CN115480254A - Detection method and device - Google Patents

Abstract

The application provides a detection method and device, relates to sensor technology, can be applied to autopilot or internet connection, and wherein detection device includes: the device comprises a light source, a first detection module, a second detection module and a processing module; the light source is used for emitting light beams to the window, and the light path direction of the light beams is perpendicular to the window; the first detection module is used for sending a first echo signal to the processing module after receiving the first echo signal from the window subjected to the mirror reflection; a receiving light path of the first detection module and a transmitting light path formed by the light beam transmitted by the light source are the same or paraxial light paths; the second detection module is used for sending a second echo signal to the processing module when receiving the second echo signal which is diffusely reflected from the window; the distance between a receiving light path of the second detection module and a transmitting light path formed by a light beam far away from the light source is greater than a distance threshold value; and the processing module is used for determining whether the window has an obstruction or not according to the received first echo signal and/or the second echo signal.

Description

A detection method and device

technical field

The present application relates to the technical field of sensors, in particular to a detection method and device.

Background technique

LiDAR (light detection and ranging, LiDAR) is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of targets. The working principle of lidar is to transmit a detection signal (laser beam) to a target object (such as a vehicle, aircraft or missile), and then compare and process the received signal (echo signal) reflected from the target object with the transmitted signal , the relevant information of the target object can be obtained, such as the target distance, azimuth, height, speed, attitude, and even shape parameters, so that the target object can be detected, tracked and identified.

At present, lidar is widely used in unmanned driving, surveying and mapping, robotics and other fields. In order to avoid contamination of the internal optical devices by the external environment, the lidar has a housing for isolation protection. The window in the casing can ensure the normal transmission of the laser light while isolating external pollution. However, during the use of the lidar, external pollutants, such as rain, snow, frost, dust, flying insects, etc., will adhere to the window, causing the laser to fail to transmit normally, which in turn affects the detection performance of the lidar. Therefore, there is an urgent need for a detection method to detect whether the window is blocked.

Contents of the invention

The present application provides a detection method and device, which are used to detect whether a window in equipment such as a laser radar is blocked by an obstruction.

In a first aspect, the present application provides a detection device, including: a light source, a first detection module, a second detection module, and a processing module; a light source, used to emit a light beam to the window, and the light path direction of the light beam is perpendicular to the window; the first detection module , used to send the first echo signal to the processing module when receiving the first echo signal reflected by the mirror surface from the window; the receiving optical path of the first detection module is the same as the emitting optical path formed by the light beam emitted by the light source The optical path; the second detection module is used to send the second echo signal to the processing module when receiving the second echo signal diffusely reflected from the window; the receiving optical path of the second detection module is formed by the light beam emitted by the light source The distance of the transmitting optical path is greater than the distance threshold; the processing module is configured to determine whether there is an obstruction in the window according to the received first echo signal and/or the second echo signal.

Based on this scheme, considering that there is an occluder on the window, the specular reflection and/or diffuse reflection characteristics of the window will change compared to when there is no occluder. Therefore, the light beam emitted by the light source through the first detection module The optical path is the same as or on the paraxial optical path, so that the first detection module can detect the light beam emitted by the light source onto the window to generate the first echo signal reflected by the specular surface. In addition, combined with the second detection module, the second detection module is used to receive the diffusely reflected second echo signal generated by the light beam emitted by the light source on the window, so that the processing module can be based on the first echo signal and/or the second echo signal The wave signal can comprehensively judge whether there is an obstruction on the window, and can better use the optical effects of specular reflection and diffuse reflection on the window to judge whether there is an obstruction on the window.

In a possible implementation, the light source includes L sub-light sources, where L is a positive integer greater than 1;

For the first sub-light source in the L sub-light sources, the first sub-light source is used to emit light beams to the detection area corresponding to the first sub-light source; the L detection areas corresponding to the L sub-light sources are different areas on the window; the first sub-light source is Any sub-light source in the L sub-light sources; the first detection module is specifically configured to, when receiving a first echo signal from at least one detection area corresponding to at least one of the L sub-light sources, send at least A first echo signal; a second detection module, specifically configured to send at least one second echo signal to the processing module when receiving a second echo signal from at least one detection area corresponding to at least one sub-light source in the L sub-light sources The echo signal; the processing module, specifically configured to determine whether there is an obstruction in at least one detection area according to the received first echo signal corresponding to at least one detection area and/or the second echo signal corresponding to at least one detection area.

Through the above solution, light beams can be emitted to different detection areas on the window through the L sub-light sources in the light source. Correspondingly, for any detection area, the first detection module can receive the first round from the detection area on the window. wave signal, and/or the second detection module can receive the second echo signal from the detection area on the window, thus, the processing module can be based on the first echo signal and/or the second echo signal corresponding to the detection area , to determine whether there is an obstruction in the detection area. Therefore, the position of the blocking object on the window can be judged, and preparations can be made for subsequent cleaning of the window in the presence of the blocking object.

In a possible implementation manner, the first detection module includes M first sub-detection modules, M is a positive integer greater than 1, and the M first sub-detection modules are respectively used to detect the first sub-detection module reflected by the corresponding detection area in the window. an echo signal, and when receiving the first echo signal reflected by the detection area, send the first echo signal reflected by the detection area to the processing module; and/or,

The second detection module includes N second sub-detection modules; N is a positive integer greater than 1; each second sub-detection module in the N second sub-detection modules is used to detect the corresponding second sub-detection module in the window The second echo signal reflected by the detection area is detected, and when the second echo signal reflected by the detection area is received, the second echo signal reflected by the detection area is sent to the processing module.

Through the above solution, the detection device can also be equipped with M first sub-detection modules correspondingly, and the detection area in the window corresponding to detection by each first sub-detection module in the M first sub-detection modules can be the same as that of the L sub-light sources. The detection areas corresponding to the light beams emitted by one sub-light source are of the same size. At this time, the L sub-light sources can correspond to the L first sub-detection modules one by one, that is, M and L are equal. When any sub-light source in the L sub-light sources emits light beams to the corresponding detection area, the corresponding first sub-detection module is turned on and receives the first echo signal.

Alternatively, the detection area in the window corresponding to detection by each first sub-detection module may also be smaller than the size of the detection area corresponding to the light beam emitted by the sub-light source. At this time, each of the L sub-light sources may correspond to a plurality of first sub-detection modules, that is, M is greater than L. That is, after the light beam emitted by one of the L sub-light sources, the first echo signal can be received by at least one first sub-detection module. Therefore, the times of beam emission and first echo signal reception by the first sub-detection module can be reduced. Correspondingly, when scanning all detection areas on the window, the total time can be correspondingly reduced and the scanning efficiency can be improved.

For another example, the detection area in the window corresponding to detection by each first sub-detection module may also be larger than the size of the detection area corresponding to the light beam emitted by the sub-light source. At this time, multiple sub-light sources in the L sub-light sources may correspond to one first sub-detection module, that is, M is smaller than L. That is, after multiple sub-light sources in the L sub-light sources simultaneously emit light beams, the first echo signal may be received by a first sub-detection module. Therefore, when scanning all the detection areas on the window, the total scanning time can be correspondingly reduced and the scanning efficiency can be improved.

Optionally, the detection device can also be provided with N second sub-detection modules correspondingly, and the detection area corresponding to each second sub-detection module can correspond to the detection area corresponding to the light beams of multiple sub-light sources, that is, N is smaller than L. It is also possible that the detection area corresponding to each second sub-detection module can correspond to the detection area corresponding to the light beams of the sub-light sources, that is, N is equal to L. It may also be that the detection area corresponding to the sub-light source corresponds to the detection area corresponding to multiple second sub-detection modules, that is, N is greater than L. For details, reference may be made to the implementation manner of the M first sub-detection modules, which will not be repeated here.

In a possible implementation manner, the detection device further includes a scanning module; a light source, specifically used to emit light beams to the scanning module; a scanning module, used to emit light beams to the window at different detection angles; a first detection module, specifically used to Under the same detection angle of the light beam, the first echo signal reflected by the mirror surface from the window is received; the processing module is also used to control the scanning module to act on the light beam to form different detection angles.

Through the above solution, the detection device can realize scanning in two-dimensional or one-dimensional direction based on the scanning module, and realize emitting light beams to the window at different detection angles. Correspondingly, the light beam can correspond to a detection area on the window, so that The detection device can detect whether there are obstructions in different detection areas on the window, so as to improve the accuracy of judging the location information of the obstructions.

In a possible implementation manner, the processing module is further configured to determine corresponding detection signals at different detection angles according to the received second echo signals and/or the first echo signals received at different detection angles. Whether the area has occlusions.

Through the above solution, the processing module can detect the second echo signals received by the detection areas corresponding to different detection angles and/or the first echo signals received at different detection angles, so that the detection device can detect different detections on the window Whether there is an occluder in the area to improve the accuracy of judging the position information of the occluder.

In a possible implementation, there is a first scan frame among P scan frames in a scan period, and at least two detection regions are simultaneously detected within a detection time window in the first scan frame; P is greater than 1 positive integer;

For any detection time window: L sub-light sources, specifically used to emit corresponding light beams to at least two detection areas;

For any detection area: the processing module is specifically configured to determine whether there is an obstruction in the detection area according to the received first echo signal and/or second echo signal of each detection time window in the detection area.

Through the above solution, based on the scanning process, the sub-light source emits corresponding light beams to indicate two detection areas at the same time, so that the first echo signal and/or the second echo signal of each detection area scanned based on different scanning frames , to determine whether there is an obstruction in the detection area. It is possible to reduce the time required for the sub-light sources to scan all the detection areas separately and wait for the end of the detection time window for the first detection module to receive the first echo signal, and the end of the detection time window for the second detection module to receive the second echo signal, reducing Reduced the difficulty of Windows scanning.

In a possible implementation manner, it is determined that there is an occluder in the window through at least one of the following methods:

It is determined that the difference between the signal strength of the received first echo signal and the signal strength of the first echo signal received without an obstruction is greater than a first preset threshold; the first echo signal received without an obstruction The signal strength of is pre-measured; and/or,

It is determined that the difference between the signal strength of the second echo signal received and the signal strength of the second echo signal received under no obstruction is greater than a second preset threshold; the second echo signal received under no obstruction Signal strength is pre-measured.

Through the above method, it can be determined that there is an obstruction in the window based on the enhancement of the first echo signal, or it can be determined that there is an obstruction in the window based on the enhancement of the second echo signal. For example, it can also be based on the first echo signal and the second echo signal The wave signals are all enhanced, and it is determined that there is an obstruction in the window. Therefore, based on the different reflection characteristics of various types of occluders on the window, they can be effectively identified, improving the performance of identifying window occluders.

In a possible implementation manner, the processing module is further configured to: determine the type of the blocking object on the window according to the first energy difference and/or the second energy difference; the first energy difference is received by the first detection module The difference between the signal strength of the first echo signal and the signal strength of the first echo signal received under no obstruction; the second energy difference is the signal strength of the second echo signal received by the second detection module compared to the The signal strength difference of the second echo signal received under the obstruction.

Based on the different characteristics of the first echo signal and the second echo signal presented by specular reflection and diffuse reflection under different types of obstructions, through the above scheme, it can be determined according to the first energy difference and/or the second energy difference The type of covering on the window can be detected, thereby providing more information for the subsequent cleaning of the window.

In a possible implementation manner, the detection device also includes a casing, the surface of the casing is a matte surface; the casing, the first detection module, the second detection module and the light source are all located on the same side of the window; the casing and the window snapping, used to support the first detection module, the second detection module and the light source.

Through the above solution, the extinction surface is provided on the casing, so that the light beam will not be reflected twice on the casing, which will affect the measurement of the first echo signal or the second echo signal, and improve the accuracy of window detection.

