Heating device of laser radar window, laser radar and vehicle

Abstract

The utility model provides a heating device of a laser radar window, a laser radar and a vehicle. 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 utility model 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 lidar, and particularly to a heating device for a lidar window, a lidar, and a vehicle. Background Art

[0002] Lidar is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting laser beams, and is an advanced detection method that combines laser technology with optoelectronic detection technology. Due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good low-altitude detection performance, small size, and light weight, lidar is widely used in fields such as autonomous driving, traffic communication, unmanned aerial vehicles, intelligent robots, and resource exploration.

[0003] The lidar window is suitable for transmitting detection beams and echo beams. However, in a cold environment, the surface of the window freezes, snows, or frosts, making it difficult for the lidar to perform effective ranging. How to make the lidar adapt to the detection requirements in a cold environment is a technical problem that urgently needs to be solved in this field.

[0004] The content in the background art section is only the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Utility Model

[0005] In view of one or more of the problems existing in the prior art, the present disclosure provides a heating device for a lidar window, including:

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

[0007] A power supply circuit coupled to the conductive film and configured to provide a 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 the heating of the conductive film.

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

[0011] Optionally, the controller is configured to: control the switch to disconnect, and the conductive film starts heating; control the switch to conduct, and the conductive film stops heating.

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

[0013] Optionally, the controller is configured to:

[0014] Control the switch to disconnect to turn on the heating;

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

[0016] Stop the heating;

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

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

[0019] Optionally, the controller is configured to:

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

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

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

[0023] Collect the temperature of the lidar;

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

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

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

[0027] Optionally, the controller is configured to:

[0028] Collect the second current of the second load switch circuit;

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

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

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

[0032] Optionally, the preset temperature range is -20 to +50 °C.

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

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

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

[0036] a transmitter configured to emit a detection beam;

[0037] a receiver configured to receive an echo beam reflected by an object from the detection beam;

[0038] a window adapted to transmit the detection beam and the echo beam; and

[0039] a heating device for the lidar window as described above, wherein a conductive film of the heating device is fixed on the window.

[0040] The present disclosure also provides a vehicle comprising the lidar as described above.

[0041] The heating device of the present disclosure can heat the lidar window, melt fog, ice, snow, or frost on the window surface, so that the detection beam and the echo beam can pass through the window, enabling the lidar to adapt to the detection requirements in cold environments and improving the adaptability and reliability of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure. In the drawings:

[0043] Figure 1 Schematic diagrams of heating devices for lidar windows according to some embodiments of the present disclosure are shown.

[0044] Figure 2 Schematic diagrams of heating devices for lidar windows according to other embodiments of the present disclosure are shown.

[0045] Figure 3 Schematic diagrams of power circuits according to some embodiments of the present disclosure are shown.

[0046] Figure 4 Schematic diagrams of the working processes of heating devices for lidar windows according to some embodiments of the present disclosure are shown.

[0047] Figure 5 Schematic diagrams of partial circuits of heating devices according to some embodiments of the present disclosure are shown.

[0048] Figure 6 Flowcharts of operation S15 according to some embodiments of the present disclosure are shown.

[0049] Figure 7 A flowchart of operation S16 according to some embodiments of the present disclosure is shown.

[0050] Figure 8 A schematic diagram of a heating device according to some other embodiments of the present disclosure is shown.

[0051] Figure 9 A partial circuit schematic diagram of a heating device according to some other embodiments of the present disclosure is shown.

[0052] Figure 10 A flowchart of operation S17 according to some embodiments of the present disclosure is shown.

[0053] Figure 11 A schematic diagram of a lidar according to some embodiments of the present disclosure is shown.

[0054] Figure 12 A schematic diagram of a heating control method according to some embodiments of the present disclosure is shown.

[0055] Figure 13 A flowchart of operation S560 according to some embodiments of the present disclosure is shown.

[0056] Figure 14 A flowchart of operation S570 according to some embodiments of the present disclosure is shown.

[0057] Figure 15 A flowchart of operation S580 according to some embodiments of the present disclosure is shown.

