Heating device of laser radar window, heating control method, laser radar, vehicle and computer readable storage medium

Abstract

The invention provides a laser radar window heating device, a heating control method, a laser radar, a vehicle and a computer readable storage medium. The heating device comprises a conductive film, a power supply circuit, a first load switch circuit and a controller. The conductive film is suitable for being fixed on the laser radar window. The power circuit is coupled to the conductive film and configured to provide a supply voltage to the conductive film. A first load switch circuit is coupled between a power supply circuit and the conductive film. The controller is coupled to the conductive film, the power circuit, and the first load switching circuit, and is configured to control heating of the conductive film. The heating device disclosed by the invention can heat the window of the laser radar and melt fog, ice, snow or frost on the surface of the window, so that a detection light beam and an echo light beam can penetrate through the window, the laser radar can meet the detection requirement in a cold environment, and the adaptability and reliability of the laser radar are improved.

Description

TECHNICAL FIELD

[0001] The present disclosure generally relates to the field of laser radar, and in particular, to a heating device of a laser radar window, a heating control method of a laser radar window, a laser radar, a vehicle, and a computer readable storage medium. BACKGROUND

[0002] Laser radar is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of a target, and is an advanced detection method that combines laser technology and photoelectric detection technology. Laser radar is widely used in automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, resource exploration and other fields due to its high resolution, good concealment, strong anti-active interference capability, good low-altitude detection performance, small size and light weight.

[0003] The laser radar window is suitable for transmitting a detection light beam and a return light beam. However, in a cold environment, the surface of the window is covered with ice, snow or frost, making it difficult for the laser radar to perform effective ranging. How to make the laser radar adapt to the detection requirements in a cold environment is a technical problem that needs to be solved in the field.

[0004] The content in the background section is only the technology known to the inventor, and does not necessarily represent the prior art in the field. SUMMARY

[0005] To solve one or more of the problems in the prior art, the present disclosure provides a heating device of a laser radar window, comprising:

[0006] A conductive film adapted to be fixed on the laser radar window;

[0007] A power supply circuit coupled to the conductive film and configured to provide a power supply voltage to the conductive film;

[0008] A first load switch circuit coupled between the power supply circuit and the conductive film; and

[0009] A controller coupled to the conductive film, the power supply circuit and the first load switch circuit, and configured to control heating of the conductive film.

[0010] Optionally, the power supply circuit includes a switch, and the controller is configured to control the switch to turn on or off to start or stop heating of the conductive film.

[0011] Optionally, the controller is configured to control the switch to turn off, and the conductive film starts heating; and control the switch to turn on, and the conductive film stops heating.

[0012] Optionally, the controller is configured to control the switch to turn off, and the power supply circuit converts an input voltage into the power supply voltage.

[0013] Optionally, the controller is configured to:

[0014] control the switch to turn off to turn on the heating;

[0015] collect a first current of the first load switch circuit and the supply voltage;

[0016] stop the heating;

[0017] determine a resistance value of the conductive film based on the first current and the supply voltage;

[0018] control to turn on or stop the heating of the conductive film based on the resistance value.

[0019] Optionally, the controller is configured to:

[0020] determine whether the resistance value is within a preset resistance range;

[0021] control to turn on the heating of the conductive film when the resistance value is within the preset resistance range.

[0022] Optionally, the heating device further comprises a temperature sensor coupled to the controller and configured to measure a temperature of the lidar; the controller is configured to:

[0023] collect the temperature of the lidar;

[0024] determine whether the temperature is within a preset temperature range;

[0025] control to turn on the heating of the conductive film when the temperature is within the preset temperature range.

[0026] Optionally, the heating device further comprises a second load switch circuit coupled between the power supply circuit and the conductive film.

[0027] Optionally, the controller is configured to:

[0028] collect a second current of the second load switch circuit;

[0029] determine whether the second current exceeds a preset current range;

[0030] control to stop the heating of the conductive film when the second current exceeds the preset current range.

[0031] Optionally, the preset resistance range is 60-200Ω.

[0032] Optionally, the preset temperature range is -20-+50℃.

[0033] Optionally, the preset current range is less than 1A.

[0034] Optionally, the preset current range is 0.6-0.8A.

[0035] The present disclosure also provides a laser radar, comprising:

[0036] a transmitter configured to emit a probe light beam;

[0037] a receiver configured to receive a return light beam reflected by the probe light beam on an object;

[0038] a window adapted to transmit the probe light beam and the return light beam; and

[0039] The heating device of the laser radar window as described above, wherein the conductive film of the heating device is fixed on the window.

[0040] The present disclosure also provides a heating control method of a laser radar window, the laser radar comprising a heating device of a laser radar window as described above, the heating control method comprising:

[0041] controlling to start heating of the conductive film;

[0042] collecting a first current of a first load switch circuit;

[0043] collecting a supply voltage of the conductive film;

[0044] controlling to stop the heating;

[0045] determining a resistance value of the conductive film based on the first current and the supply voltage; and

[0046] controlling to start or stop the heating of the conductive film based on the resistance value.