In a possible implementation manner, the detection device may further include: a lens assembly; a light source, specifically configured to emit a light beam to the lens assembly; a lens assembly, configured to emit a light beam to a detection area corresponding to the light source on the window after receiving the light beam; and When the first echo signal in the detection area is received, the first echo signal is sent to the first detection module; the first detection module is specifically used to receive the first echo signal from the lens assembly as the specular reflection of the window first echo signal.

In a possible implementation manner, the light outlet of the light source is located on the focal plane of the lens assembly; the first detection module is located on the image plane of the lens assembly.

In the second aspect, the present application provides a window detection method, which is applied to a detection device. The detection device includes a light source, a first detection module, a second detection module, and a processing module, including:

The light source emits a light beam to the window, and the light path direction of the light beam is perpendicular to the window;

The first detection module sends the first echo signal to the processing module when receiving the first echo signal from the specular reflection of the window; the receiving optical path of the first echo signal is the same as or The optical path of the paraxial;

When the second detection module receives the second echo signal diffusely reflected from the window, it sends the second echo signal to the processing module; the distance between the receiving optical path of the second detecting module and the emitting optical path formed by the light beam emitted by the light source is greater than the distance threshold;

The processing module determines whether there is an obstruction in the window according to the first echo signal and/or the second echo signal.

In a possible implementation manner, for the first sub-light source among the L sub-light sources, the first sub-light source emits a light beam to the detection area corresponding to the first sub-light source; the L detection areas corresponding to the L sub-light sources are different areas on the window;

When the first detection module receives a first echo signal from at least one detection area corresponding to at least one sub-light source among the L sub-light sources, it sends at least one first echo signal to the processing module;

When the second detection module receives a second echo signal from at least one detection area corresponding to at least one sub-light source in the L sub-light sources, send at least one second echo signal to the processing module;

The processing module determines whether there is an obstruction in the at least one detection area according to the received first echo signal corresponding to the at least one detection area and/or the received second echo signal corresponding to the at least one detection area.

In a possible implementation, the first detection module includes M first sub-detection modules, M is a positive integer greater than 1, and the M first sub-detection modules detect the first echo signal reflected by the corresponding detection area in the window, And when receiving the first echo signal reflected by the detection area, send the first echo signal reflected by the detection area to the processing module; and/or,

The second detection module includes N second sub-detection modules; N is a positive integer greater than 1; each second sub-detection module in the N second sub-detection modules detects the corresponding detection area reflection of the second sub-detection module in the window and when receiving the second echo signal reflected by the detection area, send the second echo signal reflected by the detection area to the processing module.

In a possible implementation, the detection device further includes a scanning module;

The light source emits light beams to the scanning module;

The processing module controls the scanning module to be at different detection angles;

The scanning module emits light beams to the window at different detection angles;

The first detection module receives the first echo signal from the specular reflection of the window at the same detection angle as the light beam.

In a possible implementation manner, the processing module determines whether there is an obstruction in the corresponding detection area at different detection angles according to the received second echo signal and/or the first echo signal received at different detection angles.

In a possible implementation, there is a first frame scan among P scan frames in a scan cycle, and at least two detection areas are simultaneously detected within a detection time window in the first frame scan; P is a positive integer greater than 1 ;

For any detection time window:

The L sub-light sources respectively emit corresponding light beams to at least two detection areas;

For any detection area:

The processing module determines whether there is an obstruction in the detection area according to the received first echo signal and/or second echo signal of each detection time window in the detection area.

In a possible implementation manner, the processing module determines that there is an occluder in the window through at least one of the following methods:

The processing module determines that the difference between the signal strength of the received first echo signal and the signal strength of the first echo signal received without an obstruction is greater than a first preset threshold; the first echo signal received without an obstruction The signal strength of the wave signal is pre-measured; and/or,

The processing module determines that the difference between the signal strength of the received second echo signal and the signal strength of the second echo signal received without an obstruction is greater than a second preset threshold; the second echo received without an obstruction The signal strength of the signal is pre-measured.

In a possible implementation, the processing module determines the type of the obstruction on the window according to the first energy difference and/or the second energy difference; the first energy difference is the signal of the first echo signal received by the first detection module The second energy difference is the difference between the signal strength of the second echo signal received by the second detection module and the first echo signal received under no obstruction. The difference in signal strength of the two echo signals.

In a third aspect, the present application provides a detection device, and the detection device includes a module/unit for performing the method of any second aspect above or any possible implementation manner of the second aspect. These modules/units can be realized by hardware, and can also be realized by executing corresponding software by hardware.

In a fourth aspect, the present application provides a laser radar, including the detection device in any possible implementation manner in the first aspect.

In a fifth aspect, the present application provides a terminal, and the terminal includes the detecting device in any possible implementation manner in the first aspect.

Wherein, the detection device may be arranged on a terminal device (terminal for short), so that the terminal device has the function of detecting the window on the lidar. The terminal can be a terminal device such as a motor vehicle, an intersection camera, a drone, a rail car, a bicycle, a signal light, or a speed measuring device. In a possible manner, the terminal may include a lidar corresponding to the window to be detected. At this time, the detection device may be entirely located inside the lidar; or partly located inside the lidar, and partly located on a terminal other than the lidar. For example, the processing module of the detection device may be located on a terminal other than the lidar. In another possible manner, the terminal may not include a laser radar corresponding to the window to be detected. For example, the laser radar is also installed on network equipment (such as base stations in various systems), etc., which is not limited here.

In a sixth aspect, the present application provides a computer storage medium, the computer storage medium stores program instructions, and when the program instructions are run on the detection device, the detection device executes the above-mentioned second aspect or any possible implementation of the second aspect methods in methods. For example, when the program instructions are run on the detection device, the instructions are used to determine whether there is an obstruction in the window of the detection device according to the received first echo signal and/or the second echo signal; wherein, the first echo signal After the light source of the detection device emits light beams to the window, the first detection module of the detection device receives the echo signal from the mirror reflection of the window; the receiving optical path of the first detection module is the same as the emission optical path formed by the light beam emitted by the light source. The optical path of the side axis; the second echo signal is that after the light source of the detection device emits light beams to the window, the second detection module of the detection device receives the echo signal from the diffuse reflection from the window; the receiving optical path of the second detection module and the emission of the light source The distance of the emitted light path formed by the light beam is greater than the distance threshold; the light path direction of the light beam is perpendicular to the window.

In the seventh aspect, the present application provides a computer program product, the computer program product stores instructions, and when the computer program product runs on the detection device, the detection device executes the second aspect or any possible implementation of the second aspect method in . For example, when the computer program product runs on the detection device, the instructions of the computer program product are executed, and the instructions are used to determine whether the window of the detection device is blocked according to the received first echo signal and/or the second echo signal object; wherein, the first echo signal is the echo signal reflected from the window by the first detection module of the detection device after the light source of the detection device emits light beams to the window; the receiving optical path of the first detection module and the emission of the light source The emitted light path formed by the light beam is the same or paraxial light path; the second echo signal is that after the light source of the detection device emits light beams to the window, the second detection module of the detection device receives the echo signal from the diffuse reflection from the window; the second echo signal The distance between the receiving optical path of the second detection module and the emitting optical path formed by the light beam emitted by the light source is greater than the distance threshold; the optical path direction of the light beam is perpendicular to the window.

Description of drawings

Fig. 1 is the detection schematic diagram of a kind of lidar provided by the present application;

Figure 2a-Figure 2b is a schematic structural diagram of a detection device provided by the present application;

Figure 3a-Figure 3d is a schematic diagram of the relationship between a light source and a light beam provided by the present application;

Figures 4a-4c are schematic diagrams of the relationship between an optical path adjustment module and a detection module provided by the present application;

Fig. 4d is a schematic diagram of a scanning window mode provided by the present application;

Fig. 5a is a schematic structural diagram of a scanning module provided by the present application;

Figure 5b is a schematic diagram of a scanning trajectory provided by the present application;

Fig. 5c is a schematic structural diagram of a scanning module provided by the present application;

Figure 5d is a schematic diagram of a scanning trajectory provided by the present application;

FIG. 6 is a schematic structural diagram of a first detection module provided by the present application;

7a-7b are schematic structural diagrams of a first detection module provided by the present application;

Fig. 8a is a schematic diagram of a first echo signal provided by the present application;

Fig. 8b is a schematic diagram of a second echo signal provided by the present application;

Fig. 8c is a schematic structural diagram of a casing provided by the present application;

Figure 9 is a schematic flow chart of a detection method provided by the present application;

Fig. 10 is a schematic structural diagram of a detection device provided by the present application;

FIG. 11 is a schematic structural diagram of a detection device provided in the present application.

detailed description

In the following, some terms used in the embodiments of the present application are explained, so as to facilitate the understanding of those skilled in the art.

(1) The window can be the window of the lidar, or the window of other sensors capable of sensing the external environment. Taking lidar as an example, in order to avoid the external environment from polluting the internal optical components of lidar, there is usually a housing for isolation protection. For the emission direction of the laser radar, a window (which can be a window structure that is transparent to the light wavelength of the laser radar or other materials) is used. While isolating external pollution, it can ensure that the laser light is transmitted normally and the corresponding light is received normally. echo signal.

(2) The detection device may be a detection device for detecting the window of the laser radar, or a functional component provided in the laser radar, or a larger device (such as a terminal or a vehicle) including the laser radar, or an independent device , or it may also be a functional component partially provided in the lidar, a functional component partially provided in other devices except the laser radar, etc. For example, the detection device can be installed on terminals such as motor vehicles, intersection cameras, drones, railcars, bicycles, signal lights, or speed measuring devices, so that the terminal device has the function of detecting the window on the lidar. In a possible manner, the terminal may include a lidar corresponding to the window to be detected. At this time, the detection device may be entirely located inside the lidar; or partly located inside the lidar, and partly located on a terminal other than the lidar. For example, the processing module of the detection device may be located on a terminal other than the lidar. In another possible manner, the terminal may not include a laser radar corresponding to the window to be detected. For example, the laser radar is also installed on network equipment (such as base stations in various systems), etc., which is not limited here.

During the use of lidar, external pollutants, such as rain, snow, frost, dust, flying insects, etc., will adhere to the window, resulting in the failure of normal transmission of laser light or failure of normal reception of echo signals, thereby affecting the detection performance of lidar . By detecting the dirt of the window, it is beneficial to identify the blocking object on the window, so as to provide support for subsequent cleaning or alarming of the window.

(3) Radar, including lidar, for example. The lidar can be a lidar installed on a terminal device (referred to as a terminal) such as a motor vehicle, an intersection camera, a drone, a rail car, a bicycle, a signal light, or a speed measuring device. Optionally, the laser radar may also be a laser radar installed on network devices (such as base stations in various systems), etc., which is not limited here. Radar can also be called a radar device, or a radar detection device or a radar signal transmission device. Its working principle is to detect the corresponding target object by transmitting a signal (or called a detection signal) and receiving the reflected signal reflected by the target object. The signal emitted by the radar can be an electromagnetic wave signal, a laser beam, etc. Correspondingly, the received reflection signal reflected by the target object can also be a corresponding electromagnetic wave signal, a laser beam signal, etc. Radar can be used to obtain information such as the distance from the target object to the launch point, the rate of change of distance (radial velocity), azimuth, and height.

The following uses laser radar as an example to illustrate. Laser radar usually works by emitting light waves and receiving electromagnetic energy scattered by the target. By comparing and analyzing the received echo signal and detection signal, information related to the target can be extracted, such as the target location information. FIG. 1 is a schematic diagram of detection of a laser radar provided in the present application. LiDAR consists of lasers and detectors. A laser emits a beam in a certain direction, and if there is a target within a certain distance along the direction in which the beam is emitted, the beam can reflect off the surface of the target. Figure 1 takes the target A in the emission direction of the beam 1 as an example. After the beam 1 emitted by the laser reaches the target A, it is reflected on the surface of the target A, and the reflected signal returns to the detector of the laser radar as an echo signal. According to the echo signal and the local signal, the sensor can determine the related information of the target A, such as the position information of the target A, etc.

