[0125] Obtain the humidity value of the air in the lidar;

[0126] Combine the heating temperature and the humidity value to calculate the target heating time of the target heater;

[0127] Start the target heater to heat and dehumidify the code disk within the target heating time.

[0128] In a possible embodiment, the code disk dehumidifying device of the lidar further includes: a verification module 34, configured to:

[0129] Start the lidar and identify the reflected signals in the tracks;

[0130] If there are abnormal signals smaller than the preset value in the reflected signals, control the heater to continuously heat the code disk within a preset time;

[0131] If, after the continuous heating, there is an abnormal signal less than a preset value in the reflection signal, it is determined that there is an attachment on the code disk that cannot be removed by heating and dehumidification.

[0132] Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various implementation scenarios of the present application.

[0133] Based on the above as Figure 2 shown in the method, and Figure 3 shown in the virtual device embodiment, in order to achieve the above object, an embodiment of the present application further provides an electronic device, which can be configured on the vehicle (such as a new energy vehicle) side. The device includes at least one processor and a memory communicatively connected to the at least one processor; the memory is used for storing instructions executable by the at least one processor, and the instructions are executed by the at least one processor. The processor is used for executing a computer program to implement the above as Figure 2 shown in the method.

[0134] Optionally, the above-mentioned physical device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, sensors, an audio circuit, a WI-FI module, and so on. The user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard), etc. Optionally, the user interface may further include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0135] Those skilled in the art can understand that the above-mentioned physical device structure provided in this embodiment does not constitute a limitation on the physical device, and it may include more or fewer components, or combine some components, or have different component arrangements.

[0136] Based on the above as Figure 2 shown in the method, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the method corresponding to any embodiment. The storage medium may further include an operating system and a network communication module. The operating system is a program for managing the hardware and software resources of the above-mentioned physical device, supporting the information processing program and the operation of other software and / or programs. The network communication module is used for realizing the communication between the components inside the storage medium, and the communication between other hardware and software in the information processing physical device.

[0137] Based on the above electronic device, an embodiment of the present application further provides a vehicle, which may specifically include: the device as shown in Figure 3 or the above electronic device. The vehicle may specifically be a new energy vehicle, a traditional vehicle, or the like.

[0138] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or can also be implemented by hardware. By applying the solution of this embodiment, compared with the current prior art, in this embodiment, the reflected signal in the code track at a corresponding angle is obtained from the code disk; the signal intensity value of the reflected signal is calculated; if the signal intensity value is less than a preset value, the heater is started to heat and dehumidify the code disk. By obtaining the reflected signal and determining whether the reflected signal is abnormal, it is determined whether there is condensation on the code disk of the lidar, and then the code disk is heated. By using the method of the present application, the signal reflected by the lidar can be monitored. By judging the reflected signal, it is determined whether there is condensation on the code disk, and then the heater is started to evaporate the condensation, ensuring that the transmitted signal and the reflected signal of the lidar can normally pass through the code disk, ensuring the normal operation of the lidar, and preventing the abnormal operation or restart of the vehicle motor caused by the abnormality of the lidar, and the decrease in ranging accuracy caused by the abnormal judgment of the point cloud performance, and the inability to correctly detect obstacles, which affects normal driving and ensures the user experience.

[0139] It should be noted that in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or device comprising the element.

[0140] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments described herein, but will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A dehumidification system for a lidar, characterized in that, it includes: a heater and a dehumidification system control unit; the dehumidification system control unit is connected to the heater through a conductive wire and is used to control the heating state of the heater; the heater is fixed below the code disk in the lidar and is used to heat and dehumidify the code disk.

2. The lidar according to claim 1, characterized in that, the heater is installed at any position where the distance between the heater heating area and the code disk is 0.5 mm to 1 mm.

3. The lidar according to claim 1, characterized in that, the code disk is an annular structure of an open-hole disk, and the heater is fixed below the position between the inner ring and the outer ring of the code disk.

4. The lidar according to claim 1, characterized in that, N heaters evenly distributed are fixed below the code disk, and N is a positive integer.

5. A method for dehumidifying the code disk of a lidar, characterized in that, applied to the dehumidification system according to any one of claims 1-4, the method includes: obtaining the reflection signal in the code track at the corresponding angle from the code disk; calculating the signal intensity value of the reflection signal; if the signal intensity value is less than a preset value, start the heater to heat and dehumidify the code disk.

6. The method according to claim 5, characterized in that, the step of if the signal intensity value is less than a preset value, start the heater to heat and dehumidify the code disk includes: if the signal intensity value is less than a preset value, mark the reflection signal as an abnormal signal and accumulate the occurrence times of the abnormal signal; if the accumulated number of times of the abnormal signal exceeds a threshold, start the heater to heat and dehumidify the code disk.

7. The method according to claim 6, characterized in that, before the step of if the signal intensity value is less than a preset value, mark the reflection signal as abnormal, the method further includes: extracting the transmitted signal corresponding to the reflection signal; taking the signal intensity value of the transmitted signal as the preset value.

8. The method according to claim 6, characterized in that, the step of if the accumulated number of times of the abnormal signal exceeds a threshold, start the heater to heat and dehumidify the code disk includes: if the accumulated number of times of the abnormal signal exceeds a threshold, record the target code track where the abnormal signal is output; determining the dehumidification range to be processed according to the target code track and the distribution position of the target code track in the code disk; starting the heater to heat and dehumidify the dehumidification range to be processed in the code disk.

9. The method according to claim 8, characterized in that, the step of starting the heater to heat and dehumidify the dehumidification range to be processed in the code disk includes: determining the target heater closest to the dehumidification range to be processed; starting the target heater to heat and dehumidify the code disk.

10. The method according to claim 9, characterized in that, the step of starting the target heater to heat and dehumidify the code disk includes: reading the heating temperature of the target heater; obtaining the humidity value of the air in the lidar; combining the heating temperature and the humidity value to calculate the target heating time of the target heater. Start the target heater to heat and dehumidify the code disk within the target heating time.

11. The method according to claim 6, wherein, after starting the heater to heat and dehumidify the code disk, the method further includes: starting the lidar to identify the reflection signal in the code track; if there is an abnormal signal less than the preset value in the reflection signal, controlling the heater to continuously heat the code disk within a preset time; if there is an abnormal signal less than the preset value in the reflection signal after the continuous heating, determining that there are attachments on the code disk that cannot be removed by heating and dehumidification.

12. A code disk dehumidification device for a lidar, wherein, it includes: an acquisition module for acquiring the reflection signal in the code track at a corresponding angle from the code disk; a calculation module for calculating the signal intensity value of the reflection signal; a start module for starting a heater to heat and dehumidify the code disk if the signal intensity value is less than a preset value.

13. An electronic device, wherein, it includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 5 - 11.

14. A computer-readable storage medium, on which a computer program is stored, wherein, the computer program, when executed by a processor, implements the method according to any one of claims 5 - 11.

15. A vehicle, wherein, the vehicle is equipped with the device according to claim 12, or the electronic device according to claim 13.

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