[0047] Optionally, the power supply circuit of the heating device comprises a switch, and the operation of controlling to start heating of the conductive film comprises: controlling the switch to be off, and the conductive film starts heating; and controlling the switch to be on, and the conductive film stops heating.

[0048] Optionally, the operation of controlling to start or stop the heating of the conductive film comprises:

[0049] judging whether the resistance value is within a preset resistance range;

[0050] when the resistance value is within the preset resistance range, controlling to start the heating of the conductive film.

[0051] Optionally, the heating control method further comprises:

[0052] collecting a temperature of the laser radar;

[0053] determining whether the temperature is within a preset temperature range;

[0054] controlling to start heating of the conductive film when the temperature is within the preset temperature range.

[0055] Optionally, the heating control method further comprises:

[0056] collecting a second current of a second load switch circuit;

[0057] determining whether the second current exceeds a preset current range;

[0058] controlling to stop heating of the conductive film when the second current exceeds the preset current range.

[0059] The present disclosure also provides a computer-readable storage medium comprising computer-executable instructions stored thereon, which, when executed by a processor, implement the heating control method as described above.

[0060] The present disclosure also provides a vehicle comprising the lidar as described above.

[0061] The heating device of the present disclosure can heat the lidar window, melt fog, ice, snow, or frost on the surface of the window, so that the probe beam and the return beam can pass through the window, so that the lidar can meet the detection needs in cold environments, and improve the adaptability and reliability of the lidar. BRIEF DESCRIPTION OF DRAWINGS

[0062] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, which together with the embodiments of the present disclosure serve to explain the present disclosure, and do not constitute a limitation on the present disclosure. In the drawings:

[0063] Figure 1 A schematic diagram of a heating device of a lidar window according to some embodiments of the present disclosure is shown.

[0064] Figure 2 A schematic diagram of a heating device of a lidar window according to some other embodiments of the present disclosure is shown.

[0065] Figure 3 A schematic diagram of a power supply circuit according to some embodiments of the present disclosure is shown.

[0066] Figure 4 A schematic diagram of a working flow of a heating device of a lidar window according to some embodiments of the present disclosure is shown.

[0067] Figure 5 A partial circuit schematic diagram of a heating device according to some embodiments of the present disclosure is shown.

[0068] Figure 6 A flowchart of operation S15 according to some embodiments of the disclosure is shown.

[0069] Figure 7 A flowchart of operation S16 according to some embodiments of the disclosure is shown.

[0070] Figure 8 A schematic diagram of a heating device according to yet some embodiments of the disclosure is shown.

[0071] Figure 9 A partial circuit schematic of a heating device according to some other embodiments of the disclosure is shown.

[0072] Figure 10 A flowchart of operation S17 according to some embodiments of the disclosure is shown.

[0073] Figure 11 A schematic diagram of a lidar according to some embodiments of the disclosure is shown.

[0074] Figure 12 A schematic diagram of a heating control method according to some embodiments of the disclosure is shown.

[0075] Figure 13 A flowchart of operation S560 according to some embodiments of the disclosure is shown.

[0076] Figure 14 A flowchart of operation S570 according to some embodiments of the disclosure is shown.

[0077] Figure 15 A flowchart of operation S580 according to some embodiments of the disclosure is shown.

[0078] Figure 16 A schematic diagram of a vehicle according to some embodiments of the disclosure is shown. DETAILED DESCRIPTION

[0079] Hereinafter, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the disclosure. Therefore, the drawings and description are considered to be exemplary in nature and not limiting.

[0080] In the description of the disclosure, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0081] In the description of the disclosure, it needs to be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "coupling" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication or interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the disclosure can be understood according to the specific circumstances.

[0082] In the disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0083] Many different embodiments or examples of the disclosure are provided below to implement different structures of the disclosure. In order to simplify the disclosure, the components and settings of specific examples are described below. Of course, they are only examples and the purpose is not to limit the disclosure. In addition, the disclosure can repeatedly refer to the same reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, which does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0084] The embodiments of the disclosure are described below in conjunction with the accompanying drawings, and it should be understood that the embodiments described herein are only used to illustrate and explain the disclosure, and are not intended to limit the disclosure.

[0085] The disclosure provides a heating device for a lidar window, including a conductive film, a power supply circuit, a first load switch circuit, and a controller. The conductive film is adapted to be fixed on the lidar window. The power supply circuit is coupled to the conductive film and can provide a power supply voltage to the conductive film. The first load switch circuit is coupled between the power supply circuit and the conductive film. The controller is coupled to the conductive film, the power supply circuit, and the first load switch circuit, and is configured to control the heating of the conductive film. The heating device of the disclosure can heat the lidar window, melt the fog, ice, snow, or frost on the surface of the window, so that the probe beam and the return beam can pass through the window, so that the lidar can adapt to the detection requirements in cold environment, and improve the adaptability and reliability of the lidar. Details are introduced below.