LiDAR can be used as automotive LiDAR (for example, time-of-flight (TOF) ranging LiDAR and frequency modulated continuous wave (FMCW) coherent ranging LiDAR), airborne LiDAR Scenarios that require high accuracy, such as radar. In addition, lidar can also be installed on mobile platforms, such as satellites. In this case, the lidar needs the assistance of other devices in the mobile platform to determine its current position and steering information, which ensures the availability of measurement data. For example, the mobile platform can also include a global positioning system (global positioning system, GPS) device and an inertial measurement unit (inertial measurement unit, IMU) device, and the laser radar can combine the measurement data of the GPS device and the IMU device to obtain the position of the target object, characteristics such as speed. For example, the radar can provide the geographic location information of the mobile platform through the GPS device in the mobile platform, and record the attitude and steering information of the mobile platform through the IMU device. After the distance to the target object is determined according to the echo signal, at least one of the geographic location information provided by the GPS device or the attitude and steering information provided by the IMU device can be used to convert the measurement point of the target object into a relative coordinate system The location point on the absolute coordinate system is used to obtain the geographic location information of the target object, so that the laser radar can be applied to the mobile platform. It can be understood that the laser radar in this application can also be applied to the automatic driving scene, or can also be applied to the networked car scene, and so on.

(4) An optical module, or called a transceiver module, etc., the optical module can adopt a coaxial structure for transmitting and receiving, or an off-axis structure for transmitting and receiving. In the coaxial transceiver structure, the optical signal sent by the optical module and the optical signal received by the optical module pass through the same optical path or a paraxial optical path. An optical module can include a light source (for example, a laser), An optical path adjustment module and a receiving module, wherein the transmitting module may include a laser and an optical path adjusting module corresponding to the transmitting module, and the receiving module may include a first detection module. Optionally, the receiving module may also include an optical path adjusting module corresponding to the receiving module, The first detection module may be a detector. When the transmitting module and the receiving module respectively include an optical path adjustment module, the optical path adjustment module may be set independently based on the transmitting module and the receiving module, or may be set jointly by the transmitting module and the receiving module. The optical path adjustment module may include a collimation module or a lens, a lens group, and optionally, a light splitting module. For example, refer to Figure 2a. Figure 2a is an optical module with coaxial transmission and reception. pre-spread. The optical signal passes through the light splitting module, and then exits into the space through the light splitting module. The received echo optical signal will reach the optical splitting module, and the optical splitting module sends the received optical signal to the first detection module in the receiving module.

In the transceiver off-axis structure, the path of the optical signal sent by the optical module is different from that of the received optical signal. An optical module may include a light source (for example, a laser), an optical path adjustment module (for example, a collimator module or a lens, lens group) and a receiving module, wherein the transmitting module can include a laser and an optical path adjustment module corresponding to the transmitting module, and the receiving module can include a second detection module. Optionally, the receiving module can also include an optical path adjusting module corresponding to the receiving module. The second detection module can be a detector. When the transmitting module and the receiving module respectively include an optical path adjustment module, the optical path adjustment module may be set independently based on the transmitting module and the receiving module. Referring to Figure 2b, it is an off-axis optical module for sending and receiving. The optical signal emitted by the laser is collimated by the collimation module to regulate the propagation direction of the optical signal so that the optical signal can propagate forward as much as possible. The collimation module can The signal exits into space. The received optical signal will reach the receiving module. It can be seen that for the transceiver off-axis structure, since the paths of the optical signal sent by the optical module and the received optical signal are different, there is no need to install a light splitting module.

(5) The field of view, or the range of the field of view, is the range formed after the optical signal sent by an optical module reaches the space, or the range where the detection device receives the optical signal corresponding to a transceiver module.

(6) Angle of field of view, the angle of field of view, for example, the scanning angle in space of an optical signal sent by a transceiver module. The field of view can determine the size of the field of view. Generally speaking, the larger the field of view, the larger the field of view, and the smaller the field of view, the smaller the field of view. And if a field of view needs to be adjusted, it can also be realized by adjusting the field of view angle of the field of view.

In the embodiments of the present application, for the number of nouns, unless otherwise specified, it means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plurality" means two or more. "And/or" describes the association relationship of associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural. Unless otherwise specified, the character "/" generally indicates that the contextual objects are an "or" relationship. For example, A/B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one item (piece) of a, b, or c means: a, b, c, a and b, a and c, b and c, or, a and b and c, where a, b, c can be single or multiple.

The ordinal numerals such as "first" and "second" mentioned in the embodiment of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, application scenarios, priority or importance of multiple objects degree etc. For example, the first detection module and the second detection module can be the same detection module or different detection modules, and this name does not mean the structure, position, priority, application of the two detection modules. The scene or the degree of importance is different.

Some concepts involved in the embodiments of the present application are introduced above, and the technical features of the embodiments of the present application are introduced below.

Based on the above content, Fig. 3a exemplarily shows a schematic structural diagram of a detection device provided by the present application. As shown in Fig. 3a, it includes a light source, a first detection module, a second detection module and a processing module.

The light source is used to emit a light beam to the window, and the light path direction of the light beam is perpendicular to the window.

The first detection module is used to send the first echo signal to the processing module when receiving the first echo signal reflected by the mirror surface from the window; the emission optical path formed by the receiving optical path of the first detecting module and the light beam emitted by the light source is Same or paraxial optical path;

The second detection module is configured to send the second echo signal to the processing module when receiving the second echo signal diffusely reflected from the window; The distance is greater than the distance threshold;

The processing module is configured to determine whether there is an obstruction in the window according to the received first echo signal and/or the second echo signal.

It should be noted that the light source, the first detection module and the processing module may form an optical module, and the light source, the second detection module and the processing module may form an optical module. Wherein, the optical module composed of the light source, the first detection module and the processing module may be a coaxial optical module for sending and receiving, that is, the receiving optical path of the first detecting module and the emitting optical path formed by the light beam emitted by the light source are the same or paraxial optical path . The optical module composed of the light source, the second detection module and the processing module may be an off-axis optical module for sending and receiving, and the distance between the receiving optical path of the second detecting module and the emitting optical path formed by the light beam emitted by the light source is greater than the distance threshold, so that the second detecting The receiving optical path of the module is far away from the emitting optical path formed by the light beam emitted by the light source. The distance threshold can be determined according to the measurement needs of the first detection module and the second detection module, so as to minimize the interference between the two optical modules, and the specific value of the distance threshold is not limited in this application.

Wherein, as shown in FIG. 3 a , the distance between the receiving optical path of the first detection module and the emitting optical path of the light source may be the distance d1 between the center point of the first detection module and the center point of the light source. For another example, taking the light-receiving area of the first detection module as a rectangle and the light-emitting area of the light source as an example, the distance between the light-receiving path of the first detection module and the light-emitting path of the light source can be the distance between the light-emitting path of the first detection module The distance between the upper edge and the upper edge of the light source can also be the distance between the lower edge of the first detection module and the lower edge of the light source, or the distance between the left edge of the first detection module and the left edge of the light source The distance may also be the distance between the right edge of the first detection module and the right edge of the light source. Of course, it may also be determined in other ways, which is not limited here.

The distance between the receiving optical path of the second detection module and the emitting optical path of the light source may be the distance d2 between the center point of the second detection module and the center point of the light source. For another example, taking the light-receiving area of the second detection module as a rectangle and the light-emitting area of the light source as an example, the distance between the light-receiving path of the second detection module and the light-emitting path of the light source can be The distance between the upper edge and the upper edge of the light source can also be the distance between the lower edge of the second detection module and the lower edge of the light source, or the distance between the left edge of the second detection module and the left edge of the light source The distance may also be the distance between the right edge of the second detection module and the right edge of the light source. Of course, it may also be determined in other ways, which is not limited here.

In addition, considering that the detection device can be located inside the laser radar, at this time, the processing module can be a processor or a component in the processor located in the laser radar. When the part of the detection device is located inside the laser radar, the processing module can be The processor located in the vehicle or a component in the processor may also be a processor located in the cloud server or a component in the processor, which is not limited here.

The first detection module is arranged on the same optical path as that of the light beam emitted by the light source or on the optical path on the side axis, so that the first detection module can detect the light beam emitted by the light source onto the window to generate a first mirror-reflected echo signal. In addition, combined with the second detection module, the second detection module is used to receive the diffusely reflected second echo signal generated by the light beam emitted by the light source on the window, so that the processing module can be based on the first echo signal and/or the second echo signal Wave signal, comprehensively judge whether there is an obstruction on the window, can make better use of the optical effects of specular reflection and diffuse reflection on the window, get more information from whether there is an obstruction on the window, and improve the judgment of whether there is an obstruction on the window accuracy of the object.

In some other embodiments, the detection device may further include a plurality of second detection modules, and each second detection module may be used to receive second echo signals diffusely reflected in a detection area on the window.

Each functional module and structure shown in FIG. 3a will be introduced and described below, so as to give an exemplary specific implementation solution.

1. Light source

In this application, the light source may be a laser, or other light sources, which are not limited here. In the following, the light source is a laser as an example for description. In order to detect different detection areas on the window, the light source can be realized in many ways, which will be described in three cases below.

In case one, the detection device includes a laser.

In this case, as shown in Figure 3b, the laser outputs a light beam, and the outgoing light of the light beam can be adjusted by the optical path adjustment module, and then input to the scanning module to adjust the outgoing angle of the light beam, thereby realizing the upward direction of the viewing window. A detection area of the light beam emits the light beam, and receives the first echo signal returned in the coaxial or paraxial optical path direction of the outgoing angle through the first detection module. The specific optical path adjustment module and scanning module are introduced below. Optionally, the scanning module can control the exit angle of the light beam through the processing control module and through the processing control module, control the first detection module to receive the first echo signal returned in the coaxial or paraxial optical path direction of the exit angle, specifically as follows Introduced in the text.

In case two, the detection device includes L sub-light sources.

In the second case, the light beams emitted to the window can be output by L sub-light sources, and the L sub-light sources can be L lasers, and each laser in the L lasers outputs a light beam, so that the L light beams can be directed to the window respectively. The L detection areas emit corresponding beams. As shown in FIG. 3 c , for example, one sub-light source is a laser, and one laser emits one light beam. FIG. 3 c takes three sub-light sources as an example. That is, one sub-light source corresponds to one detection area. Optionally, any one of the L beams can emit a beam perpendicular to the window to the corresponding detection area through the optical path adjustment module. The optical path adjustment module can also be an optical path adjustment module set separately for each sub-light source, that is, the detection device includes L optical path adjustment modules, so that the light beam emitted by each sub-light source is sent to the corresponding light source after adjusting the outgoing light through the respective optical path adjustment module The detection area emits a beam perpendicular to the viewing window. The L detection areas can be the detection areas divided according to the vertical direction within the window range, or the detection areas divided according to the horizontal direction within the window range, or the detection areas divided according to the horizontal and vertical directions within the window range. Do limited.

It should be understood that the L light beams emitted by the L sub-light sources may form a certain angle or be parallel.

In case three, the light source of the detection device includes K lasers and a beam splitting module.

The beam emitted to the window can also be split by a beam splitting module to obtain L beams after a laser outputs a beam; or K lasers can output K beams, and then the beam splitting module can be used to split the beams among the K beams. One or more beams are split to obtain L beams, K is an integer less than L. That is to say, the detection device may include one laser, or may include L lasers, or may also include K lasers. As shown in FIG. 3d , taking a laser and a beam splitting module as an example, splitting a beam of a laser into three beams is exemplarily described.