[0058] Figure 16 A schematic diagram of a vehicle according to some embodiments of the present disclosure is shown. Detailed Description of Specific Embodiments

[0059] In the following, only some exemplary embodiments are briefly 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 present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature and not restrictive.

[0060] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present disclosure, "a plurality" means two or more, unless otherwise specifically defined.

[0061] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection that allows mutual communication; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0062] In the present disclosure, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but are in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0063] Numerous different embodiments or examples are provided below to implement the different structures of the present disclosure. To simplify the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0064] Embodiments of the present disclosure will be described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the purpose of illustrating and explaining the present disclosure and are not intended to limit the present disclosure.

[0065] The present 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 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 present disclosure can heat the lidar window, melt the fog, ice, snow, or frost on the surface of the window, so that the detection beam and the echo beam can pass through the window, enabling the lidar to adapt to the detection requirements in a cold environment and improving the adaptability and reliability of the lidar. The following is a specific introduction.

[0066] Figure 1 A schematic diagram of a heating device 100 for a lidar window according to some embodiments of the present disclosure is shown. As Figure 1 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 inner side of the window. The window can be a planar 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 a part of the surface of the window facing the inside of the lidar. In some embodiments, the conductive film 101 can at least cover the part of the surface of the window where the beam passes through.

[0067] The conductive film 101 has high conductivity, high visible light transmittance, high mechanical hardness, and good chemical stability. In some embodiments, the conductive film 101 includes, for example, an indium tin oxide (ITO) thin film.

[0068] The power supply circuit 102 is coupled to the conductive film 101, and can provide a power supply voltage to the conductive film 101 to heat the conductive film 101 for heating 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 the heating of the conductive film 101. In some embodiments, the controller 104 can control the first load switch circuit 103 to turn on, so that the power supply circuit 102 is electrically connected to the conductive film 101, the power supply circuit 102 provides a power supply voltage to the conductive film 101, and the conductive film 101 generates heat to remove fog, ice, snow, or frost on the surface of the lidar window. It should be understood that the heating device may further include other components or circuits such as a housing and a filter circuit.

[0069] Figure 2 FIG. shows a schematic diagram of a heating device 200 for a lidar window according to some other embodiments of the present disclosure. As Figure 2 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 conduction or disconnection of the switch 2021 to turn on or stop the heating of the conductive film 201. For example, when the controller 204 controls the switch 2021 to disconnect, the conductive film 201 starts heating. When the controller 204 controls the switch 2021 to conduct, the conductive film 201 stops heating.

[0070] In some embodiments, the switch 2021 includes a Field-Effect Transistor (FET) switch. For example, a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET), and the MOSFET may 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 may also be any other component that can perform the same or similar function, including but not limited to a Bipolar Junction Transistor (BJT), a RELAY, or a mechanical switch and other switching devices.

[0071] In some embodiments, the controller 204 (or control circuit) may include a pulse width modulator, and can control the conduction or disconnection of the switch 2021 through a PWM signal. The controller 204 may further include a central processing unit (CPU), other general-purpose processors, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It should be noted that the controller 104 may also include a CPU, other general-purpose processors, a DSP, an ASIC, an FPGA, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0072] In some embodiments, the power supply circuit 202 includes a boost circuit, such as a boost chopper circuit. When the controller 204 controls the switch 2021 to disconnect, the power supply circuit 202 converts the input voltage U1 (e.g., 13V, etc.) into 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 conduct, the power supply circuit 202 no longer outputs the supply voltage U2 and stops heating the conductive film 201.

