Laser radar cleaning system, cleaning control method, electronic equipment and vehicle

Abstract

The invention discloses a laser radar cleaning system, a cleaning control method, electronic equipment and a vehicle, and relates to the technical field of vehicles, and the system comprises a laser radar which comprises an optical window; the cleaning device comprises a vibration module, a heating module and a spraying module, the vibration module is connected with the optical window, the heating module is arranged at the bottom of the optical window, and the spraying module is arranged around the optical window; the controller is connected with the laser radar and the cleaning device, and the controller is used for controlling the cleaning device to clean the optical window based on the pollution degree of the optical window. The reliability of the vehicle laser radar in the ice fog environment can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a laser radar cleaning system, a cleaning control method, an electronic device and a vehicle. BACKGROUND

[0002] With the rapid development of automatic driving technology, as the core sensor of vehicle environment perception, the reliability of the performance of laser radar is crucial to the safe operation of the automatic driving system.

[0003] At present, in the actual application of laser radar, laser radar faces various harsh environmental conditions. When facing ice fog environment, ice fog will condense and accumulate on the surface of the optical window of the laser radar, hindering the emission and reception of the laser beam, thereby causing the measurement accuracy of the laser radar to decrease, the monitoring data to be lost, and even the system to fail.

[0004] Therefore, how to improve the reliability of the vehicle laser radar in the ice fog environment is a problem that needs to be solved at present. SUMMARY

[0005] The main purpose of the present application is to provide a laser radar cleaning system, a cleaning control method, an electronic device and a vehicle, which aims to improve the reliability of the vehicle laser radar in the ice fog environment.

[0006] To achieve the above purpose, the present application provides a laser radar cleaning system, which comprises:

[0007] a laser radar, wherein the laser radar comprises an optical window;

[0008] a cleaning device, wherein the cleaning device comprises a vibration module, a heating module and a spraying module, the vibration module is connected with the optical window, the heating module is arranged at the bottom of the optical window, and the spraying module is arranged around the optical window;

[0009] a controller, wherein the controller is connected with the laser radar and the cleaning device respectively, and the controller is used for controlling the cleaning device to clean the optical window based on the pollution degree of the optical window.

[0010] Further, the controller is used for detecting the pollution degree of the optical window, and controlling the vibration module, the heating module and the spraying module to clean the optical window in the case that the pollution degree is heavy pollution.

[0011] Further, the vibration module comprises a vibration piece composed of an electrostrictive material, and the vibration piece is tightly attached to the edge of the optical window.

[0012] The controller is further configured to control the vibration module to clean the optical window when the pollution degree is slight pollution.

[0013] Further, the heating module comprises a heating layer made of a phase change material, the heating layer overlaps the optical window, and the heating layer is uniformly laid on the bottom of the optical window.

[0014] The controller is further configured to control the vibration module and the heating module to clean the optical window when the pollution degree is moderate pollution.

[0015] Further, the spraying module comprises a spray nozzle and an air jet nozzle, the spray nozzle is arranged on the left and right sides of the optical window, and the air jet nozzle is arranged on the lower side of the optical window.

[0016] Further, the spraying module further comprises a water pump, an air pump, a cleaning liquid storage tank and a gas storage tank.

[0017] The water pump is connected with the cleaning liquid storage tank and the spray nozzle respectively, and the air pump is connected with the gas storage tank and the air jet nozzle respectively.

[0018] The controller is connected with the water pump and the air pump respectively, and the controller is further configured to control the water pump and the air pump to clean the optical window when the pollution degree is severe pollution.

[0019] To achieve the above-mentioned purpose, the present application provides a cleaning control method, the cleaning control method is applied to a laser radar cleaning system, and the cleaning control method comprises:

[0020] Detecting the pollution degree of the optical window;

[0021] Controlling the vibration module to clean the optical window when the pollution degree is slight pollution;

[0022] Controlling the vibration module and the heating module to clean the optical window when the pollution degree is moderate pollution;

[0023] Controlling the vibration module, the heating module and the spraying module to clean the optical window when the pollution degree is severe pollution.

[0024] In an embodiment, the step of detecting the pollution degree of the optical window comprises:

[0025] Performing echo analysis on the laser beam emitted by the laser radar to obtain signal parameters of the laser echo signal;

[0026] Image recognition is performed on the images captured by the lidar to obtain image recognition results, wherein the image recognition results include the distribution of ice fog on the surface of the optical window;

[0027] The degree of contamination of the optical window is determined based on the signal parameters and the image recognition results.

[0028] In one embodiment, the vibration module includes a vibrating plate made of electrostrictive material, and the step of controlling the vibration module to clean the optical window includes:

[0029] A preset electric field is applied to the vibrating plate so that the vibrating plate shakes off the ice fog particles on the surface of the optical window.