[0086] Figure 1 A schematic diagram of a heating device 100 for a lidar window is shown according to some embodiments of the disclosure. As shown, the heating device 100 includes a conductive film 101, a power supply circuit 102, a first load switch circuit 103, and a controller 104. The conductive film 101 is adapted to be fixed on the lidar window, for example, fixed on the inside of the window. The window can be a flat window or a curved window, and the shape and size of the conductive film 101 can be adapted to the window. The conductive film 101 can cover the surface of the window facing the inside of the lidar, or can cover part of the surface of the window facing the inside of the lidar. In some embodiments, the conductive film 101 can cover at least the part of the surface of the window through which the beam passes. Figure 1

[0087] The conductive film 101 has high electrical conductivity, high visible light transmittance, high mechanical hardness, and good chemical stability. In some embodiments, the conductive film 101, for example, includes an indium-tin oxide (ITO) thin film.

[0088] ​The power supply circuit 102 is coupled to the conductive film 101 and can provide a supply voltage to the conductive film 101 to cause the conductive film 101 to heat the window. The first load switch circuit 103 is coupled between the power supply circuit 102 and the conductive film 101. The controller 104 is coupled to the conductive film 101, the power supply circuit 102, and the first load switch circuit 103 and is configured to control heating of the conductive film 101. In some embodiments, the controller 104 can control the first load switch circuit 103 to turn on, thereby causing the power supply circuit 102 to be in electrical communication with the conductive film 101, the power supply circuit 102 to provide the supply voltage to the conductive film 101, and the conductive film 101 to generate heat to remove fog, ice, snow, or frost from the surface of the lidar window. It should be understood that the heating device can also include a housing, a filter circuit, and other components or circuits.

[0089] Figure 2 A schematic diagram of a heating device 200 for a lidar window is shown in accordance with some other embodiments of the present disclosure. As shown, the heating device 200 includes a conductive film 201, a power supply circuit 202, a first load switch circuit 203, and a controller 204. The conductive film 201 is the same as or similar to the conductive film 101. The power supply circuit 202 includes a switch 2021. The switch 2021 is coupled to the controller 204. The controller 204 controls the switch 2021 to turn on or off to turn on or off heating of the conductive film 201. For example, the controller 204 controls the switch 2021 to turn off, and the conductive film 201 turns on heating. The controller 204 controls the switch 2021 to turn on, and the conductive film 201 turns off heating. Figure 2

[0090] In some embodiments, the switch 2021 includes a field-effect transistor (FET) switch, such as a metal-oxide-semiconductor field-effect transistor (MOSFET), which can include a P-channel metal-oxide-semiconductor field-effect transistor (PMOS) or an N-channel metal-oxide-semiconductor field-effect transistor (NMOS). Alternatively, the switch 2021 can be any other component that can perform an equivalent or similar function, including but not limited to a bipolar junction transistor (BJT), a relay, or a mechanical switch.

[0091] ​In some embodiments, the controller 204 (or control circuit) can include a pulse width modulator, and the switch 2021 can be controlled to be on or off by a PWM signal. The controller 204 can also include a Central Processing Unit (CPU), other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. It is noted that the controller 104 can also include a CPU, other general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc.

[0092] In some embodiments, the power supply circuit 202 includes a boost circuit, such as a boost chopper. When the controller 204 controls the switch 2021 to be off, the power supply circuit 202 converts the input voltage U1 (e.g., 13V, etc.) to a supply voltage U2 (e.g., 30V, etc.). The supply voltage U2 is greater than the input voltage U1 to meet the requirements of the heating function. When the controller 204 controls the switch 2021 to be on, the power supply circuit 202 no longer outputs the supply voltage U2, and stops heating the conductive film 201.

[0093] Figure 3 A schematic diagram of the power supply circuit 202 according to some embodiments of the present disclosure is shown. As shown in FIG. 2, the power supply circuit 202 includes a boost chopper, which includes a switch 2021, an inductor 2022, a diode 2023, and a capacitor 2024. The switch 2021 is controlled by the controller 204 to be on or off. The inductor 2022 is connected to the switch 2021 and the diode 2023. The diode 2023 is connected to the inductor 2022 and the capacitor 2024. The capacitor 2024 is connected to the diode 2023 and the conductive film 201. Figure 2 and Figure 3As shown, the voltage input end Vin of the power supply circuit 202 is connected to a power supply (for example, a low-voltage power supply), and the voltage output end Vout can be connected to the first load switch circuit 203. The inductor L and the diode D are connected in series, and the switch 2021 is connected in parallel with the capacitor C and the diode D. The controller 204 controls the conduction or disconnection of the switch 2021 through a PWM signal. When the switch 2021 is turned on, the power supply forms a loop via the inductor L-switch 2021, the input voltage U1 flows through the inductor L, the inductor L is charged, the inductor L stores energy, and the voltage output end Vout outputs a voltage close to zero. The diode D prevents the capacitor C from discharging to ground. When the switch 2021 is turned off, the inductor L maintains the current flowing through it, thereby releasing energy, the current flows in the direction from left to right through the inductor L, forms a loop via the diode D and the capacitor C, thereby charging the capacitor C, the voltage across the capacitor C rises, higher than the input voltage U1, thereby achieving conversion of the input voltage U1 to the supply voltage U2. Through the above process, the supply voltage U2 is provided at the voltage output end Vout. It should be noted that, Figure 3 The boost chopper circuit is exemplarily shown as an example of the power supply circuit 202, but the present disclosure is not limited thereto, and the power supply circuit 202 can also include other similar boost circuits, which can be set according to requirements in actual applications. It should be understood that, Figure 1 The power supply circuit 102 in the embodiment can also be a boost circuit.