In a possible implementation, the beam splitting module can be a diffractive optical element (DOE), and the DOE can evenly divide a beam from the laser into L beams, and the transmission directions between the L beams may be different. , and possibly the same. It can be understood that the number of beams split by the DOE and the interval between the beams can be determined by the physical structure of the DOE. That is, the physical structure of the DOE can be determined according to the spacing between the L beams. In this implementation manner, the beam splitting modules can be the same, and when the beam splitting module is a DOE, L=3, that is, when the DOE is used as the beam splitting module, the DOE can split a received beam into three.

In another possible implementation manner, the beam splitting module may be a polarizing beam splitter (polarizing beamsplitter, PBS) array. The laser injects a beam into the PBS array, and the PBS can divide the incident beam into two vertical linearly polarized lights, namely P polarized light and S polarized light, where P polarized light passes through completely as the next PBS incident beam, and S polarized light The polarized light is reflected to the corresponding first beam splitting module at an angle of 45 degrees, and the outgoing direction of the S polarized light is at an angle of 90 degrees to the P polarized light. It should be understood that L beams may be reflected from L PBSs. In this implementation manner, the beam splitting module may be a PBS in the PBS array.

It should be understood that in the above-mentioned case 1, case 2 and case 3, when the lidar is used as the vehicle radar, the laser can emit laser light with a wavelength of 905nm, or a light beam with a wavelength of 1550nm. Optionally, the laser may be a semiconductor laser or a fiber laser.

2. Optical path adjustment module

In this application, in order to find out whether there are obstructions on different detection areas on the window, it is necessary to control the field of view of the beam (for example, the divergence angle of the beam, the spot size, etc.), so that the field of view after the beam exits corresponds to that on the window. detection area.

The control of the field of view after the light beam exits can be controlled by the combined structure of the light source and the lens assembly, or by the sub-light source (for example, a sub-light source composed of a laser and an optical fiber array) and lens components (for example, a collimator, Lens modules) can be controlled through combination, optical phased array (optical phased array, OPA) can also be used for control, or a combination of mirrors can be used for control, which will not be listed here. The structure of the combination of the laser, the sub-light source and the lens assembly, and the OPA are described in detail as follows.

Combining the first situation, as shown in FIG. 4a , it is a schematic structural diagram of an optical path adjustment module provided by the present application. The optical path adjustment module includes a lens assembly, and after the light beam emitted from the light source passes through the lens assembly, the adjustment of the field of view range of the emitted light beam can be realized. Optionally, the light outlet of the light source is located on the object focal plane of the lens assembly (as shown in FIG. 4a ). Wherein, by selecting a suitable position of the light outlet of the light source and the focal length f of the lens assembly, the field of view of the light beam emitted from the lens assembly corresponds to a detection area on the detection window. Furthermore, through the scanning module, the detection of different detection areas on the window is realized. The details are described below. In a possible implementation manner, the lens assembly may also be a collimator or a collimating lens.

Combined with the second situation, as shown in FIG. 4 b , it is a schematic structural diagram of an optical path adjustment module provided by the present application. The optical path adjustment module includes L sub-light sources and a lens assembly, and the L sub-light sources correspond to L light beams one by one, that is, one light beam can be coupled into one optical fiber. Alternatively, the L light beams are in one-to-one correspondence with the L lens assemblies, and each light beam passes through a lens assembly to adjust the field of view from which the light beam emerges. For example, as shown in FIG. 4 c , the light beam emitted by the sub-light source 1 through the lens assembly 1 corresponds to the field of view 1 , that is, corresponds to the detection area 1 on the window. The light beam emitted by the sub-light source 2 through the lens assembly 2 corresponds to the field of view 2, that is, corresponds to the detection area 2 on the window. The light beam emitted by the sub-light source 3 through the lens assembly 3 corresponds to the field of view 3 , that is, corresponds to the detection area 3 on the window.

Taking FIG. 4b as an example, for each sub-light source in the L sub-light sources, each sub-light source is used to respectively transmit the light beam emitted by the sub-light source to the lens assembly. Or it can also be understood that the kth sub-light source among the L sub-light sources is used to transmit the k-th light beam to the lens assembly, and k is taken from 1 to L. The lens assembly is used to receive L light beams from the L sub-light sources, and adjust the outgoing directions of the L light beams. In a possible implementation manner, the lens assembly may also be a collimator or a collimating lens.

Further, the light outlets of the L sub-light sources are located on the object focal plane of the lens assembly (as shown in FIG. 4b and FIG. 4c ). Wherein, the L sub-light sources form a sub-light source array, and the intervals between the light outlets of the sub-light sources may be equal or unequal. By controlling the distance between the light outlets of the sub-light sources and the focal length of the lens assembly, it can be realized that the output fields of view of the L light beams emitted from the sub-light sources and the lens assembly correspond to the L detection areas on the window. Taking FIG. 4b as an example, the light beam emitted by the sub-light source 1 through the lens assembly corresponds to the field of view 1, that is, corresponds to the detection area 1 on the window. The light beam emitted by the sub-light source 2 through the lens assembly corresponds to the field of view 2, that is, corresponds to the detection area 2 on the window. The light beam emitted by the sub-light source 3 through the lens assembly corresponds to the field of view 3, that is, corresponds to the detection area 3 on the window. That is to say, L light beams can correspond to L detection regions on the detection window by selecting an appropriate interval d of light outlets of the sub-light sources and a focal length f of the lens assembly.

For example, L sub-light source arrays may be vertically arranged to divide the viewing window into L detection areas in the vertical direction. For another example, L sub-light source arrays may be arranged in the horizontal direction, and the window is divided into L detection areas in the horizontal direction. For another example, L sub-light source arrays may be arranged in the horizontal and vertical directions, and the window is divided into L detection areas in the horizontal and vertical directions.

Exemplarily, as shown in FIG. 4 b , the included angle θ between light beams corresponding to two different sub-light sources can be determined by the following formula (1).

θ=arctan(d/f) formula (1)

Therefore, it can be determined that the exit angle of each light beam corresponds to the detection area on the window.

It can be understood that when the intervals between the light outlets of the sub-light sources are equal, the angle θ between any adjacent light beams among the L light beams is equal. Therefore, each light beam corresponds to the same detection area on the window. When the intervals between the light outlets of adjacent sub-light sources are unequal, the included angle θ between adjacent light beams among the L light beams is also unequal. Therefore, the area of the detection area on the window corresponding to each light beam can be different.

As shown in Figure 4c, the angle between the light beam corresponding to any sub-light source and the optical axis of the lens assembly of the sub-light source can be determined by the distance between the light outlet of the sub-light source and the optical axis of the lens assembly and the focal length of the lens assembly . For example, the included angle θ2 between the sub-light source 2 and the optical axis of the lens assembly 2 of the sub-light source satisfies:

θ2 = arctan (d2/f2) formula (2)

Therefore, it can be determined that the exit angle of each light beam corresponds to the detection area on the window.

Correspondingly, the optical path adjustment module can also be used to adjust the field of view of the first detection module and the second detection module, for example, the optical path adjustment module can be used to adjust the field of view of the first sub-detection module in the first detection module, thus, The field of view of the first sub-detection module corresponds to receiving the first echo signal of the corresponding detection area. The details are introduced in the first detection module below. The optical path adjustment module can be used to adjust the field of view of the second sub-detection module in the second detection module, so that the field of view of the second sub-detection module corresponds to receiving the second echo signal of the corresponding detection area. The details are introduced in the second detection module below.

Considering that the echo signals (first echo signal or second echo signal) corresponding to different detection positions on the window have different flight times, it may not be possible to scan all the detection areas on the window within one scanning frame. When the frame rate is required to be 100Hz, and the maximum time for a single detection of a detection area is 1.25ms, then the window can be divided into 1/100Hz/1.25ms=8 detection areas at most in one frame, and the measurement corresponding to one detection area Time (for example, the measurement time includes the flight time of the light beam, the detection time of the first detection module and the second detection module, the time when the processing module processes the data such as the first echo signal and/or the second echo signal, etc.) For a long time, the detection may not be completed within 1.25ms.

In this application, there is a first scan frame among P scan frames in a scan cycle, and at least two detection areas are simultaneously detected within a detection time window in the first frame scan; for any detection time window: L sub-light sources , specifically for emitting corresponding light beams to at least two detection areas respectively;

For any detection area: the processing module is specifically configured to determine whether there is an obstruction in the detection area according to the received first echo signal and/or second echo signal of each detection time window in the detection area.

As shown in FIG. 4 d , taking L sub-light sources as an example of 8 sub-light sources below, the light beams of the 8 sub-light sources can respectively correspond to 8 detection areas on the detection window. Correspondingly, the first detection module can receive the first echo signal reflected by the window. The second detection module can receive the second echo signal reflected by the window.

Taking the simultaneous detection of 4 detection areas in a detection time window, and the window includes 8 detection areas as an example, at this time, in a first scanning frame, only 2 scans are needed to complete the scanning of all detection areas in the window. By scanning the detection areas in the window respectively through the three first scanning frames, the blocking objects in the eight detection areas in the window can be judged.

A complete scan of the window may include three first scan frames, for example, the first scan frame 1 , the first scan frame 2 , and the first scan frame 3 .

The first scanning frame 1 is divided into two left and right areas (the left is marked as the A area of the first scanning frame 1, and the right is marked as the B area of the first scanning frame 1) for scanning respectively. First, the four detection areas on the left are scanned at the same time, that is, the four sub-light sources on the left emit four light beams at the same time, and receive corresponding first echo signals through the first detection module. The second echo signal is received by the second detection module. According to the received signal strength of the first echo signal, when the difference in signal strength compared with the signal strength of the first echo signal received in the area A of the first scan frame 1 is greater than the first preset threshold, Determining that there is an obstruction in the area A of the first scanning frame 1, and/or, according to the signal strength of the received second echo signal, compared to the first echo signal received in the area A of the first scanning frame 1 without an obstruction. When the difference between the signal strengths of the two echo signals is greater than the second preset threshold, it is determined that there is an obstruction in the area A of the first scanning frame 1 .

Then scan the 4 detection areas on the right at the same time, that is, the 4 sub-light sources on the right emit 4 light beams at the same time, and receive the first echo signal through the first detection module. The second echo signal is received by the second detection module. According to the received signal strength of the first echo signal, when the difference in signal strength compared with the signal strength of the first echo signal received in the area B of the first scan frame 1 is greater than the first preset threshold, Determining that there is an obstruction in the area B of the first scanning frame 1, and/or, according to the signal strength of the received second echo signal, compared to the first echo signal received without an obstruction in the area B of the first scanning frame 1 When the difference between the signal intensities of the two echo signals is greater than the second preset threshold, it is determined that there is an obstruction in area B of the first scanning frame 1 .

Assuming that the occluder is in the first row and the second column, the first echo signal and/or the second echo signal received by the two partitions of the first scan frame 1 can be used to determine the existence of the A area of the first scan frame 1 occluder.

The first scanning frame 2 is divided into two upper and lower areas (the upper side is marked as the A area of the first scanning frame 2, and the lower side is marked as the B area of the first scanning frame 2) for scanning respectively. Firstly, scan the 4 upper detection areas at the same time, that is, the 4 sub-light sources on the upper side emit 4 light beams at the same time, and receive the first echo signal through the first detection module, and receive the second echo signal through the second detection module. Then scan the lower four detection areas at the same time, that is, the lower four sub-light sources emit four light beams at the same time, and receive the first echo signal through the first detection module, and receive the second echo signal through the second detection module.

Assuming that the occluder is in the first row and the second column, the first echo signal and/or the second echo signal received by the two partitions of the first scan frame can be used to determine that there is an occlusion in the A area of the first scan frame 2 thing.

