CN109050474A - Rain brush control method, device and laser detection equipment - Google Patents
Rain brush control method, device and laser detection equipment Download PDFInfo
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- CN109050474A CN109050474A CN201811038348.4A CN201811038348A CN109050474A CN 109050474 A CN109050474 A CN 109050474A CN 201811038348 A CN201811038348 A CN 201811038348A CN 109050474 A CN109050474 A CN 109050474A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
- B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
- B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to rain brush technical field, a kind of rain brush control method, device and laser detection equipment are provided.Wherein, rain brush control method includes: to receive the reflected light beam signal of laser transmitting-receiving device acquisition in first time period, and calculate signal-to-noise ratio of the reflected light beam signal in first time period；In second time period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculates signal-to-noise ratio of the reflected light beam signal in second time period；When determining that the signal-to-noise ratio in first time period and the signal-to-noise ratio in second time period are respectively less than snr threshold, control instruction is sent to movement drive module, so that movement drive module control rain brush cleans glass.This method is based on signal-to-noise ratio and carries out rain brush control, do not influenced by sensor, on glass rainwater or other sundries all can effectively clear, while can also effectively prevent the detection data in rain brush control process shake, so that rain brush is effectively worked, extends the service life of rain brush.
Description
Technical field
The present invention relates to rain brush technical fields, set in particular to a kind of rain brush control method, device and laser acquisition
It is standby.
Background technique
Currently, automatic rain brush has gradually substituted traditional manual rain brush, it is applied to the manufacturing fields such as automobile, radar.?
In the prior art, dedicated sensor (such as optical sensor, capacitance type sensor) mainly is used, and is based on amount of rainfall
Data control rain brush, and when occurring the sundries such as leaf on glass, sensor is by cisco unity malfunction, to be difficult to clean off
Sundries on glass.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of rain brush control method, device and laser detection equipment, rain brush is controlled
The automatic shelter removed on glass, shelter designated herein both include rainwater, also the sundries such as including leaf.
To achieve the above object, the invention provides the following technical scheme:
In a first aspect, the embodiment of the present invention provides a kind of rain brush control method, applied to the data in rain brush control device
Processing module, method include:
In first time period, the reflected light beam signal of the laser transmitting-receiving device acquisition in rain brush control device is received, and
Calculate signal-to-noise ratio of the reflected light beam signal in first time period, wherein reflected light beam signal is laser transmitting-receiving device to rain brush
The signal formed after the transmitting beam signal reflection that glass where rain brush in control device issues；
In second time period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculates reflected light beam signal
Signal-to-noise ratio in second time period；
When determining that the signal-to-noise ratio in first time period and the signal-to-noise ratio in second time period are respectively less than snr threshold,
Movement drive module into rain brush control device sends control instruction, so that movement drive module control rain brush carries out glass
It cleans.
In the method, rain brush control is carried out based on signal-to-noise ratio data, is not influenced by sensor, once it is attached on glass
Rainwater or other sundries, can all cause signal-to-noise ratio to decline, and then rain brush is caused to start, therefore this method both can control rain brush removing
Rainwater on glass, and can control other sundries on rain brush removing glass, effectively expand the function of rain brush.
Meanwhile this method will just control rain brush starting, have when calculated signal-to-noise ratio is both less than snr threshold twice
Effect avoids the shake of the detection data in rain brush control process, is conducive to precisely control rain brush, so that rain brush is only in glass
It just will start when being really attached with shelter on glass, without because of some interference signal frequent startings, so as to extend rain brush
Service life.
In addition, this method can (such as laser radar may need in this kind of laser detection equipment in certain laser detection equipments
To use rain brush) in application, these laser detection equipments are natively provided with laser transmitting-receiving device, while to realize target detection
Etc. functions natively to calculate signal-to-noise ratio, this method directly can realize that rain brush controls using the hardware component of laser detection equipment
Function, no longer need to that dedicated sensor is installed, be conducive to save laser detection equipment manufacturing cost.
In a kind of possible implementation of first aspect, sent in the movement drive module into rain brush control device
After control instruction, method further include:
Within the third period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculates reflected light beam signal
Signal-to-noise ratio within the third period；
When determining the signal-to-noise ratio in the third period still less than snr threshold, sent again to movement drive module
Control instruction, so that movement drive module controls rain brush again and cleans to glass.
The effect that rain brush cleans before the signal-to-noise ratio main purpose in the third period is to examine is calculated, that is, is believed after cleaning
It makes an uproar than whether increasing, if do not significantly improved (still less than snr threshold), needs to control rain brush progress again clearly
It sweeps.Its intelligence degree is higher, is conducive to the cleaning effect for further improving rain brush.