[0030] In one embodiment, the heating module includes a heating layer made of a phase change material, and the step of controlling the heating module to clean the optical window includes:

[0031] A preset current is applied to the heating layer to melt the ice fog on the surface of the optical window.

[0032] In one embodiment, the spray module includes a spray nozzle and a jet nozzle, and the step of controlling the vibration module, the heating module, and the spray module to clean the optical window includes:

[0033] Control the spray nozzle to spray cleaning fluid onto the surface of the optical window to dissolve ice fog particles on the surface of the optical window;

[0034] A preset electric field is applied to the vibrating plate so that the vibrating plate shakes off the ice fog particles dissolved on the surface of the optical window;

[0035] A preset current is applied to the heating layer, and after the spray nozzle stops spraying the cleaning liquid, the jet nozzle is controlled to spray gas onto the surface of the optical window to dry the surface of the optical window.

[0036] In one embodiment, the step of controlling the spray nozzle to spray cleaning fluid onto the surface of the optical window includes:

[0037] The distribution area of ​​ice fog on the surface of the optical window is determined based on the image recognition results;

[0038] The spray angle of the spray nozzle is determined based on the ice fog distribution area, and the spray nozzle is controlled to spray cleaning liquid onto the surface of the optical window at the spray angle.

[0039] In addition, to achieve the above objectives, this application also proposes an electronic device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the cleaning control method as described above.

[0040] In addition, to achieve the above objectives, this application also proposes a vehicle that includes the electronic equipment described above.

[0041] In addition, to achieve the above objectives, this application also provides a storage medium, which is a computer-readable storage medium, on which a program implementing the cleaning control method is stored, and the program implementing the cleaning control method is executed by a processor to implement the steps of the cleaning control method as described above.

[0042] In addition, to achieve the above objectives, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the cleaning control method as described above.

[0043] This application provides a lidar cleaning system, which includes a lidar, a cleaning device, and a controller. The lidar includes an optical window; the cleaning device includes a vibration module, a heating module, and a spraying module. The vibration module is connected to the optical window, the heating module is located at the bottom of the optical window, and the spraying module is located around the optical window; the control module is connected to both the lidar and the cleaning device, and is used to control the cleaning device to clean the optical window based on the degree of contamination.

[0044] In summary, this application sets up a cleaning device including three cleaning modules, and controls the cleaning device to vibrate, heat and spray media on the optical window based on the degree of contamination of the optical window by the controller, so as to remove ice fog on the optical window. This avoids problems such as decreased measurement accuracy, loss of monitoring data or even system failure caused by ice fog environment, thereby improving the reliability of vehicle LiDAR in ice fog environment. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a first structural schematic diagram of the first embodiment of the lidar cleaning system of this application;

[0048] Figure 2 This is a schematic diagram of the second structure according to an embodiment of the lidar cleaning system of this application;

[0049] Figure 3 This is a schematic diagram of the temperature change curve of the phase change material involved in an embodiment of the lidar cleaning system of this application;

[0050] Figure 4 This is a schematic diagram of the third structure involved in an embodiment of the lidar cleaning system of this application;

[0051] Figure 5 This is a flowchart illustrating the first embodiment of the cleaning control method of this application;

[0052] Figure 6 This is a schematic diagram of the cleaning control process involved in one embodiment of the cleaning control method of this application;

[0053] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the cleaning control method in the embodiments of this application.

[0054] Explanation of icon numbers:

[0055] 10. LiDAR; 101. Optical window; 20. Cleaning device; 201. Vibration module; VS. Vibrating plate; 202. Heating module; HS. Heating layer; 203. Spray module; WN. Spray nozzle; AN. Air nozzle; WP. Water pump; AP. Air pump; WT. Cleaning fluid storage tank; AT. Gas storage tank; 30. Controller.

[0056] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0057] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0058] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0059] Currently, in practical applications of lidar, lidar faces various harsh environmental conditions. Among them, when facing ice and fog environments, ice and fog will condense and accumulate on the surface of the lidar's optical window, hindering the emission and reception of the laser beam, thereby causing a decrease in the lidar's measurement accuracy, loss of monitoring data, or even system failure.

[0060] Therefore, improving the reliability of vehicle lidar in ice and fog environments is an urgent problem to be solved.

[0061] The main solution of this application is to set up a cleaning device that includes three cleaning modules, and to control the cleaning device to vibrate, heat and spray media on the optical window based on the degree of contamination of the optical window, so as to remove ice fog on the optical window. This avoids problems such as decreased measurement accuracy, loss of monitoring data or even system failure caused by ice fog environment, thereby improving the reliability of vehicle LiDAR in ice fog environment.

[0062] This application provides a lidar cleaning system.