[0094] In some embodiments, the switch 2021 is, for example, a PMOS transistor, the source S is connected to the inductor L and the anode of the diode D, the drain D is connected to ground, and the gate G is connected to the controller 204.

[0095] In the above embodiment, when the switch 2021 is turned off, the conductive film 201 starts heating; when the switch 2021 is turned on, the conductive film 201 stops heating. Those skilled in the art will readily understand that the opposite design can also be made, i.e., when the switch 2021 is turned off, the conductive film 201 stops heating; when the switch 2021 is turned on, the conductive film 201 starts heating.

[0096] Figure 4 A working flow diagram of the heating device of the laser radar window according to some embodiments of the present disclosure is shown. As shown, Figure 4 The working flow includes operations S11-S15, which can be performed by the controller 104 or the controller 204.

[0097] In operation S11, the controller 204 controls the switch 2021 to be turned off to start heating of the conductive film 201.

[0098] In operation S12, the controller 204 collects the first current I1 and the supply voltage U2 of the first load switch circuit 203.

[0099] Figure 5 A partial circuit schematic diagram of the heating device is shown according to some embodiments of the present disclosure. As shown, the first load switch circuit 203 includes a voltage input pin VIN, a voltage output pin OUT, a ground pin GND, an enable pin EN, and a current sampling pin FT-CS. The voltage input pin VIN is connected to the output Vout of the power supply circuit 202. The enable pin EN and the current sampling pin FT-CS are connected to the controller 204. The controller 204 controls the enable or disable of the first load switch circuit 203 through the enable pin EN. The controller 204 collects the first current I1 through the current sampling pin FT-CS. The controller 204 collects the supply voltage U2 through the voltage output Vout of the power supply circuit 202. The first current I1 can represent the current flowing through the first load switch circuit 203 and the conductive film 201. It is noted that the first load switch circuit 103 is the same as or similar to the first load switch circuit 203. Figures 2 to 5 At operation S13, the controller 204 stops the heating of the conductive film 201. For example, the controller 204 controls the switch 2021 to be turned on to stop the heating of the conductive film 201.

[0100] At operation S14, the controller 204 determines the resistance value R of the conductive film 201 based on the first current I1 and the supply voltage U2. For example, the resistance value R of the conductive film 201 is U2 / I1.

[0101] At operation S15, the controller 204 controls the heating of the conductive film 201 to be turned on or stopped based on the resistance value R of the conductive film 201.

[0102] Figure 6 A flowchart of operation S15 is shown according to some embodiments of the present disclosure. As shown, operation S15 includes sub-operations S151-S153. The sub-operations S151-S153 can be performed by the controller 204. At sub-operation S151, the controller 204 determines whether the resistance value R is within a preset resistance range. When the resistance value R is within the preset resistance range, the controller 204 performs sub-operation S152 to control the heating of the conductive film 201 to be turned on. When the resistance value R is not within the preset resistance range, the controller 204 performs sub-operation S153 to control the heating of the conductive film 201 to be stopped. The preset resistance range is, for example, 60-200Ω, but the present disclosure is not limited thereto. The preset resistance range can also be 10-1000Ω, 10-800Ω, 20-800Ω, 30-800Ω, 30-700Ω, 50-800Ω, 50-600Ω, 50-500Ω, 50-400Ω, 50-300Ω, or 50-200Ω, etc. It is noted that operation S15 and its sub-operations S151-S153 can also be performed by the controller 104. Figure 6 ​​

[0103] In some embodiments, before performing the heating procedure (operations S11-S15), the controller can further perform a self-checking operation to detect whether the lidar has the window heating function. For example, the controller or the memory can be built-in with corresponding program instructions to detect whether the lidar has the window heating function through the program instructions. The controller can be the controller 104 or the controller 204, or other controllers, including but not limited to a vehicle-mounted controller, a remote controller, etc.

[0104] In some embodiments, the memory can include a random access memory (RAM) and can also include a non-volatile memory. Further, the memory can include at least one of a phase-change random access memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a read-only memory (ROM), and an electrically erasable programmable read-only memory (EEPROM).