The first scanning frame 3 is divided into two special areas for scanning respectively. First, scan the 4 detection areas of the first column and the third column at the same time (denoted as the A area of the first scanning frame 3), that is, the four sub-light sources in the first column and the third column emit 4 beams at the same time, and pass through the A detection module receives the first echo signal, and a second detection module receives the second echo signal. Then scan the 4 detection areas of the 2nd column and the 4th column (referred to as the B area of the first scanning frame 3) at the same time, that is, the 4 sub-light sources of the 1st column and the 3rd column emit 4 beams at the same time, and pass through the first The detection module receives the first echo signal, and receives the second echo signal through the second detection module.

Assuming that the occluder is in the first row and the second column, the first echo signal and/or the second echo signal received by the two partitions in the first scan frame 3 can be used to determine the presence of area B in the first scan frame 3 occluder.

Therefore, through the area A of the first scanning frame 2 , the area A of the first scanning frame 2 , and the area B of the first scanning frame 3 , it can be determined that there is an obstruction in the detection area corresponding to the first row and the second column. That is, according to different coding combinations of the first scanning frame, the position of the detection area corresponding to the obstruction can be obtained (for example, AAB corresponds to the position of the first row and the second column, and BBA corresponds to the position of the second row and the third column).

By simultaneously detecting at least two detection areas in multiple frames, the spatial resolution accuracy can be effectively improved.

3. Scanning module

The light beams emitted by the light source to different detection areas on the window can also be realized by the scanning module. The light beam is transmitted to the scanning module through the optical path adjustment module, and projected to the detection area through the scanning module. The detection device can scan the detection area by changing the detection angle of the scanning module. For example, the detection device can preset multiple detection angles, and the scanning module can emit light beams to the detection area on the window at each detection angle of the multiple detection angles.

In a possible implementation manner, the scanning module may be a scanner, such as a reflective scanner. Reflective scanners include, but are not limited to, mechanical rotating mirrors and MEMS vibrating mirrors. Reflective scanners change the scanning direction of the scanner by mechanical rotation. When the scanning module is a reflective scanner, the reflective surface of the reflective scanner can be arranged on the focal plane of the image side of the lens assembly.

Combining the above situation 1, when the light source is a laser, the light beam emitted by the light source can pass through a lens assembly to emit parallel light, and the light spots of the parallel light overlap on the focal plane of the image square of the lens assembly. Therefore, the scanning The module is arranged on the focal plane of the image side of the lens assembly. In this way, the light spots of the beam can overlap on the reflective surface of the scanner, and when the reflective scanner rotates and scans around two mutually perpendicular rotation axes, the beam can be projected by the scanner to different detection areas on the window. Optionally, the scanner can be in continuous operation mode or in step operation mode.

As shown in Figure 5a, it is a schematic structural diagram of a scanner provided in the application. The scanner can change detection angles in two-dimensional directions (horizontal direction and vertical direction), and changing detection angles can also be understood as placing the scanner at different detection angles. Fig. 5a uses a light beam as an example to illustrate, under the detection angles of 8 different directions, the light beam is respectively projected to 8 detection areas through the scanner, and 8 scanning points of the 8 detection areas are obtained. In this way, the scanner scans different detection angles to obtain scanning tracks corresponding to all detection areas on the window. For example, in the schematic diagram of the two-dimensional multi-beam scanning trajectory shown in Figure 5b, different filling patterns correspond to the detection areas detected by the light source at different detection angles, and the scanning trajectory can be that the processing control module controls the scanner to scan according to the preset scanning method owned. It can also be understood that the processing control module controls the scanner to rotate the scanner in the two-dimensional direction, so that the scanner is in the scanning trajectory obtained by scanning at different detection angles. For example, the processing control module may control the scanning module to rotate horizontally and then vertically, or to rotate vertically and then horizontally, or to rotate vertically and horizontally together, or to rotate horizontally and vertically alternately. In combination with the optical path adjustment module shown in FIG. 4a above, since the spots of the beams emitted from the lens assembly overlap on the image focal plane of the lens assembly, the scanning module can be arranged on the image focal plane of the lens assembly.

As shown in Figure 5c, it is a schematic structural diagram of another scanner provided in the application. The scanner can change the detection angle in one-dimensional direction, so that the scanner is under different detection angles.

Combining the above situation two, for example, the window is divided into L×T detection areas, the scanning of T detection areas is realized by the scanner in the horizontal direction, and the detection of L detection areas is realized by L sub-light sources in the vertical direction . When the light source is L sub-light sources, the scanner changes the outgoing angles of the L light beams emitted by the L sub-light sources in the horizontal direction, so that at each detection angle, the L detection areas corresponding to the L light beams can be obtained. scan point. Realize the scanning of the detection area in the horizontal direction.

For example, taking L as 4 and T as 2 as an example, the scanner scans the left and right detection areas in the horizontal direction. In each horizontal direction, the light beams emitted by the four sub-light sources respectively pass through the optical path adjustment module , corresponding to the detection areas in four vertical directions. That is, at one detection angle, 4 light beams are projected to 4 detection areas through the scanner, and 4 scanning points are obtained. Therefore, by scanning twice with the scanner, 8 detection areas on the window can be scanned. For example, in the schematic diagram of the two-dimensional multi-beam scanning trajectory shown in Figure 5d, the same filling pattern corresponds to the detection area detected by the same sub-light source at different detection angles, and different detection patterns correspond to the detection areas detected by different sub-light sources. It can also be understood that the scanner reflects the four incoming beams to the detection area, and the scanning points of each beam present a one-dimensional distribution, and multiple beams perform one-dimensional scanning to form a two-dimensional multi-beam scanning as shown in Figure 5d track. The one-dimensional scanner can simplify the volume of the detection device and simplify the complexity of controlling the processing control module.

It should be noted that when the scanner is a scanner that rotates in a one-dimensional direction (for example, a horizontal direction or a vertical direction), when installing and adjusting this type of scanner, the rotation axis of the one-dimensional scanner can be positioned at L in the plane of incidence of the light beam. The one-dimensional scanner is only responsible for scanning the L light beams of the L sub-light sources along one dimension (the horizontal dimension shown in Figure 5c). In the horizontal dimension, the outgoing angle of the light beam can be controlled by the processing control module. It is the angle between the light beams emitted by two adjacent sub-light sources from the optical path adjustment module. It can also be understood that the outgoing angle in the vertical dimension can be determined by the L sub-light sources and the corresponding optical path adjustment module.

In a possible implementation manner, the above functions of the optical path adjustment module and the scanning module may also be implemented through the OPA. The working principle of OPA is: by adjusting the phase relationship between the light waves radiated from each phase control unit (such as an optical phase shifter), so that they are in phase with each other in the set direction, resulting in mutually strengthened interference, the result of the interference is in A high-intensity light beam is generated in this direction, and the light waves emitted from each phase control unit in other directions do not meet the condition of being in phase with each other, and the results of interference cancel each other out, so the radiation intensity is close to zero. Under the control of the processing control module, the phase control units forming the phased array can make the direction of one high-intensity beam or multiple high-intensity beams scan according to the designed program.

In this application, the OPA can receive L light beams from the light source, and adjust the outgoing angles of the L light beams to the corresponding detection angles, so that the L light beams emit light beams to different detection areas at different detection angles.

In a possible implementation manner, L light beams are injected into the OPA, and the phases of the wave fronts of the L light beams are adjusted through the OPA, so that the L light beams all scan detection areas corresponding to different fields of view. It can also be understood that the L light beams scan detection areas corresponding to different fields of view in a non-overlapping manner. Wherein, the OPA performs two-dimensional scanning to obtain the scanning trajectory as shown in FIG. 5 b above; performs one-dimensional scanning to obtain the scanning trajectory as shown in FIG. 5 d above.

4. The first detection module

After the light beam emitted to the window is projected on the window, the window will reflect the first echo signal. After the first echo signal is transmitted to the first detection module, the first detection module processes the first echo signal. The first detection module may be a detector in a laser radar, or a component with a detection function in a laser radar. Exemplarily, the first detection module can convert the first echo signal into an analog signal or a digital signal through photoelectric conversion.

Combined with situation 1, the light beam emitted by the light source is directed to the detection area on the window, and the beam is correspondingly emitted to different detection areas on the window at different detection angles through the scanning module, reflected back to the first echo signal, and passed through the first detection area. The module receives the first echo signal at a corresponding detection angle.

In a possible implementation manner, referring to FIG. 3a and FIG. 3b, the first detection module also includes an optical path adjustment module before, wherein the optical path adjustment module can be a light splitting module, and when there is a scanning module, the light splitting module can be located between the scanning module and the first detection module. Between a detection module, the optical splitting module is used to transmit the received first echo signal to the corresponding first detection module. Wherein, the light splitting module may be a perforated reflector, or a PBS, or an optical fiber circulator. When the spectroscopic module is a perforated reflector, the holes of the perforated reflector can transmit the light beam to the optical path adjustment module, and the reflective surface of the perforated reflector can reflect the first echo signal to the corresponding first detection module. When the optical splitting module is a PBS, the light beam is transmitted from the PBS to the optical path adjustment module, and the first echo signal is reflected to the corresponding first detection module. When the optical splitting module is a fiber optic circulator, the light beam can be sent to the optical path adjustment module from one port, and the first echo signal can be sent to the corresponding first detection module from the other port. It should be noted that, before the first echo signal is transmitted to the first detection module through the optical splitting module, the first echo signal is collinear with the corresponding light beam, which is also referred to as coaxial.

Combining the second situation, after the L light beams are irradiated to the L detection areas on the window, L first echo signals reflected back to the L detection areas.

The detection device can also be provided with M first sub-detection modules correspondingly, and the detection area in the window corresponding to detection of each first sub-detection module in the M first sub-detection modules can be emitted from one of the L sub-light sources. The detection areas corresponding to the beams of the light beams have the same size. At this time, the L sub-light sources can correspond to the L first sub-detection modules one by one, that is, M and L are equal. When any sub-light source in the L sub-light sources emits light beams to the corresponding detection area, the corresponding first sub-detection module is turned on and receives the first echo signal. At this time, each first sub-detection module in the L first sub-detection modules is used to detect the detection area corresponding to the light beams emitted by the corresponding L sub-light sources.

For example, the i-th detection area on the window is detected by the i-th light beam correspondingly emitted by the L sub-light sources, and the i-th detection area is detected by the i-th first sub-detection module. i is any integer from 1 to L. Therefore, after the i-th light beam of the L light beams hits the i-th detection area on the window, it may reflect back the i-th first echo signal. At this time, the i-th first echo signal needs to be transmitted to The i-th first sub-detection module.

As shown in FIG. 6 , after the three light beams are irradiated to the three detection areas on the window, they are reflected back to the three first echo signals of the three detection areas. At this time, the first detection module may include 3 first sub-detection modules, and each of the 3 first sub-detection modules is used to detect a respective detection area.

In a possible implementation, the L first sub-detection modules also include L optical path adjustment modules, and each optical path adjustment module includes an optical splitting module, wherein the L optical splitting modules and the L first echo signals are one by one Correspondingly, for each light splitting module in the L light splitting modules, each light splitting module is used to transmit the received first echo signal to the corresponding first sub-detection module. Or it can also be understood that, among the L optical splitting modules, the k-th optical splitting module is used to transmit the k-th first echo signal to the k-th first sub-detection module, and k is taken from 1 to L. It can also be understood that the k-th optical splitting module is used to transmit the k-th first echo signal to the k-th first sub-detection module, and the k-th optical splitting module has no influence on the original optical path of the k-th beam, k takes over 1 to L. It should be noted that, before the k-th first echo signal is transmitted to the first detection module through the optical splitting module, the k-th first echo signal is collinear with the corresponding k-th light beam, which is also referred to as coaxial.