[0073] Figure 3 The schematic diagram of the power supply circuit 202 according to some embodiments of the present disclosure is shown. As Figure 2 and Figure 3As shown, the voltage input terminal Vin of the power supply circuit 202 is connected to a power supply (such as a low-voltage power supply), and the voltage output terminal 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 conducting, the power supply forms a loop via the inductor L - switch 2021, the input voltage U1 flows through the inductor L, charges the inductor L, the inductor L stores energy, and the voltage output at the voltage output terminal Vout approaches zero. The diode D prevents the capacitor C from discharging to the ground. When the switch 2021 is disconnected, the inductor L maintains the current passing through it, thereby releasing energy. The current flows through the inductor L in the direction from left to right, forms a loop via the diode D and the capacitor C, thereby charging the capacitor C, and the voltage across the capacitor C rises and is higher than the input voltage U1, thus realizing the conversion of the input voltage U1 into the supply voltage U2. Through the above process, the supply voltage U2 is provided at the voltage output terminal Vout. It should be noted that, Figure 3 An example of a boost chopper circuit is exemplarily shown as an example of the power supply circuit 202, but the present disclosure is not limited thereto. The power supply circuit 202 may also include other similar boost circuits, and in practical applications, it can be set according to requirements. It should be understood that, Figure 1 The power supply circuit 102 in the embodiment can also be a boost circuit.

[0074] In some embodiments, the switch 2021 is, for example, a PMOS transistor, the source S is connected to the inductor L and the positive electrode of the diode D, the drain D is grounded, and the gate G is connected to the controller 204.

[0075] In the above embodiment, when the switch 2021 is disconnected, the conductive film 201 starts heating; when the switch 2021 is conducting, the conductive film 201 stops heating. Those skilled in the art can easily understand that the opposite design can also be made, that is, when the switch 2021 is disconnected, the conductive film 201 stops heating; when the switch 2021 is conducting, the conductive film 201 starts heating.

[0076] Figure 4 Shows a schematic diagram of the working process of the heating device for the lidar window according to some embodiments of the present disclosure. As Figure 4 shown, the working process includes operations S11 - S15, and the operations S11 - S15 can be executed by the controller 104 or the controller 204.

[0077] In operation S11, the controller 204 controls the switch 2021 to disconnect to start the heating of the conductive film 201.

[0078] In operation S12, the controller 204 acquires the first current I1 and the supply voltage U2 of the first load switch circuit 203.

[0079] Figure 5 shows a partial circuit schematic diagram of a heating device according to some embodiments of the present disclosure. As Figures 2 to 5 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 terminal 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 enabling or disabling 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 terminal Vout of the power supply circuit 202. Wherein the first current I1 can represent the current flowing through the first load switch circuit 203 and the conductive film 201. It should be noted that the first load switch circuit 103 is the same as or similar to the first load switch circuit 203.

[0080] In operation S13, the controller 204 stops heating the conductive film 201. For example, the controller 204 controls the switch 2021 to conduct to stop heating the conductive film 201.

[0081] In 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 = U2 / I1.

[0082] In operation S15, the controller 204 controls the heating of the conductive film 201 to be turned on or off based on the resistance value R of the conductive film 201. Figure 6 shows a flowchart of operation S15 according to some embodiments of the present disclosure. As Figure 6 shown, operation S15 includes sub-operations S151 to S153. The sub-operations S151 to S153 can be executed by the controller 204. In 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 executes 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 executes 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 ranges such as 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 should be noted that operation S15 and its sub-operations S151 to S153 can also be executed by the controller 104.

[0083] In some embodiments, before executing the heating process (operations S11 - S15), the controller may also perform a self-check operation to detect whether the lidar has a window heating function. For example, corresponding program instructions may be built into the controller or the memory, and the program instructions are used to detect whether the lidar has a window heating function. The controller may be controller 104 or controller 204, or may be other controllers, and other controllers include but are not limited to vehicle-mounted controllers, remote controllers, etc.

[0084] In some embodiments, the memory may include a random access memory (RAM), and may also include a non-volatile memory. Further, the memory may 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).

[0085] In some embodiments, the heating device 200 further includes a temperature sensor 205. As Figure 2 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, and can be either 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 inside the lidar, and the component can be at least one of a mechanical component, a circuit board, and an optical component.

[0086] In some embodiments, the controller 204 may execute operation S16. Figure 7 The flowchart of operation S16 according to some embodiments of the present disclosure is shown. As Figure 7 shown, operation S16 includes sub-operations S161 - S164.