[0105] In some embodiments, the heating device 200 further includes a temperature sensor 205. As shown, the temperature sensor 205 is coupled to the controller 204. The temperature sensor 205 can measure the temperature T of the lidar. It should be noted that the temperature T should be understood in a broad sense, which can be the temperature of the lidar itself or the ambient temperature where the heating device is located. The temperature of the lidar itself can be the temperature of any component in the lidar, which can be at least one of a mechanical part, a circuit board, and an optical part. Figure 2

[0106] In some embodiments, the controller 204 can perform operation S16. Figure 7 A flowchart of operation S16 according to some embodiments of the present disclosure is shown. As shown, operation S16 includes sub-operations S161-S164. Figure 7

[0107] In sub-operation S161, the controller 204 collects the temperature T of the lidar. That is, the measurement data of the temperature sensor 205 is collected.

[0108] ​​In sub-operation S162, controller 204 determines whether temperature T is within a preset temperature range. When temperature T is within the preset temperature range, controller 204 executes sub-operation S163 to control the heating of conductive film 201 to start. When temperature T is not within the preset temperature range, controller 204 executes sub-operation S163 to control the heating of conductive film 201 to stop.

[0109] In some embodiments, the preset temperature range can be -20 to +50°C. In other embodiments, the preset temperature range can also be -55 to +65°C, -50 to +60°C, -40 to +55°C, or -40 to +85°C. When the temperature T is within the preset temperature range, the controller 204 controls the heating of the conductive film 201, which is beneficial for achieving excellent window heating effect, melting fog, ice, snow, or frost on the window surface, and ensuring that the detection beam and echo beam of the lidar can pass through the window, thereby improving the adaptability and reliability of the lidar. When the temperature T is not within the preset temperature range, for example, when the temperature T is below -20°C, it indicates that the temperature is too low, and controlling the heating of the conductive film 201 to melt the fog, ice, snow, or frost on the window surface is unlikely to achieve good results. The controller 204 can control the heating of the conductive film 201 to stop, so as to reduce power consumption. For example, when the temperature T is higher than +50℃, it indicates that the temperature is too high, and ice, snow, fog, or frost are unlikely to appear on the surface of the window. The controller 204 can control the heating of the conductive film 201 to be stopped in order to reduce power consumption.

[0110] Figure 8 A schematic diagram of a heating device 300 according to some embodiments of the present disclosure is shown. Figure 8 As shown, the heating device 300 includes a conductive film 301, a power supply circuit 302, a first load switching circuit 303, a controller 304, and a second load switching circuit 305. The second load switching circuit 305 is coupled between the power supply circuit 302 and the conductive film 301. For example, the second load switching circuit 305 is coupled between the first switching circuit 303 and the conductive film 301. The second load switching circuit 305 is also coupled to the controller 304. The second load switching circuit 305 is controlled by the controller 304 and can be used for current monitoring and overcurrent protection to ensure the safe use of the heating circuit.

[0111] It should be noted that, Figure 8 The conductive film 301 in Figure 1 The conductive film 101 in the circuit is the same as or similar to that in the circuit. The power supply circuit 302 includes a switch 3021. Figure 8 The power supply circuit 302, switch 3021, first load switch circuit 303, and controller 304 are respectively connected to... Figure 2 The power supply circuit 202, the aforementioned switch 2021, the first load switch circuit 203, and the controller 204 are the same as or similar.

[0112] Figure 9 A partial circuit schematic of a heating device is shown according to some embodiments of the present disclosure. As shown, the second load switch circuit 305 includes a voltage input pin VIN, a voltage output pin OUT, a ground pin GND, an enable pin EN, a current sampling pin FT-CS. In some embodiments, the second load switch circuit 305 further includes an overcurrent protection pin ILIM. The voltage input pin VIN of the second load switch circuit 305 can be coupled to the voltage output pin OUT of the first load switch circuit 303, and the voltage output pin OUT of the second load switch circuit 305 can be coupled to the conductive film 301. The enable pin EN, the current sampling pin FT-CS, and the overcurrent protection pin ILIM of the second load switch circuit 305 are coupled to the controller 304. Figures 8 to 9

[0113] In some embodiments, the controller 304 can perform operation S17. Figure 10 A flowchart of operation S17 is shown according to some embodiments of the present disclosure. As shown, operation S17 includes sub-operations S171-S174. Figure 10

[0114] At operation S171, the controller 304 collects the second current I2 of the second load switch circuit 305. Specifically, the controller 304 collects the second current I2 through the current sampling pin FT-CS of the second load switch circuit 305 for current monitoring.

[0115] At operation S172, the controller 304 determines whether the second current I2 exceeds a preset current range. When the second current I2 exceeds the preset current range, the controller 304 performs sub-operation S173 to control to stop heating of the conductive film 301 to avoid excessive current from damaging the heating device or the lidar. When the second current I2 does not exceed the preset current range, the second current I2 is within a safe current range, and the controller 304 performs sub-operation S174 to maintain heating of the conductive film 301. In other embodiments, when the second current I2 does not exceed the preset current range, the controller 304 can not operate.

[0116] In some embodiments, the preset current range is less than 1A, i.e., 0-1A. Further, the preset current range can be 0-0.8A, 0-1.7A, or 0-0.6A, etc.