Optionally, there is at least one light beam among the L light beams, which is used to emit to at least two detection areas. At this time, the first detection module may also include M first sub-detection modules, and each first sub-detection module corresponds to the detection The detection area in the window can also be smaller than the size of the detection area corresponding to the light beam emitted by the sub-light source. At this time, each of the L sub-light sources may correspond to a plurality of first sub-detection modules, that is, M is a positive integer greater than L. That is, considering that when light beams are simultaneously emitted to at least two detection areas through multiple frames, there is at least one light beam that is simultaneously emitted to at least two detection areas, that is, after the light beam emitted by one of the L sub-light sources, it can pass through at least one first The sub-detection module receives the first echo signal. Each first sub-detection module in the M first sub-detection modules can respectively receive the first echo signal reflected from a detection area, that is, the M first sub-detection modules can receive L first echo signals Signal. Therefore, through different frames, it is possible to simultaneously emit light beams to at least two different detection areas in each frame, thereby reducing the number of detections of the first echo signal in each frame, and increasing the obstruction of the detection area by means of multiple frames The detection accuracy.

For another example, the detection area in the window corresponding to detection by each first sub-detection module may also be larger than the size of the detection area corresponding to the light beam emitted by the sub-light source. At this time, multiple sub-light sources in the L sub-light sources may correspond to one first sub-detection module, that is, M is smaller than L. That is, after multiple sub-light sources in the L sub-light sources simultaneously emit light beams, the first echo signal may be received by a first sub-detection module. Therefore, the times of beam emission and first echo signal reception by the first sub-detection module can be reduced. Correspondingly, when scanning all detection areas on the window, the total time can be correspondingly reduced and the scanning efficiency can be improved.

5. The second detection module

After the light beam emitted to the window is projected on the window, the blocking object on the window may reflect the second echo signal. After the second echo signal is transmitted to the second detection module, the second detection module processes the second echo signal. The second detection module may be a detector in the laser radar, or a component with a detection function in the laser radar. Exemplarily, the second detection module can convert the second echo signal into an analog signal or a digital signal through photoelectric conversion.

Combining with the first situation, after the light beam hits the detection area on the window and is reflected back to the second echo signal, the second echo signal needs to be transmitted to the second detection module.

Considering the characteristics of diffuse reflection, the detection area of the second echo signal detected by the second detection module on the window may be larger than the detection area of the light beam on the window. For example, the second detection module is used to detect all diffusely reflected second echo signals reflected on the window. At this time, no spectroscopic module may be provided before the second detection module. At this time, after the light beams are correspondingly emitted to different detection areas on the window at different detection angles through the scanning module, they all pass through the second detection module to receive the second echo signal.

For another example, the detection device may include a plurality of second detection modules, and each second detection module is used to monitor a partial area on the window. For example, as shown in FIG. 7a, the detection device may include two second detection modules, and the first second detection module is used to monitor the left area on the window. The 2nd second detection module is used to monitor the right area on the window.

For example, after the light beam is correspondingly emitted to the detection area in the left area on the window at different detection angles through the scanning module, the second echo signal is received through the first second detection module. After the light beam is correspondingly emitted to the detection area in the right area on the window under different detection angles through the scanning module, the second echo signal is received through the second second detection module.

Combining with the second case, after the L light beams are irradiated to the L detection areas on the window, at least one second echo signal may be reflected back to at least one detection area through diffuse reflection. At this time, the second detection module may include N second sub-detection modules, and each second sub-detection module in the N second sub-detection modules is used to detect a respective detection area.

A possible implementation, N and L are equal, at this time, the L light beams correspond to the L second sub-detection modules one by one, and the detection area corresponding to each second sub-detection module can correspond to the light beams of the sub-light sources one by one. the corresponding detection area.

For example, the i-th detection area on the window is detected by the i-th light beam correspondingly emitted by the L sub-light sources, and the i-th detection area is detected by the i-th second sub-detection module. i is any integer from 1 to L. Therefore, after the i-th light beam of the L light beams hits the i-th detection area on the window, it may reflect back the i-th second echo signal. At this time, the i-th second echo signal needs to be transmitted to The i-th second sub-detection module.

As shown in FIG. 7b, after the three light beams are irradiated to the three detection areas on the window respectively, they are reflected back to the three second echo signals of the three detection areas. At this time, the second detection module may include 3 second sub-detection modules, and each of the 3 second sub-detection modules is used to detect a respective detection area.

The power change information of diffuse reflection can be obtained through the second echo signal received by the second detection module. Compared with the method of simply judging whether there is an obstruction in the window through the first echo signal, it can better cover the weak reflectivity. Occlusion detection.

In another possible implementation, the detection device can also be equipped with N second sub-detection modules, and the detection area corresponding to each second sub-detection module can correspond to the detection area corresponding to the light beams of multiple sub-light sources, that is, N is less than L. For example, at least one of the L light beams is used to emit to at least two detection areas. At this time, the second detection module may include N first sub-detection modules, where N is a positive integer greater than or equal to L. That is, considering that when light beams are simultaneously emitted to at least two detection areas through multiple frames, at least one light beam is simultaneously emitted to at least two detection areas, and each second sub-detection module in the N second sub-detection modules can respectively receive The second echo signal reflected from one detection area, that is, through the N second sub-detection modules, may receive L second echo signals. Therefore, through different frames, it is possible to simultaneously emit light beams to at least two different detection areas in each frame, thereby reducing the number of detections of the second echo signal in each frame, and increasing the obstruction to the detection area by means of multiple frames The detection accuracy.

In another possible implementation manner, the detection area corresponding to the sub-light source may also correspond to the detection areas corresponding to multiple second sub-detection modules, that is, N is greater than L. For details, reference may be made to the implementation manner of the M first sub-detection modules, which will not be repeated here.

In combination with the M first sub-detection modules in the first detection module, the received first echo signal and/or second echo signal of each detection time window in the detection area can be used to determine whether there is an obstruction in the detection area.

6. Processing module

In a possible implementation, for a detection area, when the signal strength of the received first echo signal is greater than the signal strength of the first echo signal in the detection area when it is not blocked, it can be determined that there is an obstruction in the detection area .

In some embodiments, considering that when the first detection module detects different detection areas on the window, due to the different path lengths, when receiving the first echo signals of different detection areas, it may correspond to different flight times. Therefore, for a detection area, the detection time window T1 of the first echo signal of the detection area may be predetermined. By detecting whether the first echo signal is received within the detection time window, and after receiving the first echo signal, it can be determined whether there is an obstruction in the detection area according to the first echo signal. As shown in Figure 8a, the difference between the signal strength of the first echo signal received and the signal strength of the first echo signal received without an obstruction is greater than the first preset threshold; The signal strength of the received first echo signal is measured in advance.

For example, considering that the occluder on the window is an occluder with strong specular reflection, for example, water droplets, ice and snow, etc. In terms of the area, the first detection module can receive a stronger first echo signal. Therefore, when the signal strength of the first echo signal is greater than the first preset threshold value compared with the signal strength of the first echo signal in the detection area when it is not blocked, it can be determined that there is an obstruction in the detection area. The first preset threshold may be determined according to factors such as noise of the first echo signal, type of obstruction, material of the window, environment, etc., which is not limited herein.

For example, a condition to determine the presence of an occluder is satisfied:

Q1=(P1-P0)≥q1

Wherein, the signal strength of the first echo signal received by the first detection module is P1, the signal strength of the first echo signal in the detection area is P0 when it is not blocked, and q1 is the first preset threshold.

For another example, a condition to determine the existence of an occluder is met:

Q1=(P1-P0)/P0≥q1'

Wherein, q1' may be a preset threshold determined according to the first preset threshold.

Of course, it may also be determined whether there is an obstruction in the detection area in combination with the fact that the second detection module receives the second echo signal. In a possible implementation, for a detection area, when the signal strength of the received second echo signal is greater than the signal strength of the second echo signal in the detection area when it is not blocked, it can be determined that there is an obstruction in the detection area .

For example, considering that the occlusion on the window is a occlusion with weak specular reflection and correspondingly strong diffuse reflection, such as dirt, dust and other occlusions with rough surfaces, at this time, compared to no such occlusion In terms of the detection area of the window on the clean surface of the object, the second detection module can receive a stronger second echo signal. Therefore, for a detection area, the detection time window T2 of the second echo signal of the detection area may be predetermined. Within the detection time window T2, when the signal strength of the received second echo signal is greater than the second preset threshold value compared with the signal strength value of the second echo signal in the detection area when it is not blocked, the detection can be determined. There are occluders in the area. As shown in Figure 8b, it is determined that the difference between the signal strength of the second echo signal received and the signal strength of the second echo signal received under no obstruction is greater than the second preset threshold; The signal strength of the second echo signal is measured in advance. The second preset threshold may be determined according to factors such as noise of the second echo signal, type of obstruction, material of the window, environment, etc., which is not limited herein.

For example, a condition to determine the presence of an occluder is satisfied:

Q2=(P2-P0')≥q2

Wherein, the signal strength of the second echo signal received by the second detection module is P2, the signal strength of the second echo signal in the detection area is P0' when it is not blocked, and q2 is the second preset threshold.

For another example, a condition to determine the existence of an occluder is satisfied:

Q2=(P2-P0')/P0'≥q2'

Wherein, q2' may be a preset threshold determined according to the second preset threshold, or may be determined in other ways, which is not limited here.

In combination with the first echo signal and the second echo signal, it is also possible to determine whether there is an obstruction on the window by comparing the relative difference between the first energy difference and the second energy difference. The first energy difference is the difference between the signal strength of the first echo signal received by the first detection module and the signal strength of the first echo signal received under no obstruction; the second energy difference is the difference between the signal strength of the first echo signal received by the second detection module The difference between the signal strength of the received second echo signal and the signal strength of the second echo signal received under no obstruction.

For example, a condition to determine the presence of an occluder is satisfied:

Q2=(P1-P0)/(P2-P0’)≥q3

Wherein, q3 may be a preset threshold determined according to the first preset threshold and the second preset threshold, or may be determined in other ways, which is not limited here.

In some embodiments, according to the first energy difference and/or the second energy difference, the type of the blocking object on the window is determined. Specifically, the type of the occluder existing on the window may be determined by setting a corresponding threshold range.

For example, by setting the first threshold range of water droplets, when it is determined that the signal strength of the first echo signal in the detection area belongs to the first threshold range compared with the signal strength of the first echo signal when it is not blocked, it can be determined that the detection There are water drop type occluders in the area. For another example, by setting the first threshold range of ice, when it is determined that the signal strength of the first echo signal is within the first threshold range of ice compared with the signal strength of the first echo signal in the detection area when it is not blocked, It can be determined that there is an ice-type occluder in the detection area.

For another example, by setting the second threshold range of dust, when it is determined that the signal strength of the second echo signal in the detection area falls within the second threshold range compared with the signal strength of the second echo signal when it is not blocked, it can be determined that There is a dust-type occluder in the detection area.

For another example, in combination with the third preset threshold determined by the first energy difference and the second energy difference, third threshold ranges for different types of obstructions may be determined. For example, by setting the third threshold range of dust, according to the first energy difference of the first echo signal and the second energy difference of the second echo signal, it is determined that the relative value of the first energy difference relative to the second energy difference belongs to the first When it is within the range of the three thresholds, it can be determined that there is a dust-type occluder in the detection area.

In combination with the above-mentioned determination of the first echo signal and/or the second echo signal of different detection areas, the first energy difference and/or the second energy difference of each detection area can be determined, thereby determining the reflection of the detection area on the window The spatial distribution information of the rate can be used to classify the occluders more accurately. For example, when an obstruction appears in a plurality of continuous detection areas, the type of the obstruction may be determined in combination with multiple first echo signals and/or multiple second echo signals received by the continuous multiple detection areas and size to improve the recognition accuracy of occlusions.