[0063] In the first embodiment of the system in this application, please refer to Figure 1 , Figure 1 This is a first structural schematic diagram of a lidar cleaning system, which includes:

[0064] LiDAR 10, the lidar 10 including an optical window 101;

[0065] The cleaning device 20 includes a vibration module 201, a heating module 202, and a spray module 203. The vibration module 201 is connected to the optical window 101, the heating module 202 is disposed at the bottom of the optical window 101, and the spray module 203 is disposed around the optical window 101.

[0066] The controller 30 is connected to the lidar 10 and the cleaning device 20 respectively, and the controller 30 is used to control the cleaning device 20 to clean the optical window 101.

[0067] In this embodiment, the lidar cleaning system includes a lidar 10, a cleaning device 20, and a controller 30. The lidar 10 includes an optical window 101. In an ice-fog environment, ice and fog will condense and accumulate on the optical window 101, hindering the emission and reception of the laser beam, leading to decreased measurement accuracy, data loss, or even system failure. The cleaning device 20 includes a vibration module 201, a heating module 202, and a spraying module 203. The vibration module 201 is connected to the optical window 101 and is used to vibrate the optical window 101 to dislodge ice and fog particles. The heating module 202 is located at the bottom of the optical window 101 and is used to heat the optical window 101 to melt the ice and fog. The spraying module 203 is located around the optical window 101 and is used to spray a medium onto the optical window 101 to wash away the ice and fog. The controller 30 is communicatively connected to the lidar 10 and the cleaning device 20, respectively, and is used to control the cleaning device 20 to clean the optical window 101 based on the degree of contamination of the optical window 101. It can be understood that the controller 30 is communicatively connected to the vibration module 201, the heating module 202 and the spraying module 203, respectively. The degree of contamination of the optical window 101 includes light contamination, moderate contamination and heavy contamination. The higher the degree of contamination, the more contaminants are formed on the surface of the optical window 101, and the greater the obstruction to the emission and reception of the laser beam of the lidar 10.

[0068] This application embodiment sets up a cleaning device including three cleaning modules, and controls the cleaning device to vibrate, heat and spray media on the optical window based on the degree of contamination of the optical window by the controller, so as to remove ice fog on the optical window, thereby avoiding problems such as decreased measurement accuracy, loss of monitoring data or even system failure caused by ice fog environment, and thus improving the reliability and stability of vehicle lidar in ice fog environment.

[0069] Furthermore, the controller 30 is used to detect the degree of contamination of the optical window 101, and when the degree of contamination is severe, it controls the vibration module 201, the heating module 202 and the spray module 203 to clean the optical window 101.

[0070] It should be noted that when the lidar 10 is operating, the controller 30 performs echo analysis on the laser beam emitted by the lidar 101 to obtain parameters such as the intensity and phase of the laser echo signal, and performs image recognition on the image acquired by the lidar 101 to obtain image recognition results. These results include the distribution of ice fog on the surface of the optical window 101. Then, based on the signal parameters of the laser echo signal and the image recognition results, the controller 30 determines the current degree of contamination of the optical window 101. Specifically, different contamination thresholds corresponding to different contamination levels can be preset. These thresholds include the range of signal parameter values, the distribution area of ​​ice fog on the optical window 101, and the maximum thickness (corresponding to the image recognition results). For example, when the controller 30 extracts the ice fog distribution area and maximum thickness on the surface of the optical window 101 from the currently detected image recognition result, and when the current signal parameters and the image recognition result both fall within the threshold range corresponding to moderate pollution, the controller determines that the pollution level of the optical window 101 is moderate pollution; when the current signal parameters fall within the threshold region corresponding to severe pollution and the image recognition result falls within the threshold range corresponding to severe pollution, the controller determines that the pollution level of the optical window 101 is severe pollution.

[0071] In this embodiment, the controller 30 is used to detect the degree of contamination of the optical window 101, and when the degree of contamination is heavy, it controls the vibration module 201, the heating module 202 and the spraying module 203 to work together to clean the ice fog on the surface of the optical window 101.

[0072] Furthermore, referring to Figure 2 , Figure 2 This is a second structural schematic diagram of the lidar cleaning system of this application. The vibration module 201 includes a vibrating plate VS made of electrostrictive material, and the vibrating plate VS is closely attached to the edge of the optical window 101.

[0073] The controller 30 is also used to control the vibration module 201 to clean the optical window 101 when the pollution level is light.

[0074] In this embodiment, the vibration module 201 includes a vibrating plate VS, which is made of an electrostrictive material. Since the material deforms and vibrates when an electric field is applied, the controller 30 applies an electric field of a specific frequency and intensity to the vibrating plate VS to make it vibrate. The vibrating plate VS is tightly fitted to the edge of the optical window 101, so when the vibrating plate VS vibrates under the action of the electric field, it drives the optical window 101 to vibrate, thereby shaking off the ice mist particles on the optical window 101 and achieving a cleaning effect. The controller 30 is used to control the vibration module 201 to clean the optical window 101 only when the level of contamination is light.