[0117] In some embodiments, the overcurrent protection pin ILIM can limit the current flowing through the second load switch circuit 305, i.e., limit the upper limit Ilim of the second current I2, for example, limit to 1A or 0.8A, to achieve overcurrent protection and ensure the reliability of the heating device and the lidar.​​

[0118] The heating device disclosed herein can heat the lidar window, melting fog, ice, snow, or frost on the window surface, allowing the detection beam and echo beam to pass through the window, thereby improving the adaptability and reliability of the lidar.

[0119] This disclosure also provides a lidar. Figure 11 A schematic diagram of a lidar 400 according to some embodiments of the present disclosure is shown. Figure 11 As shown, the lidar 400 includes a transmitter plate TX, a receiver plate RX, a window 440, and a heating device 100, 200, or 300. The transmitter is mounted on the transmitter plate TX and emits a probe beam. The detector is mounted on the receiver plate RX and receives the echo beam reflected from an object. The window 440 is adapted to allow both the probe beam and the echo beam to pass through. The conductive film 101, 201, or 301 of the heating device 100, 200, or 300 is fixed to the window 440. It should be understood that the heating device may also include other components such as a housing.

[0120] In some other embodiments, the transmitter board TX can be a circuit board, a chip, etc., and the receiver board RX can be a circuit board, a chip, etc. In some other embodiments, the transmitter board TX and the receiver board RX can be integrated into the same board.

[0121] In some embodiments, one or more lasers (not shown) may be disposed on the emitter board TX, and the multiple lasers may be arranged in a one-dimensional array or a two-dimensional array. The lasers include one or more types such as vertical-cavity surface-emitting lasers (VCSELs) and edge-emitting lasers (EELs).

[0122] In some embodiments, one or more detectors (not shown) may be disposed on the receiver board RX, and the multiple detectors may be arranged in a one-dimensional array or a two-dimensional array. The detectors include one or more of the following: single-photon avalanche diode (SPAD), silicon photomultiplier (SiPM), avalanche photodiode (APD).

[0123] In some embodiments, the transmitter and the receiver can be coupled to the controller 104, 204 or 304, controlled by the controller 104, 204 or 304 (or control circuit). That is, the transmitter and the receiver can share the same controller with the heating device to improve the integration of the lidar and achieve a miniaturized design. In other embodiments, the transmitter and the receiver can also be coupled to another controller (or control circuit). That is, the transmitter and the receiver can use separate controllers with the heating device to facilitate the functional design of the lidar. These are all within the protection scope of the present disclosure, and in actual applications, they can be determined according to the needs.

[0124] The lidar of the present disclosure can heat the window, melt the fog, ice, snow or frost on the surface of the window, so that the probe beam and the return beam can pass through the window, adapt to the detection requirements in cold environments, and improve the adaptability and reliability of the lidar.

[0125] The present disclosure also provides a heating control method 500 for a lidar window. The lidar includes the heating device 100, 200 or 300 for a lidar window as described above, and can be the lidar 400 described above. Figure 12 A schematic diagram of the heating control method 500 according to some embodiments of the present disclosure is shown. As shown in the figure, the heating control method 500 includes operations S510-S560. The heating control method 500 can be performed by the controller 104, 204 or 304, or by other controllers. Other controllers include but are not limited to vehicle-mounted controllers, remote controllers, etc. Figure 12

[0126] In operation S510, the controller controls to start heating the conductive film.

[0127] In operation S520, the controller collects the first current I1 of the first load switch circuit.

[0128] In operation S530, the controller collects the power supply voltage U2 of the conductive film.

[0129] In operation S540, the controller controls to stop heating.

[0130] In operation S550, the controller determines the resistance value R of the conductive film based on the first current I1 and the power supply voltage U2.

[0131] In operation S560, the controller controls to start or stop heating the conductive film based on the resistance value R.

[0132] ​In some embodiments, the power supply circuit of the heating device includes a switch, and the operation of controlling the heating of the conductive film (i.e., operation S510) includes: the controller controls the switch to open, and the conductive film starts heating; the controller controls the switch to close, and the conductive film stops heating. This operation can be performed by the controller 204.

[0133] Figure 13 A flowchart of operation S560 according to some embodiments of the present disclosure is shown. Figure 13 As shown, operation S560 (i.e., controlling the on or off heating of the conductive film) includes sub-operations S5601 to S5603, which can be executed by controllers 104, 204, or 304. In sub-operation S5601, the controller determines whether the resistance value R is within a preset resistance range. When the resistance value R is within the preset resistance range, the controller executes sub-operation S5602 to control the on / off heating of the conductive film. When the resistance value R is not within the preset resistance range, the controller executes sub-operation S5603 to control the off / off heating of the conductive film. It should be noted that operation S560 and its sub-operations S5601 to S5603 are the same as or similar to the aforementioned operation S15 and its sub-operations S151 to S153, and will not be described again here.