[0087] 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.

[0088] In sub-operation S162, the controller 204 determines whether the temperature T is within a preset temperature range. When the temperature T is within the preset temperature range, the controller 204 performs sub-operation S163 to control the heating of the conductive film 201 to be turned on. When the temperature T is not within the preset temperature range, the controller 204 performs sub-operation S163 to control the heating of the conductive film 201 to be stopped.

[0089] In some embodiments, the preset temperature range may be -20 to +50 °C. In some other embodiments, the preset temperature range may also be -55 to +65 °C, -50 to +60 °C, -40 to +55 °C, or -40 to 85 °C, etc. When the temperature T is within the preset temperature range, the controller 204 controls the heating of the conductive film 201 to be turned on, which is beneficial to achieving an excellent window heating effect, melting the fog, ice, snow, or frost on the window surface, 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 lower than -20 °C, it indicates that the temperature is too low, and it is difficult to achieve a good effect by controlling the heating of the conductive film 201 to melt the fog, ice, snow, or frost on the window surface. The controller 204 can control the heating of the conductive film 201 to be stopped to reduce power consumption. Another example is when the temperature T is higher than +50 °C, which indicates that the temperature is too high, and it is not easy for ice, snow, fog, or frost to appear on the window surface. The controller 204 can control the heating of the conductive film 201 to be stopped to reduce power consumption.

[0090] Figure 8 The schematic diagram of a heating device 300 according to some other embodiments of the present disclosure is shown. As Figure 8 shown, the heating device 300 includes a conductive film 301, a power supply circuit 302, a first load switch circuit 303, a controller 304, and a second load switch circuit 305. The second load switch circuit 305 is coupled between the power supply circuit 302 and the conductive film 301. For example, the second load switch circuit 305 is coupled between the first switch circuit 303 and the conductive film 301. The second load switch circuit 305 is also coupled to the controller 304. The second load switch 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.

[0091] It should be noted that Figure 8 the conductive film 301 in Figure 1 is the same as or similar to the conductive film 101 in Figure 8 The power supply circuit 302, switch 3021, first load switch circuit 303, and controller 304 in Figure 2 are the same as or similar to the power supply circuit 202, the aforementioned switch 2021, first load switch circuit 203, and controller 204 in

[0092] Figure 9 Shows a partial circuit schematic diagram of a heating device according to other embodiments of the present disclosure. As Figures 8 to 9 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, and 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.

[0093] In some embodiments, the controller 304 can perform operation S17. Figure 10 Shows a flowchart of operation S17 according to some embodiments of the present disclosure. As Figure 10 shown, operation S17 includes sub-operations S171 to S174.

[0094] In operation S171, the controller 304 samples the second current I2 of the second load switch circuit 305. Specifically, the controller 304 samples the second current I2 through the current sampling pin FT-CS of the second load switch circuit 305 for current monitoring.

[0095] In 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 the heating of the conductive film 301 to stop, so as to prevent the heating device or lidar from being damaged due to excessive current. When the second current I2 does not exceed the preset current range, and the second current I2 is within the safe current range, the controller 304 performs sub-operation S174 to maintain the heating of the conductive film 301. In some other embodiments, when the second current I2 does not exceed the preset current range, the controller 304 may not operate.

[0096] In some embodiments, the preset current range is less than 1A, that is, 0 to 1A. Further, the preset current range can be 0 to 0.8A, 0 to 1.7A, or 0 to 0.6A, etc.

[0097] In some embodiments, the overcurrent protection pin ILIM can limit the current flowing through the second load switch circuit 305 through a pull-down resistor (not shown in the figure), that is, limit the current upper limit Ilim of the second current I2, for example, limit it to 1A or 0.8A, to achieve overcurrent protection and ensure the reliability of the heating device and lidar.

[0098] The heating device of the present disclosure can heat the lidar window, melt the fog, ice, snow, or frost on the window surface, so that the detection beam and the echo beam can pass through the window, improving the adaptability and reliability of the lidar.