[0075] In one feasible embodiment, the process of the controller 30 controlling the vibration module 201 to clean the optical window 101 includes: controlling the vibrating plate VS to vibrate according to the preset duration of a single vibration control; after the duration ends, re-detecting the degree of contamination of the optical window 101, that is, determining whether the signal parameters of the laser echo signal and the image recognition result fall within the preset threshold range corresponding to the cleaning state; if so, the current cleaning ends; if not, the degree of contamination of the optical window 101 is determined to be moderate contamination, which can be understood as continuing to clean with a stronger cleaning method; if the optical window 101 is still not in a clean state after using the cleaning method corresponding to moderate contamination, then the cleaning method corresponding to severe contamination is used for cleaning; if the optical window 101 is still not in a clean state after using the cleaning method corresponding to severe contamination, then an alarm prompt is output to notify the user to perform manual maintenance on the optical window 101.

[0076] Thus, in this embodiment, a vibrating plate VS made of electrostrictive material is installed at the edge of the optical window 101 of the lidar 10. When ice fog contamination is detected in the optical window 101, the controller 30 applies an electric field of a specific frequency and intensity to the vibrating plate VS, causing the vibrating plate VS to vibrate at high frequency. Compared with the traditional mechanical wiping method, the vibration module 201 in this embodiment only contacts the edge of the optical window 101 and not its mirror surface, so it will not cause wear. At the same time, it can clean the lidar 10 during operation and has little impact on the line of sight of the lidar 10.

[0077] Furthermore, the heating module 202 includes a heating layer HS made of phase change material, the heating layer HS overlaps with the optical window 101, and the heating layer HS is uniformly laid on the bottom of the optical window 101;

[0078] The controller 30 is also used to control the vibration module 201 and the heating module 202 to clean the optical window 101 when the pollution level is moderate.

[0079] In this embodiment, the heating module 202 includes a heating layer HS, which is made of a phase change material. Because the phase change material heats up when different currents are applied, and continues to heat at the maximum temperature corresponding to the current current after reaching that temperature, it is exemplary. Figure 3The diagram shows the temperature change curve of the phase change material. By applying a specific current to the phase change material, the material temperature can be raised to the phase change temperature (50 degrees Celsius), and this temperature can be maintained during the phase change process. Therefore, the heating layer HS can generate heat at a fixed temperature under the action of current. The heating layer HS overlaps with the optical window 101, and the heating layer HS is evenly distributed at the bottom of the optical window 101. It can be understood that the optical window 101 is a lens with a certain thickness, one side of which is exposed to the environment, and the other side is adjacent to the heating layer HS. The controller 30 is used to apply an electric field to the vibrating plate VS and apply current to the heating layer HS when the pollution level is moderate. This causes the vibrating plate VS to shake off the ice layer and ice fog particles on the optical window 101, and causes the heating layer HS to heat the optical window 101 at a certain temperature, melting the ice layer on the surface of the optical window 101.

[0080] In one feasible implementation, the controller 30 controls the vibrating plate VS to vibrate, and simultaneously controls the heating layer HS to heat the optical window. After a preset duration of vibration and heating, the degree of contamination of the optical window 101 is re-detected, that is, it is determined whether the signal parameters of the laser echo signal and the image recognition result fall within the preset threshold range corresponding to the clean state. If so, the current cleaning ends; if not, the degree of contamination of the optical window 101 is determined to be heavily contaminated, which can be understood as continuing to clean with a more powerful cleaning method; if the optical window 101 is still not in a clean state after using the cleaning method corresponding to heavy contamination, an alarm prompt is output to notify the user to manually maintain the optical window 101.

[0081] Thus, this embodiment uses a novel phase change material as the heating medium. A heating layer HS made of the phase change material is disposed at the bottom of the optical window 101. When the controller 30 detects icing on the surface of the optical window 101, the control circuit applies current to the heating layer HS, causing the phase change material to rapidly change from a solid to a liquid state, releasing a large amount of latent heat, thereby melting the ice layer on the optical window 101. The phase change material maintains a constant temperature during the melting process, enabling precise control of the heating temperature and avoiding overheating that could damage the lidar 10. Furthermore, compared to traditional resistance wire heating methods, it consumes less energy.

[0082] Furthermore, the spray module 203 includes a spray nozzle WN and a jet nozzle AN. The spray nozzle WN is disposed on the left and right sides of the optical window 101, and the jet nozzle AN is disposed on the lower side of the optical window 101.

[0083] In this embodiment, the spray module 203 includes two types of nozzles: a spray nozzle WN and a jet nozzle AN. The spray nozzle WN is used to spray atomized liquid, and the jet nozzle AN is used to spray gas. The spray nozzle WN is disposed on the left and right sides of the optical window 101, and the jet nozzle AN is disposed on the lower side of the optical window 101.