Seven, processing control module

Optionally, the detection device may further include: a processing control module. The processing control module can be used to control the scanning module at different detection angles. The processing control module can be integrated with the processing module, or can be set separately, which is not limited here.

It should be understood that the processing control module can control the scanning module to step at a certain detection angle, or it can also be continuously rotated to a certain detection angle, and the scanning module can be at different detection angles. emit beams.

For example, L light beams are in one-to-one correspondence with L optical path adjustment modules, M optical path adjustment modules are in one-to-one correspondence with M first sub-detection modules, and N optical path adjustment modules can also be in one-to-one correspondence with N second sub-detection modules. One-to-one correspondence, L, M, N are integers greater than 1. It can also be understood that a light beam can be transmitted to an optical path adjustment module, and the optical path adjustment module can correspond to a first sub-detection module, and a first sub-detection module can also independently correspond to an optical path adjustment module. In addition, it can also be a second sub-detection module. The detection module is provided with an optical path adjustment module independently.

Exemplarily, taking L=M=N as an example, the processing control module can first control the scanning module to project L beams to L detection areas at a detection angle, and at the same time trigger the light source to scan the L beams in one cycle The module emits to L detection areas, and may reflect L first echo signals and/or L second echo signals after encountering the window, and transmit them to the corresponding L first sub-detection modules and/or through their respective optical paths N second sub-detection modules, the processing control module triggers the L first sub-detection modules and/or the data acquisition units in the N second sub-detection modules to collect L first echo signals and/or L second echo signals wave signals, and then the processing module obtains the information of the obstructions corresponding to the L detection areas according to the L first echo signals and/or the L second echo signals, and processes the information of the obstructions. Afterwards, the processing control module controls the scanning module to be at the next detection angle, and repeats the above process.

It should be noted that, during the process that the processing control module controls the first detection module to synchronize with the light beam of the light source, the signal receiving unit in the first detection module can always receive the corresponding first echo signal. The signal receiving unit in the second detection module can always receive the corresponding second echo signal.

In a possible implementation manner, the processing control module may include a processing unit and a control unit, and the processing unit may be a general-purpose processor, a field programmable gate array (field programmable gate array, FPGA), a signal data processing (digital signal processing, DSP) circuit, application specific integrated circuit (ASIC), or other programmable logic devices. The control unit includes the driver of the scanner, the driver of the modulator, the driver of the frequency modulation of the laser, the driver of the detector, etc. These drivers can be integrated or separated.

Optionally, the FPGA can send control signals to each driver of the control unit, so that the driver of the scanner controls the scanning module, and the driver of the detector controls the first detection module and the second detection module, so as to realize the scanning module, the first detection module, Synchronization is performed between the second detection module and the light source; or, the driving of the scanner controls the scanning module, the driving of the light source controls the light beam of the light source, and the driving of the detector controls the first detection module and the second detection module, so as to realize the scanning module, The first detection module, the second detection module and the light beams of the light source are synchronized. Taking the scanner as an example, the FPGA can send a control signal to the driver of the scanning module, and the driver of the scanning module can control the scanner to be at a certain detection angle according to the control signal.

8. Shell

As shown in Fig. 8c, the casing, the first detection module, the second detection module and the light source are located on the same side of the window; the casing is engaged with the window to support the first detection module, the second detection module and the light source. Considering that the second detection module determines the second echo signal through diffuse reflection, in order to improve the identification accuracy of the second detection module and the first detection module, the surface of the housing can be set as a matting surface for absorbing on the light waves, to avoid secondary reflections.

Based on the above content and the same idea, a window detection method provided by the present application can be referred to the introduction of FIG. 9 below. The window detection method can be applied to the detection device in any of the above embodiments. For example, the detection device includes a light source, a first detection module, a second detection module and a processing module, as shown in Figure 9, the method includes the following steps:

Step 901, the light source emits a light beam to the window, and the light path direction of the light beam is perpendicular to the window.

In some embodiments, a light beam can be emitted to the detection area corresponding to the first sub-light source; the first sub-light source is any one of the L sub-light sources; the L detection areas corresponding to the L sub-light sources are different areas on the window; L is a positive integer greater than 1. In some other embodiments, the scanning module can emit light beams to the window at different detection angles. For the detailed process of emitting light beams to the window, refer to the description of the light source and the scanning module above, and will not be repeated here.

In step 902, the first detection module sends the first echo signal to the processing module when receiving the first echo signal reflected by the mirror surface from the window.

Wherein, the receiving optical path of the first echo signal and the emitting optical path formed by the light beam emitted by the light source are the same or a paraxial optical path.

In some embodiments, at least one first sub-detection module of the first detection module can be used to correspondingly detect the first echo signal reflected by at least one detection area; each first sub-detection module in the at least one first sub-detection module , used to detect the first echo signal reflected by the detection area corresponding to the first sub-detection module in the window. For the specific process, refer to the above-mentioned introduction to the first detection module and the scanning module, which will not be repeated here.

In step 903, the second detection module sends the second echo signal to the processing module when receiving the second echo signal diffusely reflected from the window.

Wherein, the distance between the receiving optical path of the second detection module and the emitting optical path formed by the light beam emitted by the light source is greater than the distance threshold, so that the receiving optical path of the second echo signal is far away from the emitting optical path formed by the light beam emitted by the light source.

In some other embodiments, the second echo signal reflected by at least one detection area correspondingly detected by at least one second sub-detection module of the second detection module; each second sub-detection module in the at least one second sub-detection module The detection module is used to detect the second echo signal reflected by the detection area corresponding to the second sub-detection module in the window. For the specific process, refer to the above-mentioned introduction to the second detection module and the scanning module, which will not be repeated here.

Step 904, the processing module determines whether there is an obstruction in the window according to the first echo signal and/or the second echo signal.

In some embodiments, the processing module may determine whether there is an obstruction in the corresponding detection area at different detection angles according to the received second echo signal and/or the first echo signal received at different detection angles.

In some other embodiments, the processing module may receive the first echo signal from at least one detection area corresponding to at least one sub-light source in the L sub-light sources, and/or when receiving at least one echo signal from the L sub-light sources When a sub-light source corresponds to the second echo signal of at least one detection area, according to the received first echo signal corresponding to at least one detection area and/or the second echo signal corresponding to at least one detection area, determine at least one Whether there is an obstruction in the detection area.

For the specific process, refer to the above-mentioned introduction to the processing module, which will not be repeated here.

With the detection device of the present application, the first echo signal and the second echo signal obtained during one detection process can determine the obstruction with high accuracy.

In order to realize each function in the method provided by the above embodiment of the present application, the embodiment of the present application further provides a detection device for realizing the above method. The device may include a hardware structure and/or a software module, and realize the above-mentioned functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above-mentioned functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

The detection device provided in the embodiment of the present application may be a controller integrated with a processor, or may also be a chip or a circuit capable of performing the functions corresponding to the above method, and the chip or circuit may be set in a device such as a controller. Furthermore, the detection device provided in the embodiment of the present application can also be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software drives hardware depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the embodiments of the present application.

The detection device provided in the embodiment of the present application can divide functional modules, for example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation.

In a possible implementation manner, as shown in FIG. 10 , a schematic structural diagram of a detection device is provided for this embodiment of the present application. The detection device may be a laser radar, or a device in the laser radar, or a device that can be used in conjunction with the laser radar. The device 1000 may include: a first detection module 1001 , a second detection module 1002 and a light source 1003 . Of course, the apparatus 1000 may also include other modules, for example, a processing module and the like. The embodiment of the present application is not limited, and only shows main functional modules.

It should be understood that the first detection module 1001 and the second detection module 1002 in the embodiment of the present application may be respectively implemented by detectors or detector-related circuit components.

The light source 1003 is used to emit a light beam to the window, and the light path direction of the light beam is perpendicular to the window;

The first detection module 1001 is configured to send the first echo signal to the processing module after receiving the first echo signal reflected by the mirror surface from the window; the receiving optical path of the first detecting module 1001 and the emitting optical path formed by the light beam emitted by the light source Be the same or paraxial optical path;

The second detection module 1002 is configured to send the second echo signal to the processing module when receiving the second echo signal diffusely reflected from the window; The distance of the transmitting optical path is greater than the distance threshold; the processing module is configured to determine whether there is an obstruction in the window according to the received first echo signal and/or the second echo signal.

Exemplarily, the embodiment of the present application may provide a laser radar 1100 . The structure of the laser radar 1100 may be shown in FIG. 11 . The laser radar 1100 includes a laser 1101 , a first detector 1102 , and a second detector 1103 . The first detector 1102 may be the first detection module in the above embodiment, and the second detector 1103 may be the second detection module in the above embodiment. Optionally, the lidar 1100 may further include a processing module.

The laser 1101 is used to emit a light beam to the window, and the light path direction of the light beam is perpendicular to the window;

The first detector 1102 is used to send the first echo signal to the processing module after receiving the first echo signal reflected by the mirror surface from the window; the receiving optical path of the first detector 1102 and the emitting optical path formed by the light beam emitted by the light source Be the same or paraxial optical path;

The second detector 1103 is used to send the second echo signal to the processing module when receiving the second echo signal diffusely reflected from the window; the receiving optical path of the second detector 1103 is formed by the light beam emitted away from the light source The distance of the transmitting optical path is greater than the distance threshold; the processing module is configured to determine whether there is an obstruction in the window according to the received first echo signal and/or the second echo signal.

The embodiment of the present application also provides a chip, the chip is connected to the memory, and is used to read and execute the software program stored in the memory. When the software program is run on the chip, the chip realizes the functions shown in Figures 3a to 3d and 4a to 4a. 4d, Figures 5a-5d, Figure 6, Figures 7a-7b, Figures 8a-8c, and the function of the processing module or laser radar in Figure 9. For example, when running a software program on the chip, the chip determines whether there is an obstruction in the window of the detection device according to the received first echo signal and/or second echo signal; wherein, the first echo signal is the detection After the light source of the device emits light beams to the window, the first detection module of the detection device receives the echo signal from the specular reflection of the window; the receiving optical path of the first detection module is the same as the emitting optical path formed by the light beam emitted by the light source The optical path of the second echo signal is that after the light source of the detection device emits light beams to the window, the second detection module of the detection device receives the echo signal from the diffuse reflection of the window; the receiving optical path of the second detection module and the light beam emitted by the light source The distance of the formed emission light path is greater than the distance threshold; the light path direction of the light beam is perpendicular to the window.

The embodiment of the present application also provides a computer-readable storage medium, including instructions. When the instructions are run on the detection device, the detection device can realize the steps shown in Figures 3a to 3d, 4a to 4d, 5a to 5d, and 6. , Fig. 7a～Fig. 7b, Fig. 8a ~ Fig. 8c, the function of detection device or lidar in Fig. 9. For example, when the instruction is run on the detection device, the detection device determines whether there is an obstruction in the window of the detection device according to the received first echo signal and/or the second echo signal; wherein, the first echo signal is After the light source of the detection device emits light beams to the window, the first detection module of the detection device receives the echo signal from the mirror reflection of the window; The optical path of the axis; the second echo signal is that after the light source of the detection device emits light beams to the window, the second detection module of the detection device receives the echo signal from the diffuse reflection from the window; the receiving optical path of the second detection module and the light emitted by the light source The distance of the emitted light path formed by the light beam is greater than the distance threshold; the direction of the light path of the light beam is perpendicular to the window.

An embodiment of the present application further provides a terminal, and the terminal includes at least one detection device mentioned in the above-mentioned embodiments of the present application, or includes the laser radar mentioned in the above-mentioned embodiments of the present application.