[0099] The present disclosure also provides a lidar. Figure 11 A schematic diagram of a lidar 400 according to some embodiments of the present disclosure is shown. As Figure 11 shown, the lidar 400 includes a transmitting board TX, a receiving board RX, a window 440, and heating devices 100, 200, or 300. The transmitter is disposed on the transmitting board TX, and the transmitter can emit a detection beam. The detector is disposed on the receiving board RX, and the detector can receive the echo beam reflected by the object from the detection beam. The window 440 is adapted to transmit the detection beam and the echo beam. The conductive films 101, 201, or 301 of the heating devices 100, 200, or 300 are fixed on the window 440. It should be understood that the heating device may further include other components such as a housing.

[0100] In some other embodiments, the transmitting board TX may be a circuit board, a chip, etc., and the receiving board RX may be a circuit board, a chip, etc. In some other embodiments, the transmitting board TX and the receiving board RX may be integrated into the same board.

[0101] In some embodiments, one or more lasers (not shown in the figure) may be disposed on the transmitting 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 of vertical-cavity surface-emitting lasers (VCSELs), edge-emitting lasers (EELs), etc.

[0102] In some embodiments, one or more detectors (not shown in the figure) may be disposed on the receiving 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 single-photon avalanche diodes (SPADs), silicon photomultipliers (SiPMs), avalanche photodiodes (APDs), etc.

[0103] In some embodiments, the transmitter and the receiver may be coupled to the controllers 104, 204, or 304 and controlled by the controllers 104, 204, or 304 (or control circuits). That is, the transmitter and the receiver may 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 may also be coupled to another controller (or control circuit). That is, the transmitter and the receiver may use separate controllers from the heating device to facilitate the functional design of the lidar. These are all within the protection scope of the present disclosure and can be determined according to requirements in practical applications.

[0104] The lidar of the present disclosure, by adopting the above heating device, can heat the window, melt the fog, ice, snow, or frost on the surface of the window, so that the detection beam and the echo beam can pass through the window, meet the detection requirements in cold environments, and improve the adaptability and reliability of the lidar.

[0105] 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 the lidar window as described above and may be the above-mentioned lidar 400. Figure 12 A schematic diagram of the heating control method 500 according to some embodiments of the present disclosure is shown. As Figure 12 shown, the heating control method 500 includes operations S510 to S560. The heating control method 500 may be executed by the controllers 104, 204, or 304 or by other controllers. Other controllers include but are not limited to vehicle-mounted controllers, remote controllers, etc.

[0106] In operation S510, the controller controls the heating of the conductive film to be turned on.

[0107] In operation S520, the controller collects the first current I1 of the first load switch circuit.

[0108] In operation S530, the controller collects the supply voltage U2 of the conductive film.

[0109] In operation S540, the controller controls the heating to stop.

[0110] In operation S550, the controller determines the resistance value R of the conductive film based on the first current I1 and the supply voltage U2.

[0111] In operation S560, the controller controls the heating of the conductive film to be turned on or off based on the resistance value R.

[0112] In some embodiments, the power supply circuit of the heating device includes a switch. The operation of controlling the heating of the conductive film to start (i.e., operation S510) includes: the controller controls the switch to disconnect, and the conductive film starts heating; the controller controls the switch to conduct, and the conductive film stops heating. This operation can be executed by the controller 204.

[0113] Figure 13 The flowchart of operation S560 according to some embodiments of the present disclosure is shown. As Figure 13 shown, operation S560 (i.e., controlling the heating of the conductive film to start or stop) includes sub-operations S5601 to S5603. Operation S560 and its sub-operations S5601 to S5603 can be executed by the controller 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 heating of the conductive film to start. When the resistance value R is not within the preset resistance range, the controller executes sub-operation S5603 to control the heating of the conductive film to stop. It should be noted that operation S560 and its sub-operations S5601 to S5603 are the same as or similar to the foregoing operation S15 and its sub-operations S151 to S153, and will not be elaborated here.