[0084] Furthermore, referring to Figure 4 , Figure 4 This is a third structural diagram of the lidar cleaning system of this application. The spray module 203 also includes a water pump WP, an air pump AP, a cleaning liquid storage tank WT, and a gas storage tank AT.

[0085] The water pump WP is connected to the cleaning liquid storage tank WT and the spray nozzle WN respectively, and the air pump AP is connected to the gas storage tank AT and the jet nozzle AN respectively;

[0086] The controller 30 is connected to the water pump WP and the air pump AP. The controller 30 is also used to control the water pump WP and the air pump AP to clean the optical window 101 when the pollution level is heavy pollution.

[0087] In this embodiment, the spray module 203 further includes a water pump WP, an air pump AP, a cleaning fluid storage tank WT, and a gas storage tank AT. The inlet of the water pump WP is connected to the outlet of the cleaning fluid storage tank WT, and the outlet of the water pump WP is connected to the spray nozzle WN. The inlet of the air pump AP is connected to the outlet of the gas storage tank AT, and the outlet of the air pump AP is connected to the spray nozzle AN. The controller 30 is connected to the water pump WP and the air pump AP respectively. The controller 30 is used to control the water pump WP and the air pump AP to clean the optical window 101 when the pollution level is heavy. Specifically, the controller 30 can control the water pump WP to turn on to pump the cleaning fluid in the cleaning fluid storage tank WT to the spray nozzle WN, so that the mist of cleaning fluid sprayed by the spray nozzle WN washes away the ice fog on the optical window 101. The controller 30 can control the air pump AP to turn on, so as to pump the gas in the gas storage tank AT to the jet nozzle AN, so that the gas ejected by the jet nozzle AN can dry the residual water stains on the optical window 101.

[0088] In one feasible embodiment, when the pollution level is heavily polluted, the controller 30 controls the vibration module 201, heating module 202, and spray module 203 to clean the optical window 101. The steps include: the controller 30 applies an electric field to the vibrating plate VS and an electric current to the heating layer HS. Simultaneously, based on the image recognition results, the controller 30 adjusts the angle and flow rate of the spray nozzle WN. Then, the controller controls the connection between the water pump WP and the cleaning liquid storage tank WT, and controls the water pump WP to turn on so that the water pump WP pumps the cleaning liquid to the spray nozzle WN and sprays the cleaning liquid onto the surface of the optical window 101. After the cleaning liquid dissolves the ice fog particles, they are washed away by the vibration of the vibrating plate VS. After the spray nozzle WN has been working for a preset time, the controller controls the water pump WP to turn off. Then, the controller controls the connection between the air pump AP and the gas storage tank AT, and controls the air pump AP to turn on so that the air is sprayed onto the optical window 101 through the air nozzle AN. At the same time, combined with the heating effect of the heating layer HS, the controller removes the residual water stains on the optical window 101.

[0089] Thus, in this embodiment, multiple adjustable-angle spray nozzles WN are provided on the housing of the lidar 101. The spray nozzles WN are connected to a cleaning fluid storage tank WT. The cleaning fluid uses a specially developed formula with low surface tension and strong ice-fog melting ability. When the controller 30 detects heavy contamination on the surface of the optical window 101, which cannot be completely removed by vibration and heating alone, the spray nozzles WN automatically adjust the spray angle and flow rate according to the degree and distribution of contamination, spraying the cleaning fluid onto the surface of the optical window 101. The cleaning fluid can quickly penetrate and dissolve ice-fog particles, and then, in conjunction with the vibration of the vibration module 201, wash away the contaminants. Moreover, the spray module 203 can intelligently adjust its operating parameters according to the actual contamination situation, improving cleaning efficiency while avoiding waste of cleaning fluid.

[0090] Based on the above structure, embodiments of the cleaning control method of this application are proposed.

[0091] In the first embodiment of the method of this application, please refer to Figure 5 , Figure 5 This is a flowchart illustrating the first embodiment of the cleaning control method of this application. The cleaning control method is applied to the lidar cleaning system described above, and includes steps S10 to S40:

[0092] Step S10: Detect the degree of contamination of the optical window;

[0093] The contamination level of the optical window is detected at preset intervals. The contamination level includes light contamination, moderate contamination, and heavy contamination. The higher the contamination level, the more contaminants are formed on the surface of the optical window, and the greater the obstruction to the emission and reception of the laser beam of the lidar.

[0094] In this embodiment, step S10 may include:

[0095] Step S101: Perform echo analysis on the laser beam emitted by the lidar to obtain the signal parameters of the laser echo signal;

[0096] Step S102: Perform image recognition on the image captured by the lidar to obtain the image recognition result, wherein the image recognition result includes the distribution of ice fog on the surface of the optical window;

[0097] Step S103: Determine the degree of contamination of the optical window based on the signal parameters and the image recognition results.