In a kind of possible implementation of first aspect, first time period was divided into for the N number of first sub- period, when second
Between section be divided into for the N number of second sub- period, the scanner in rain brush control device is by the transmitting light beam in each first sub- period
And the coverage area of the reflected beams is limited in the azimuth of a 360/N degree in 360 degree of area of space, and will be each
The coverage area of transmitting light beam in second sub- period and the reflected beams is limited in one 360/ in 360 degree of area of space
In the azimuth of N degree, wherein N >=2 receive the laser transmitting-receiving device acquisition in rain brush control device in first time period
Reflected light beam signal, and calculate signal-to-noise ratio of the reflected light beam signal in first time period, comprising:
Within each first sub- period, the reflected beams letter in an azimuth of laser transmitting-receiving device acquisition is received
Number, and calculate signal-to-noise ratio of the reflected light beam signal in the azimuth within the first sub- period, will obtain in total N number of first
Signal-to-noise ratio in the sub- period is determined as the signal-to-noise ratio in first time period；
In second time period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculates reflected light beam signal
Signal-to-noise ratio in second time period, comprising:
Within each second sub- period, the reflected beams letter in an azimuth of laser transmitting-receiving device acquisition is received
Number, and the signal-to-noise ratio within the second sub- period of the reflected light beam signal in the azimuth is calculated, will obtain in total N number of
Signal-to-noise ratio in two sub- periods is determined as the signal-to-noise ratio in second time period；
When determining that the signal-to-noise ratio in first time period and the signal-to-noise ratio in second time period are respectively less than snr threshold,
Movement drive module into rain brush control device sends control instruction, comprising:
Determining the signal-to-noise ratio in corresponding same azimuthal first sub- period and the letter in the second sub- period
When making an uproar than being respectively less than snr threshold, control instruction is sent to movement drive module.
It is N number of azimuth by the coverage area artificial division of laser signal, acquisition is every at times in above-mentioned implementation
Reflection signal in a azimuth simultaneously calculates corresponding signal-to-noise ratio.Be conducive to determine the specific location where shelter, meanwhile,
In certain practical application scenes of this method, in laser detection equipment, dividing azimuth is the actual demand institute for measuring target
It determines, to realize target-finding, at least to divide 3 azimuths (N >=3).
In a kind of possible implementation of first aspect, the third period is divided into N number of third sub- period, scanner
The coverage area of transmitting light beam in each third sub- period and the reflected beams is limited in one in 360 degree of area of space
In the azimuth of a 360/N degree, within the third period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculate
Signal-to-noise ratio of the reflected light beam signal within the third period, comprising:
Within each third sub- period, the reflected beams letter in an azimuth of laser transmitting-receiving device acquisition is received
Number, and the signal-to-noise ratio within the third sub- period of the reflected light beam signal in the azimuth is calculated, will obtain in total N number of
Signal-to-noise ratio in three sub- periods is determined as the signal-to-noise ratio in the third period；
When determining the signal-to-noise ratio in the third period still less than snr threshold, sent again to movement drive module
Control instruction, comprising:
Determining the signal-to-noise ratio in the third sub- period corresponding with the azimuth there are shelter still less than signal-to-noise ratio
When threshold value, again to movement drive module send control instruction, wherein there are the azimuth of shelter be corresponding first period of the day from 11 p.m. to 1 a.m
Between the signal-to-noise ratio in section and the signal-to-noise ratio in the second sub- period be respectively less than the azimuth of snr threshold.
In a kind of possible implementation of first aspect, first time period, second time period and third period
It is the continuous period in a duty cycle.
Rain brush periodically works, and to ensure to remove the shelter of glass surface in time, while three periods being arranged
To be continuous, to make full use of the time in the duty cycle.
Second aspect, the embodiment of the present invention provide a kind of rain brush control device, comprising: laser transmitting-receiving device, data processing
Module, movement drive module and rain brush, data processing module are connect with laser transmitting-receiving device and movement drive module respectively,
Movement drive module is connect with rain brush；
Laser transmitting-receiving device is used to issue transmitting beam signal, and acquisition transmitting beam signal to the glass where rain brush
The reflected light beam signal formed after reflection；
Data processing module is used in first time period, receives the reflected light beam signal of laser transmitting-receiving device acquisition, and
Signal-to-noise ratio of the reflected light beam signal in first time period is calculated, in second time period, receives the acquisition of laser transmitting-receiving device
Reflected light beam signal, and signal-to-noise ratio of the reflected light beam signal in second time period is calculated, and determining in first time period
Signal-to-noise ratio and second time period in signal-to-noise ratio when being respectively less than snr threshold, send control to movement drive module and refer to
It enables；
Movement drive module is used to control rain brush according to control instruction and clean to glass.
Rain brush control method provided in an embodiment of the present invention is realized in the rain brush control device, therefore also there is rain brush control
The above-mentioned beneficial effect of method processed.
In a kind of possible implementation of second aspect, data processing module is also used to send out to movement drive module
After sending control instruction, within the third period, the reflected light beam signal of laser transmitting-receiving device acquisition is received, and calculate reflected light
Signal-to-noise ratio of the beam signal within the third period, and determining the signal-to-noise ratio in the third period still less than snr threshold
When, control instruction is sent to movement drive module again；
Movement drive module, which is also used to control rain brush again according to control instruction, cleans glass.