The embodiment of the present application also provides a computer program product, which includes instructions, and when the instructions are run on the detection device, the detection device is made to realize the functions shown in Figures 3a-3d, 4a-4d, 5a-5d, 6, and 7a to 7b, 8a to 8c, and the function of the detection device or laser radar in FIG. 9. For example, when the instruction is run on the detection device, the computer is made to determine whether there is an obstruction in the window of the detection device according to the received first echo signal and/or the second echo signal; wherein, the first echo signal is the detection After the light source of the device emits light beams to the window, the first detection module of the detection device receives the echo signal from the specular reflection of the window; the receiving optical path of the first detection module is the same as the emitting optical path formed by the light beam emitted by the light source The optical path of the second echo signal is that after the light source of the detection device emits light beams to the window, the second detection module of the detection device receives the echo signal from the diffuse reflection of the window; the receiving optical path of the second detection module and the light beam emitted by the light source The distance of the formed emission light path is greater than the distance threshold; the light path direction of the light beam is perpendicular to the window.

Although the application has been described in conjunction with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and drawings are merely illustrative of the solutions defined by the appended claims, and are deemed to cover any and all modifications, changes, combinations or equivalents within the scope of the application.

Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of the present invention. In this way, if the modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and equivalent technologies, the present application also intends to include these modifications and variations.

Claims (20)

1. A detection device, comprising: the device comprises a light source, a first detection module, a second detection module and a processing module;

the light source is used for emitting a light beam to the window, and the light path direction of the light beam is perpendicular to the window;

the first detection module is used for sending a first echo signal to the processing module when the first echo signal from the window subjected to the mirror reflection is received; the receiving light path of the first detection module and the transmitting light path formed by the light beam transmitted by the light source are the same or paraxial light paths;

the second detection module is used for sending a second echo signal to the processing module when the second echo signal which is diffusely reflected from the window is received; the distance between a receiving light path of the second detection module and a transmitting light path formed by the light beam transmitted by the light source is greater than a distance threshold value;

and the processing module is used for determining whether an obstruction exists in the window according to the received first echo signal and/or the received second echo signal.

2. The detection apparatus according to claim 1, wherein the light source comprises L sub-light sources, wherein L is a positive integer greater than 1;

for a first sub-light source in the L sub-light sources, the first sub-light source is used for emitting a light beam to a detection region corresponding to the first sub-light source; l detection areas corresponding to the L sub-light sources are different areas on the window; the first sub-light source is any one of the L sub-light sources;

the first detection module is specifically configured to send the at least one first echo signal to the processing module when receiving a first echo signal from at least one detection region corresponding to at least one of the L sub-illuminants;

the second detection module is specifically configured to send a second echo signal to the processing module when the second echo signal from at least one detection region corresponding to at least one of the L sub-light sources is received;

the processing module is specifically configured to determine whether an occlusion exists in the at least one detection region according to the received first echo signal corresponding to the at least one detection region and/or the received second echo signal corresponding to the at least one detection region.

3. The detection apparatus according to claim 2, wherein the first detection module includes M first sub-detection modules, where M is a positive integer greater than 1, and the M first sub-detection modules are respectively configured to detect the first echo signal reflected by the corresponding detection area in the window, and send the first echo signal reflected by the detection area to the processing module when receiving the first echo signal reflected by the detection area; and/or the presence of a gas in the gas,

the second detection module comprises N second sub-detection modules; n is a positive integer greater than 1; each of the N second sub-detection modules is configured to detect a second echo signal reflected by a detection area corresponding to the second sub-detection module in the window, and send the second echo signal reflected by the detection area to the processing module when receiving the second echo signal reflected by the detection area.

4. The detection device of any one of claims 1-3, further comprising a scanning module;

the light source is specifically used for emitting the light beam to the scanning module;

the scanning module is used for emitting the light beam to the window under different detection angles;

the first detection module is specifically configured to receive the first echo signal from the window, where the first echo signal is specularly reflected at the same detection angle as the light beam;

the processing module is further used for controlling the scanning module to be at different detection angles.

5. The detection apparatus according to claim 4, wherein the processing module is further configured to determine whether there is an obstruction in the corresponding detection region at different detection angles according to the received second echo signal and/or the received first echo signal at different detection angles.

6. A testing device according to claim 2 or 3,

a first scanning frame exists in P scanning frames in a scanning period, and at least two detection areas are detected simultaneously in a detection time window in the first scanning frame; p is a positive integer greater than 1;

for any detection time window:

the L sub-light sources are specifically configured to emit corresponding light beams to the at least two detection regions respectively;

for any detection zone:

the processing module is specifically configured to determine whether an obstruction exists in the detection region according to the received first echo signal and/or the received second echo signal of each detection time window of the detection region.

7. The inspection device of any one of claims 1 to 6, wherein the presence of a blockage in the window is determined by at least one of:

determining that the difference between the signal intensity of the received first echo signal and the signal intensity of the first echo signal received without an obstruction is greater than a first preset threshold; the signal strength of the first echo signal received without the shelter is measured in advance; and/or

Determining that the difference between the signal intensity of the received second echo signal and the signal intensity of the second echo signal received without the obstruction is greater than a second preset threshold; the signal strength of the second echo signal received without the occlusion is measured in advance.

8. The detection apparatus of any one of claims 1-7, wherein the processing module is further configured to:

determining the type of the obstruction on the window according to the first energy difference and/or the second energy difference;

the first energy difference is the difference between the signal intensity of the first echo signal received by the first detection module and the signal intensity of the first echo signal received without an obstruction; the second energy difference is the difference between the signal intensity of the second echo signal received by the second detection module and the signal intensity of the second echo signal received without the obstruction.

9. The device of any of claims 1-8, further comprising a housing, wherein a surface of the housing is a dull surface;

the shell, the first detection module, the second detection module and the light source are all positioned on the same side of the window;

the shell is clamped with the window and used for supporting the first detection module, the second detection module and the light source.

10. A detection method is applied to a detection device, the detection device comprises a light source, a first detection module, a second detection module and a processing module, and the detection method is characterized by comprising the following steps:

the light source emits a light beam to the window, and the light path direction of the light beam is perpendicular to the window;

the first detection module sends a first echo signal to the processing module when receiving the first echo signal from the window after the mirror reflection occurs; the receiving optical path of the first echo signal and the transmitting optical path formed by the light beam transmitted by the light source are the same or paraxial optical paths;

when the second detection module receives a second echo signal which is subjected to diffuse reflection from the window, the second detection module sends the second echo signal to the processing module; the distance between a receiving light path of the second detection module and a transmitting light path formed by the light beam transmitted by the light source is greater than a distance threshold value;

and the processing module determines whether an occlusion exists in the window according to the first echo signal and/or the second echo signal.

11. The method of claim 10, wherein the light source comprises L sub-light sources, wherein L is a positive integer greater than 1; the light source emits a light beam towards the window, comprising:

aiming at a first sub-light source in the L sub-light sources, the first sub-light source emits light beams to a detection area corresponding to the first sub-light source; l detection areas corresponding to the L sub-light sources are different areas on the window;

when receiving a first echo signal from the window, which is specularly reflected, the first detection module sends the first echo signal to the processing module, and the method includes:

when receiving a first echo signal from at least one detection area corresponding to at least one of the L sub-illuminants, the first detection module sends the at least one first echo signal to the processing module;

when the second detection module receives a second echo signal which is from the window and subjected to diffuse reflection, the second detection module sends the second echo signal to the processing module, and the method comprises the following steps:

when receiving a second echo signal from at least one detection region corresponding to at least one of the L sub-light sources, the second detection module sends the at least one second echo signal to the processing module;

the processing module determines whether an occlusion exists in the window according to the first echo signal and/or the second echo signal, and the determining includes:

and the processing module determines whether an obstruction exists in the at least one detection region according to the received first echo signal corresponding to the at least one detection region and/or the received second echo signal corresponding to the at least one detection region.

12. The method of claim 11, wherein the first detection module comprises M first sub-detection modules, M being a positive integer greater than 1, and the first detection module sends the at least one first echo signal to the processing module when receiving the first echo signal from the at least one detection zone corresponding to at least one of the L sub-luminaires, comprising:

the M first sub-detection modules detect first echo signals reflected by corresponding detection areas in the window, and when the first echo signals reflected by the detection areas are received, the first echo signals reflected by the detection areas are sent to the processing module; and/or the presence of a gas in the atmosphere,

the second detection module comprises N second sub-detection modules; n is a positive integer greater than 1; when the second detection module receives a second echo signal from at least one detection region corresponding to at least one of the L sub-light sources, the sending of the at least one second echo signal to the processing module includes:

and each of the N second sub-detection modules detects a second echo signal reflected by a detection area corresponding to the second sub-detection module in the window, and sends the second echo signal reflected by the detection area to the processing module when receiving the second echo signal reflected by the detection area.

13. The method of any one of claims 10-12, wherein the detection device further comprises a scanning module; the light source emits a light beam towards the window, comprising:

the light source emits the light beam to the scanning module;

the processing module controls the scanning module to be at different detection angles;

the scanning module emits the light beam to the window under different detection angles;

the first detection module receives a first echo signal which is from the window and is subjected to mirror reflection, and comprises:

the first detection module receives the first echo signal which is specularly reflected from the window under the same detection angle of the light beam.

14. The method of claim 13, wherein the processing module determining whether an obstruction is present in the window based on the first echo signal and/or the second echo signal comprises:

and the processing module determines whether the corresponding detection area has an occlusion object at different detection angles according to the received second echo signal and/or the received first echo signal at different detection angles.

15. The method of any one of claims 11-14, further comprising:

a first frame scanning exists in P scanning frames in one scanning period, and at least two detection areas are detected simultaneously in one detection time window in the first frame scanning; p is a positive integer greater than 1;

for any one detection time window:

the light source emits a light beam towards the window, comprising: the L sub-light sources respectively emit corresponding light beams to the at least two detection areas;

for any detection zone:

the processing module determines whether an occlusion exists in the window according to the first echo signal and/or the second echo signal, and the determining includes: and the processing module determines whether the shielding object exists in the detection area according to the received first echo signal and/or second echo signal of each detection time window of the detection area.

16. The method of any of claims 10-15, wherein the processing module determines that the window has a blockage by at least one of:

the processing module determines that the difference between the signal intensity of the received first echo signal and the signal intensity of the first echo signal received without the obstruction is greater than a first preset threshold value; the signal strength of the first echo signal received without the shelter is measured in advance; and/or

The processing module determines that the difference between the signal intensity of the received second echo signal and the signal intensity of the second echo signal received without the obstruction is greater than a second preset threshold value; the signal strength of the second echo signal received without the occlusion is measured in advance.

17. The method of any one of claims 10-16, further comprising:

the processing module determines the type of the obstruction on the window according to the first energy difference and/or the second energy difference;

the first energy difference is the difference between the signal intensity of the first echo signal received by the first detection module and the signal intensity of the first echo signal received without an obstruction; the second energy difference is a difference between the signal intensity of the second echo signal received by the second detection module and the signal intensity of the second echo signal received without the obstruction.

18. Lidar characterized in that it comprises a detection device according to any of claims 1 to 9.

19. A terminal, characterized in that it comprises a detection device according to any one of claims 1 to 9.

20. A computer readable storage medium storing instructions that, when executed, determine whether an obstruction is present in a window of a detection device based on a received first echo signal and/or a received second echo signal; the first echo signal is an echo signal which is received by a first detection module of the detection device and is subjected to mirror reflection from the window after a light source of the detection device transmits a beam to the window; a receiving light path of the first detection module and a transmitting light path formed by the light beam transmitted by the light source are the same or paraxial light paths; the second echo signal is an echo signal which is obtained by receiving diffuse reflection from a window by a second detection module of the detection device after a light source of the detection device transmits light beams to the window; the distance between a receiving light path of the second detection module and a transmitting light path formed by the light beam transmitted by the light source is greater than a distance threshold value; the light path direction of the light beam is perpendicular to the window.

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