[0098] During the operation of the lidar, the degree of contamination is determined at preset intervals. Specifically, echo analysis is performed on the laser beam emitted by the lidar to obtain parameters such as the intensity and phase of the laser echo signal. Image recognition is also performed on the images acquired by the lidar to obtain image recognition results, which include the distribution of ice and fog on the surface of the optical window. Then, the controller determines the current degree of contamination of the optical window based on the signal parameters of the laser echo signal and the image recognition results.

[0099] For example, different pollution thresholds are pre-set for different levels of pollution. These thresholds include the range of signal parameters, the distribution area of ​​ice fog on the optical window, and its maximum thickness (corresponding to the image recognition result). The distribution area and maximum thickness of ice fog on the optical window surface are extracted from the currently detected image recognition result. When both the current signal parameters and the image recognition result fall within the threshold range corresponding to moderate pollution, the optical window is determined to be moderately polluted. When the current signal parameters fall within the threshold range corresponding to severe pollution, and the image recognition result falls within the threshold range corresponding to severe pollution, the optical window is determined to be severely polluted. In other words, it can be understood that when the signal parameters and the image recognition result fall within different threshold ranges, the more severe pollution level is selected as the final determination result.

[0100] Step S20: When the contamination level is light, control the vibration module to clean the optical window;

[0101] When the optical window is only slightly contaminated, the vibration module is controlled to clean the surface of the optical window.

[0102] In this embodiment, the vibration module includes a vibrating plate made of electrostrictive material, and step S20 may include:

[0103] In step S201, a preset electric field is applied to the vibrating plate so that the vibrating plate shakes off the ice fog particles on the surface of the optical window.

[0104] It should be noted that an electric field of a specific frequency and intensity is preset so that the vibrating plate of the vibration module vibrates at a high frequency under the action of the electric field.

[0105] In one feasible implementation, the process of controlling the vibration module to clean the optical window includes: controlling the vibrating plate to vibrate according to the preset duration of a single vibration control; after the duration ends, re-detecting the degree of contamination of the optical window, that is, determining whether the signal parameters of the laser echo signal and the image recognition result fall within the preset threshold range corresponding to the cleaning state; if so, ending the current cleaning; if not, determining that the degree of contamination of the optical window is moderate, which can be understood as continuing to clean with a more powerful cleaning method; if the optical window is still not clean after using the cleaning method corresponding to moderate contamination, then using the cleaning method corresponding to severe contamination; if the optical window is still not clean after using the cleaning method corresponding to severe contamination, then outputting an alarm prompt to notify the user to manually maintain the optical window.

[0106] Thus, compared with traditional mechanical wiping methods, the vibration module in this embodiment only contacts the edge of the optical window and not its mirror surface, so it will not cause wear and tear. At the same time, it can clean the lidar during operation and has little impact on the lidar's line of sight.

[0107] Step S30: When the contamination level is moderate, control the vibration module and heating module to clean the optical window;

[0108] When the optical window is moderately contaminated, the vibration module and heating module simultaneously clean the surface of the optical window.

[0109] In this embodiment, the heating module includes a heating layer made of phase change material, and step S30 may include:

[0110] Step S301: Apply a preset current to the heating layer to melt the ice fog on the surface of the optical window.

[0111] In one feasible implementation, when the contamination level is moderate, an electric field is applied to the vibrating plate, and a current is applied to the heating layer. This causes the vibrating plate to shake off the ice and ice fog particles on the optical window, and the heating layer to heat the optical window at a certain temperature to melt the ice on the surface of the optical window. After a preset duration, the contamination level of the optical window is re-detected, i.e., it is determined whether the signal parameters of the laser echo signal and the image recognition result fall within the preset threshold range corresponding to the cleanliness state. If so, the current cleaning ends; if not, the contamination level of the optical window is determined to be severe, which can be understood as continuing to clean using a more powerful cleaning method. If the optical window is still not clean after using the cleaning method corresponding to severe contamination, an alarm prompt is output to notify the user to manually maintain the optical window.

[0112] Step S40: When the contamination level is severe, control the vibration module, the heating module, and the spray module to clean the optical window.

[0113] When the optical window is heavily contaminated, the vibration module, heating module, and spraying module work together to clean the surface of the optical window.

[0114] In this embodiment, the spray module includes a spray nozzle and a jet nozzle, and step S40 may include:

[0115] Step S401: Control the spray nozzle to spray cleaning liquid onto the surface of the optical window to dissolve the ice fog particles on the surface of the optical window;

[0116] Step S402: Apply a preset electric field to the vibrating plate so that the vibrating plate can shake off the ice fog particles dissolved on the surface of the optical window;

[0117] In step S403, a preset current is applied to the heating layer, and the jet nozzle is controlled to spray gas onto the surface of the optical window to dry the surface of the optical window.