[0134] In some embodiments, the heating control method 500 further includes operation S570. Figure 14 A flowchart of operation S570 according to some embodiments of the present disclosure is shown. Figure 14 As shown, operation S570 includes sub-operations S5701 to S5704, which can be executed by controller 204. Sub-operation S5701 involves controller 204 acquiring the temperature T of the lidar. Sub-operation S5702 involves controller 204 determining whether temperature T is within a preset temperature range. When temperature T is within the preset temperature range, controller 204 executes sub-operation S5703, controlling the heating of the conductive film to begin. When temperature T is outside the preset temperature range, controller 204 executes sub-operation S5704, controlling the heating of the conductive film to stop. It should be noted that operation S570 and its sub-operations S5701 to S5704 are the same as or similar to the aforementioned operation S16 and its sub-operations S161 to S164, and will not be described again here.

[0135] In some embodiments, the heating control method 500 further includes operation S580. Figure 15 A flowchart of operation S580 according to some embodiments of the present disclosure is shown. Figure 15As shown, operation S580 includes sub-operations S5801-S5804, and operation S580 and its sub-operations S5801-S5804 can be performed by controller 304. In sub-operation S5801, controller 304 collects the second current I2 of second load switch circuit 305. In sub-operation S5802, controller 304 determines whether the second current I2 is within a preset current range. When the second current I2 exceeds the preset current range, controller 304 performs sub-operation S5803 to control to stop heating the conductive film. When the second current I2 does not exceed the preset current range, controller 304 performs sub-operation S5804 to control to maintain heating the conductive film. It should be noted that operation S580 and its sub-operations S5801-S5804 are the same as or similar to the aforementioned operation S17 and its sub-operations S171-S174, and will not be described here again. In some other embodiments, when the second current I2 does not exceed the preset current range, controller 304 can not operate.

[0136] The heating control method of the present disclosure can heat the laser radar window by using the above-mentioned heating device, melt the fog, ice, snow, or frost on the surface of the window, so that the probe light beam and the return light beam can penetrate the window, adapt to the detection requirements in cold environments, and improve the adaptability and reliability of the laser radar.

[0137] The present disclosure also provides a computer-readable storage medium. The computer-readable storage medium includes computer-executable instructions stored thereon, which, when executed by a processor, implement the heating control method 500 and its operations and sub-operations as described above.

[0138] The present disclosure can take the form of a computer program product embodied in one or more storage media having stored thereon program code. The computer-usable storage media include permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital video disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0139] In some embodiments, the processor (or processing circuitry) can include a CPU, and can also include other general purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the like.

[0140] The present disclosure also provides a vehicle. Figure 16 A schematic diagram of a vehicle 600 according to some embodiments of the present disclosure is shown. As shown, the vehicle 600 includes the lidar 400 as described above, which includes the heating device 100, 200 or 300. It should be understood that the vehicle 600 can include a vehicle body, actuators, a display screen, and other components. The lidar 400 can be installed at any position on the vehicle 600, including but not limited to the front, the rear, the roof, the side, the bottom, the windshield, the light, and the like. Figure 16

[0141] In the present disclosure, the vehicle 600 should be understood in a broad sense and can include a device carrying the lidar 400, including but not limited to a car, an autonomous vehicle, a truck, a van, an electric vehicle, a bus, a train, a high-speed train, a motorcycle, a golf cart, an off-road vehicle, an agricultural vehicle, an engineering vehicle, or any other vehicle (e.g., a robot, a logistics vehicle, a delivery robot, a luggage, a trolley, a ship, an airplane, a helicopter, a drone, a lawnmower, a submarine, an amusement park device or vehicle, a warehouse device or vehicle, a production device, and the like).

[0142] In some embodiments, the vehicle can include a vehicle controller. The operation of the heating device 100, 200 or 300, the operation of the lidar 400, the operation of the heating control method 500 can be performed by the vehicle controller.

[0143] In some embodiments, a user can interact with the vehicle through an electronic device to control the operation of the heating device 100, 200 or 300, the operation of the lidar 400, the operation of the heating control method 500. The electronic device includes but is not limited to a mobile phone, a tablet computer, a notebook computer, a desktop computer, a wearable device, and the like.

[0144] The vehicle of the present disclosure can heat the view window through the heating device of the lidar, can melt the fog, ice, snow, or frost on the surface of the view window, so that the probe beam and the return beam can penetrate the view window, adapt to the detection requirements in cold environments, and improve the adaptability and reliability of the lidar, which is conducive to improving the driving safety of the vehicle and the experience of the driver and the passenger.

[0145] It should be noted that the technical features of the heating device of the lidar view window, the heating control method of the lidar view window, the lidar, the vehicle, and the computer readable storage medium of the present disclosure can be mutually applied or combined.

[0146] ​It should be noted that, although several modules of the lidar or heating device are mentioned in the foregoing detailed description, such a division is merely not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided into being embodied by a plurality of modules.