[0114] In some embodiments, the heating control method 500 further includes operation S570. Figure 14 The flowchart of operation S570 according to some embodiments of the present disclosure is shown. As Figure 14 shown, operation S570 includes sub-operations S5701 to S5704. Operation S570 and its sub-operations S5701 to S5704 can be executed by the controller 204. In sub-operation S5701, the controller 204 collects the temperature T of the lidar. In sub-operation S5702, the controller 204 determines whether the temperature T is within a preset temperature range. When the temperature T is within the preset temperature range, the controller 204 executes sub-operation S5703 to control the heating of the conductive film to start. When the temperature T is not within the preset temperature range, the controller 204 executes sub-operation S5704 to control 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 foregoing operation S16 and its sub-operations S161 to S164, and will not be elaborated here.

[0115] In some embodiments, the heating control method 500 further includes operation S580. Figure 15 The flowchart of operation S580 according to some embodiments of the present disclosure is shown. As Figure 15As shown, operation S580 includes sub-operations S5801 to S5804, and operation S580 and its sub-operations S5801 to S5804 can be executed by the controller 304. In sub-operation S5801, the controller 304 acquires the second current I2 of the second load switch circuit 305. In sub-operation S5802, the controller 304 determines whether the second current I2 is within a preset current range. When the second current I2 exceeds the preset current range, the controller 304 executes sub-operation S5803 to control the stop of heating the conductive film. When the second current I2 does not exceed the preset current range, the controller 304 executes sub-operation S5804 to control the maintenance of heating the conductive film. It should be noted that operation S580 and its sub-operations S5801 to S5804 are the same as or similar to the foregoing operation S17 and its sub-operations S171 to S174, and will not be elaborated here. In some other embodiments, when the second current I2 does not exceed the preset current range, the controller 304 may not operate.

[0116] The heating control method of the present disclosure can heat the lidar window by using the above heating device, melt the fog, ice, snow, or frost on the window surface, so that the detection beam and the echo beam can pass through the window, meet the detection requirements in a cold environment, and improve the adaptability and reliability of the lidar.

[0117] The present disclosure also provides a computer-readable storage medium. The computer-readable storage medium includes computer-executable instructions stored thereon, and the executable instructions, when executed by a processor, implement the heating control method 500 and its respective operations and sub-operations as described above.

[0118] The present disclosure may be implemented in the form of a computer program product on one or more storage media containing program code. The computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information may 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 tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device.

[0119] In some embodiments, the processor (or processing circuit) may include a CPU, and may also include other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other similar devices.

[0120] 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 Figure 16 shown, the vehicle 600 includes the lidar 400 described above, and the lidar 400 includes the heating devices 100, 200, or 300. It should be understood that the vehicle 600 may include other components such as a vehicle body, an actuator, a display screen, etc. The lidar 400 may be installed at any position on the vehicle 600, including but not limited to the front of the vehicle, the rear of the vehicle, the roof of the vehicle, the side of the vehicle, the bottom of the vehicle, the windshield, the headlights, etc.

[0121] In the present disclosure, the vehicle 600 should be understood in a broad sense and may include devices equipped with the lidar 400, including but not limited to automobiles, autonomous vehicles, trucks, freight vehicles, electric vehicles, buses, trains, high-speed trains, motorcycles, golf carts, off-road vehicles, agricultural vehicles, engineering vehicles, or any other vehicle (for example, robots, logistics vehicles, unmanned delivery vehicles, suitcases, trolleys, ships, airplanes, helicopters, drones, lawn mowers, submarines, amusement park equipment or vehicles, warehouse equipment or vehicles, production equipment, etc.).

[0122] In some embodiments, the vehicle may include a vehicle controller. The operations of the heating devices 100 / 200 / 300, the lidar 400, and the heating control method 500 may be executed by the vehicle controller.

[0123] In some embodiments, the user may interact with the vehicle through an electronic device to control the operations of the heating devices 100, 200, or 300, the lidar 400, and the heating control method 500. The electronic device includes but is not limited to mobile phones, tablets, laptop computers, desktop computers, wearable devices, etc.