[0118] First, the spray nozzle in the spray module sprays cleaning fluid onto the surface of the optical window to dissolve the ice and fog particles on the surface. Simultaneously, a preset electric field is applied to the vibrating plate to shake off the dissolved ice and fog particles from the optical window surface. At the same time, a preset current is applied to the heating layer to melt the ice layer on the surface of the optical window. Then, the spray nozzle is controlled to stop working, that is, to stop outputting cleaning fluid. After the spray nozzle stops working, the air jet nozzle is controlled to spray gas onto the surface of the optical window to dry the surface of the optical window under the action of heating and air jetting, removing residual water stains.

[0119] In this embodiment, step S401 may include:

[0120] Step S4011: Determine the ice fog distribution area on the surface of the optical window based on the image recognition result;

[0121] Step S4012: Determine the spray angle of the spray nozzle based on the ice fog distribution area, and control the spray nozzle to spray cleaning liquid onto the surface of the optical window at the spray angle.

[0122] The image recognition results include the distribution of ice fog on the surface of the optical window. The distribution area of ​​ice fog on the surface of the optical window is obtained from the image recognition results. The spray angle of the spray nozzle is determined based on the distribution area of ​​ice fog, so that the spray nozzle can spray the cleaning fluid in a directional manner to the distribution area of ​​ice fog, so as to perform targeted cleaning of ice fog on the optical window.

[0123] In one feasible embodiment, when the pollution level is heavily polluted, the steps of controlling the vibration module, heating module, and spraying module to clean the optical window include: applying an electric field to the vibrating plate, applying current to the heating layer, and simultaneously adjusting the angle and flow rate of the spray nozzle based on image recognition results; then controlling the connection between the water pump and the cleaning liquid storage tank, and controlling the water pump to start so that the water pump pumps the cleaning liquid to the spray nozzle, spraying the cleaning liquid onto the surface of the optical window so that the cleaning liquid dissolves the ice fog particles and is washed away by the vibration of the vibrating plate; after the spray nozzle has been working for a preset time, controlling the water pump to stop, and then controlling the connection between the air pump and the gas storage tank to start the air pump so that air is sprayed onto the optical window through the air nozzle, and at the same time, combined with the heating effect of the heating layer, removing residual water stains on the optical window.

[0124] For example, such as Figure 6 The diagram illustrates the cleaning control process. First, the contamination level of the lidar's optical window is detected. If the optical window surface is slightly contaminated, the vibration module is activated to clean it. If the optical window surface is moderately contaminated, both the vibration and heating modules are activated simultaneously. If the optical window surface is heavily contaminated, the vibration, heating, and spray modules are activated to clean it. After a single cleaning cycle corresponding to the current contamination level, the contamination level is reassessed. If the result indicates that the optical window is clean, the cleaning process ends. If the result indicates that the optical window still has ice fog contamination, the process enters the cleaning mode corresponding to the next contamination level, i.e., a more powerful cleaning strategy is initiated.

[0125] Thus, this embodiment utilizes the laser beam emitted by the lidar itself for echo analysis, combined with image recognition technology, to monitor the contamination status of the optical window surface in real time. By analyzing changes in parameters such as the intensity and phase of the laser echo signal, as well as the acquired images of the optical window surface, the degree, type, and distribution location of ice fog contamination can be accurately determined. Furthermore, this embodiment automatically controls the vibration cleaning module (vibration module), the intelligent thermal management de-icing module (heating module), and the adaptive spray cleaning module (spray module) to work collaboratively, achieving precise and efficient removal of ice fog contamination.

[0126] This application provides an electronic device, which 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, the instructions being executed by the at least one processor to enable the at least one processor to perform the cleaning control method in Embodiment 1 above.

[0127] The following is for reference. Figure 7 It shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of this application. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0128] like Figure 7 As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. The communication device 1009 allows the electronic device to communicate wirelessly or wiredly with other devices to exchange data. Although the diagrams show electronic devices with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.

[0129] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0130] The electronic device provided in this application, employing the cleaning control method described in the above embodiments, can solve the technical problem of how to improve the reliability of vehicle lidar in ice and fog environments. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the cleaning control method provided in the above embodiments, and other technical features of the electronic device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0131] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0132] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0133] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to perform the cleaning control method in the above embodiments.

[0134] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0135] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0136] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: detect the degree of contamination of the optical window; control a vibration module to clean the optical window if the degree of contamination is light; control the vibration module and a heating module to clean the optical window if the degree of contamination is moderate; and control the vibration module, the heating module, and the spray module to clean the optical window if the degree of contamination is heavy.

[0137] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0138] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0139] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0140] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described cleaning control method, which can solve the technical problem of how to improve the reliability of vehicle lidar in ice and fog environments. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the cleaning control method provided in the above embodiments, and will not be repeated here.