[0147] It should be noted that the method operations described in the embodiments or flowcharts herein are provided for illustration purposes and can include more or fewer operations than those listed in the embodiments. The order in which the operations are listed in the embodiments is merely one of many possible execution sequences, and does not represent the only execution sequence. In actual system or device product execution, the method sequence shown in the embodiments or flowcharts can be executed in sequence or in parallel.

[0148] Finally, it should be noted that: the above only describes the embodiments of the present disclosure, and does not limit the present disclosure. Although the foregoing embodiments of the present disclosure are described in detail, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A heating device for a lidar window, characterized in that, include: A conductive film, suitable for fixing onto the lidar window; A power supply circuit is coupled to the conductive film and configured to provide a power supply voltage to the conductive film; A first load switching circuit is coupled between the power supply circuit and the conductive film; and The controller is coupled to the conductive film, the power supply circuit and the first load switch circuit, and configured to control the heating of the conductive film.

2. The heating device for the lidar window according to claim 1, characterized in that, The power supply circuit includes a switch, and the controller is configured to control the switch to turn on or off to turn on or off the heating of the conductive film.

3. The heating device for the lidar window according to claim 2, characterized in that, The controller is configured to: control the switch to open, so that the conductive film can start heating; control the switch to close, so that the conductive film can stop heating.

4. The heating device for the lidar window according to claim 2 or 3, characterized in that, The controller is configured to: control the switch to open, and the power supply circuit to convert the input voltage into the supply voltage.

5. The heating device for the lidar window according to claim 4, characterized in that, The controller is configured to: The switch is turned off to turn on the heating. Collect the first current and the supply voltage of the first load switching circuit; Stop the heating; The resistance value of the conductive film is determined based on the first current and the supply voltage. Based on the resistance value, the heating of the conductive film can be controlled to be turned on or off.

6. The heating device for the lidar window according to claim 5, characterized in that, The controller is configured to: Determine whether the resistance value is within the preset resistance range; When the resistance value is within the preset resistance range, the heating of the conductive film is controlled to be turned on.

7. The heating device for the lidar window according to claim 5, characterized in that, Also includes: A temperature sensor, coupled to the controller, and configured to measure the temperature of the lidar; the controller is configured to: The temperature of the lidar is collected; Determine whether the temperature is within the preset temperature range; When the temperature is within the preset temperature range, the heating of the conductive film is activated.

8. The heating device for the lidar window according to claim 1, characterized in that, Also includes: A second load switching circuit is coupled between the power supply circuit and the conductive film.

9. The heating device for the lidar window according to claim 8, characterized in that, The controller is configured to: Collect the second current of the second load switching circuit; Determine whether the second current exceeds the preset current range; When the second current exceeds the preset current range, the heating of the conductive film is stopped.

10. The heating device for the lidar window according to claim 6, characterized in that, The preset resistance range is 60 to 200 Ω.

11. The heating device for the lidar window according to claim 7, characterized in that, The preset temperature range is -20 to +50℃.

12. The heating device for the lidar window according to claim 9, characterized in that, The preset current range is less than 1A.

13. The heating device for the lidar window according to claim 12, characterized in that, The preset current range is 0.6 to 0.8 A.

14. A lidar, characterized in that, include: The transmitter is configured to emit a probe beam; A receiver configured to receive the echo beam of the probe beam reflected by the object; A viewing window adapted to allow the detection beam and the echo beam to pass through; and The heating device for the lidar window as described in any one of claims 1-13, wherein the conductive film of the heating device is fixed on the window.

15. A heating control method for a lidar window, characterized in that, The lidar includes a heating device for the lidar window as described in any one of claims 1-13, and the heating control method includes: Control the activation of heating of the conductive film; Collect the first current of the first load switching circuit; The power supply voltage of the conductive film is collected; Control to stop the heating; Based on the first current and the supply voltage, the resistance value of the conductive film is determined; and Based on the resistance value, the heating of the conductive film can be controlled to be turned on or off.

16. The heating control method according to claim 15, characterized in that, The power circuit of the heating device includes a switch, and the operation of controlling the heating of the conductive film includes: controlling the switch to open, so that the conductive film can start heating; controlling the switch to close, so that the conductive film can stop heating.

17. The heating control method according to claim 15, characterized in that, The operation of controlling the heating of the conductive film to be turned on or off includes: Determine whether the resistance value is within the preset resistance range; When the resistance value is within the preset resistance range, the heating of the conductive film is controlled to be turned on.

18. The heating control method according to any one of claims 15-17, characterized in that, Also includes: The temperature of the lidar is collected; Determine whether the temperature is within the preset temperature range; When the temperature is within the preset temperature range, the heating of the conductive film is activated.

19. The heating control method according to any one of claims 15-17, characterized in that, Also includes: Collect the second current of the second load switching circuit; Determine whether the second current exceeds the preset current range; When the second current exceeds the preset current range, the heating of the conductive film is stopped.

20. A computer-readable storage medium, characterized in that, It includes computer-executable instructions stored thereon, which, when executed by a processor, implement the heating control method as described in any one of claims 15-19.

21. A vehicle, characterized in that, Including the lidar as described in claim 14.

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