[0124] The vehicle of the present disclosure can heat the window through the heating device of the lidar, melt the fog, ice, snow, or frost on the surface of the window, so that the detection beam and the echo beam can pass through the window, meet the detection requirements in a cold environment, improve the adaptability and reliability of the lidar, and is beneficial to improving vehicle driving safety and the driving and riding experience.

[0125] It should be noted that the technical features included in the heating device of the lidar window, the heating control method of the lidar window, the lidar, the vehicle, and the computer-readable storage medium of the present disclosure can be mutually applied or combined.

[0126] It should be noted that although several modules of the lidar or the heating device are mentioned in the above detailed description, such a division is merely not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more of the above-described modules can be implemented in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0127] It should be noted that this specification provides method operations such as in the embodiments or schematic diagrams, but based on routine or non-creative labor, there may be more or fewer operations. The operation sequences listed in the embodiments are only one of the many ways of performing operations and do not represent the only execution sequence. When the actual system or device product is executed, it can be executed in the order shown in the embodiments or flowcharts or executed in parallel.

[0128] Finally, it should be noted that the above are only embodiments of the present disclosure and are not used to limit the present disclosure. Although the present disclosure has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A heating device for a laser radar window, characterized in that: include: A conductive film, suitable for being fixed on the laser radar window; a power circuit coupled to the conductive film and configured to provide a power supply voltage to the conductive film; a first load switch circuit coupled between the power circuit and the conductive film; and A controller is coupled to the conductive film, the power supply circuit, and the first load switch circuit and is configured to control heating of the conductive film.

2. The laser radar window heating device according to claim 1, characterized in that: The power circuit includes a switch, and the controller is configured to control the switch to be turned on or off to start or stop heating the conductive film.

3. The laser radar window heating device according to claim 2, characterized in that: The controller is configured to: control the switch to be disconnected so that the conductive film starts heating; and control the switch to be turned on so that the conductive film stops heating.

4. The laser radar window heating device according to claim 2 or 3, characterized in that: The controller is configured to control the switch to be turned off, and the power supply circuit to convert the input voltage into the supply voltage.

5. The laser radar window heating device according to claim 4, characterized in that: The controller is configured to: Controlling the switch to be disconnected to start the heating; collecting a first current and the supply voltage of the first load switch circuit; stopping the heating; determining a resistance value of the conductive film based on the first current and the supply voltage; Based on the resistance value, the heating of the conductive film is controlled to be turned on or off.

6. The laser radar window heating device according to claim 5, characterized in that: The controller is configured to: Determining whether the resistance value is within a 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 laser radar window heating device according to claim 5, characterized in that: Also includes: A temperature sensor is coupled to the controller and configured to measure the temperature of the laser radar; the controller is configured to: collecting the temperature of the laser radar; Determining whether the temperature is within a preset temperature range; When the temperature is within the preset temperature range, the heating of the conductive film is controlled to be turned on.

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

9. The laser radar window heating device according to claim 8, characterized in that: The controller is configured to: collecting a second current of the second load switch circuit; Determining whether the second current exceeds a preset current range; When the second current exceeds the preset current range, the heating of the conductive film is stopped.

10. The laser radar window heating device according to claim 6, characterized in that: The preset resistance range is 60 to 200Ω.

11. The laser radar window heating device according to claim 7, characterized in that: The preset temperature range is -20 to +50°C.

12. The laser radar window heating device according to claim 9, characterized in that: The preset current range is less than 1A.

13. The laser radar window heating device according to claim 12, characterized in that: The preset current range is 0.6-0.8A.

14. A laser radar, characterized in that: include: a transmitter configured to transmit a detection beam; A receiver configured to receive an echo beam reflected by the object from the detection beam; a window, adapted to transmit the detection light beam and the echo light beam; and A heating device for a laser radar window as described in any one of claims 1 to 13, wherein the conductive film of the heating device is fixed on the window.

15. A vehicle, characterized in that: Comprising a laser radar as described in claim 14.

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