[0141] This application provides a vehicle having the electronic equipment described above, the electronic equipment being used to perform the cleaning control method in the above embodiments.

[0142] This application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the cleaning control method described above.

[0143] The computer program product provided in this application can improve the reliability of vehicle lidar in ice and fog environments. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the cleaning control method provided in the above embodiments, and will not be repeated here.

[0144] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A lidar cleaning system, characterized in that, The lidar cleaning system includes: LiDAR, the lidar including an optical window; A cleaning device, comprising a vibration module, a heating module, and a spraying module, wherein the vibration module is connected to the optical window, the heating module is disposed at the bottom of the optical window, and the spraying module is disposed around the optical window; A controller is connected to both the lidar and the cleaning device. The controller is used to control the cleaning device to clean the optical window based on the degree of contamination of the optical window.

2. The lidar cleaning system as described in claim 1, characterized in that, The controller is used to detect the degree of contamination of the optical window, and when the degree of contamination is severe, it controls the vibration module, the heating module and the spraying module to clean the optical window.

3. The lidar cleaning system as described in claim 2, characterized in that, The vibration module includes a vibrating plate made of electrostrictive material, which is in close contact with the edge of the optical window; The controller is also used to control the vibration module to clean the optical window when the level of contamination is light.

4. The lidar cleaning system as described in claim 2, characterized in that, The heating module includes a heating layer made of phase change material, which overlaps with the optical window and is uniformly laid at the bottom of the optical window; The controller is also used to control the vibration module and heating module to clean the optical window when the pollution level is moderate.

5. The lidar cleaning system as described in claim 1, characterized in that, The spray module includes a spray nozzle and a jet nozzle. The spray nozzle is located on the left and right sides of the optical window, and the jet nozzle is located on the lower side of the optical window.

6. The lidar cleaning system as described in claim 5, characterized in that, The spray module also includes a water pump, an air pump, a cleaning fluid storage tank, and a gas storage tank; The water pump is connected to the cleaning liquid storage tank and the spray nozzle respectively, and the air pump is connected to the gas storage tank and the air jet nozzle respectively; The controller is connected to the water pump and the air pump respectively. The controller is also used to control the water pump and the air pump to clean the optical window when the pollution level is heavy pollution.

7. A cleaning control method, characterized in that, The cleaning control method is applied to the lidar cleaning system as described in any one of claims 1 to 6, and the cleaning control method includes: Detect the degree of contamination of the optical window; When the level of contamination is light, the vibration module is controlled to clean the optical window; When the pollution level is moderate, the vibration module and heating module are controlled to clean the optical window; When the pollution level is severe, the vibration module, heating module, and spray module are controlled to clean the optical window.

8. The cleaning control method as described in claim 7, characterized in that, The step of detecting the degree of contamination of the optical window includes: Echo analysis is performed on the laser beam emitted by the lidar to obtain the signal parameters of the laser echo signal; Image recognition is performed on the images captured by the lidar to obtain image recognition results, wherein the image recognition results include the distribution of ice fog on the surface of the optical window; The degree of contamination of the optical window is determined based on the signal parameters and the image recognition results.

9. The cleaning control method as described in claim 8, characterized in that, The vibration module includes a vibrating plate made of electrostrictive material, and the step of controlling the vibration module to clean the optical window includes: A preset electric field is applied to the vibrating plate so that the vibrating plate shakes off the ice fog particles on the surface of the optical window.

10. The cleaning control method as described in claim 7, characterized in that, The heating module includes a heating layer made of phase change material. The step of controlling the heating module to clean the optical window includes: A preset current is applied to the heating layer to melt the ice fog on the surface of the optical window.

11. The cleaning control method as described in claim 9, characterized in that, The spray module includes a spray nozzle and a jet nozzle, and the step of controlling the vibration module, the heating module, and the spray module to clean the optical window includes: Control the spray nozzle to spray cleaning fluid onto the surface of the optical window to dissolve ice fog particles on the surface of the optical window; A preset electric field is applied to the vibrating plate so that the vibrating plate shakes off the ice fog particles dissolved on the surface of the optical window; A preset current is applied to the heating layer, and after the spray nozzle stops spraying the cleaning liquid, the jet nozzle is controlled to spray gas onto the surface of the optical window to dry the surface of the optical window.

12. The cleaning control method as described in claim 11, characterized in that, The step of controlling the spray nozzle to spray cleaning fluid onto the surface of the optical window includes: The distribution area of ​​ice fog on the surface of the optical window is determined based on the image recognition results; The spray angle of the spray nozzle is determined based on the ice fog distribution area, and the spray nozzle is controlled to spray cleaning liquid onto the surface of the optical window at the spray angle.

13. An electronic device, characterized in that, The device includes: a lidar cleaning system as claimed in any one of claims 1 to 6, a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the cleaning control method as claimed in any one of claims 7 to 12.

14. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 13.

Images