In a kind of possible implementation of second aspect, first time period was divided into for the N number of first sub- period, when second
Between section be divided into for the N number of second sub- period, wherein N >=2, rain brush control device further include: scanner, scanner be arranged in laser
Between R-T unit and glass；
Scanner is for the coverage area of the transmitting light beam in each first sub- period and the reflected beams to be limited in
In the azimuth of a 360/N degree in 360 degree of area of space, and by each second sub- period transmitting light beam and
The coverage area of the reflected beams is limited in the azimuth of a 360/N degree in 360 degree of area of space；
Data processing module was specifically used within each first sub- period, received a side of laser transmitting-receiving device acquisition
Reflected light beam signal in parallactic angle, and signal-to-noise ratio of the reflected light beam signal in the azimuth within the first sub- period is calculated,
Signal-to-noise ratio in the N number of first sub- period obtained in total is determined as the signal-to-noise ratio in first time period, in each second son
In period, the reflected light beam signal in an azimuth of laser transmitting-receiving device acquisition is received, and calculate in the azimuth
The signal-to-noise ratio within the second sub- period of reflected light beam signal, by the signal-to-noise ratio in the N number of second sub- period obtained in total
The signal-to-noise ratio being determined as in second time period, and determining the signal-to-noise ratio in corresponding same azimuthal first sub- period
And the second signal-to-noise ratio in the sub- period sends control instruction to movement drive module when being respectively less than snr threshold.
In a kind of possible implementation of second aspect, the third period is divided into N number of third sub- period, scanner
It is also used to the coverage area of the transmitting light beam in each third sub- period and the reflected beams being limited in 360 degree of area of space
In a 360/N degree azimuth in；
Data processing module was specifically also used within each third sub- period, received one of laser transmitting-receiving device acquisition
Reflected light beam signal in azimuth, and calculate the noise within the third sub- period of the reflected light beam signal in the azimuth
Than the signal-to-noise ratio in the N number of third sub- period obtained in total being determined as the signal-to-noise ratio in the third period, and in determination
When signal-to-noise ratio in the third sub- period corresponding with the azimuth there are shelter is still less than snr threshold, again to fortune
Dynamic drive module sends control instruction, wherein there are the azimuth of shelter is the signal-to-noise ratio in the corresponding first sub- period
And the second signal-to-noise ratio in the sub- period is respectively less than the azimuth of snr threshold.
The third aspect, the embodiment of the present invention provide a kind of laser detection equipment, are integrated with second party in laser detection equipment
The rain brush control device that the possible implementation of any one of face or second aspect provides, the rain brush in rain brush control device are set
It sets at the glass of laser detection equipment.
Be integrated with rain brush control device provided in an embodiment of the present invention in the laser detection equipment, thus can to rain brush into
Row effectively control, removes the shelter on glass in time, is conducive to the object detection results for improving detecting devices.Meanwhile rain brush
Control device can directly be set without installing new element additional in abundant laser acquisition using the hardware component of laser detection equipment
Manufacturing cost is also saved while standby function.
To enable above-mentioned purpose of the invention, technical scheme and beneficial effects to be clearer and more comprehensible, special embodiment below, and
Cooperate appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the structural schematic diagram of the first rain brush control device provided in an embodiment of the present invention；
Fig. 2 shows the flow charts of the first rain brush control method provided in an embodiment of the present invention；
Fig. 3 shows the flow chart of second of rain brush control method provided in an embodiment of the present invention；
Fig. 4 shows the structural schematic diagram of second of rain brush control device provided in an embodiment of the present invention；
Fig. 5 shows the flow chart of the third rain brush control method provided in an embodiment of the present invention；
Fig. 6 shows the flow chart of the 4th kind of rain brush control method provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing one entity or operation from another entity or operation,
It is not understood to indicate or imply relative importance, can not be understood as require that or imply and be deposited between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Fig. 1 shows the structural schematic diagram of the first rain brush control device provided in an embodiment of the present invention.Referring to Fig.1, rain
Brush control device includes laser transmitting-receiving device, data processing module, movement drive module and rain brush.Wherein, data processing mould
Block is connect with laser transmitting-receiving device and movement drive module respectively, and movement drive module is connect with rain brush, and rain brush is usually arranged
At the glass for needing to clean.Laser transmitting-receiving device can integrate the equipment such as laser, for generating transmitting light beam and to glass
The field emission at place, laser beam emitting device can be with equipment such as integrated photodetectors, for acquiring transmitting light beam through reflecting
The reflected beams that (including glass, the reflection of shelter on air, glass etc.) is formed afterwards, and it is converted into the shape of electric signal
Formula is exported to data processing module, thus mention below data processing module processing reflected light beam signal when, processing
Object should be understood as electric signal.Data processing module and movement drive module can be the chip with calculation processing power
Or integrated circuit.
Fig. 2 shows the flow charts of the first rain brush control method provided in an embodiment of the present invention.This method can be applied
In the data processing module of rain brush control device shown in fig. 1.Referring to Fig. 2, this method comprises:
Step S10: data processing module receives the reflected beams letter of laser transmitting-receiving device acquisition in first time period
Number, and calculate signal-to-noise ratio of the reflected light beam signal in first time period.
First time period can arbitrarily be set according to demand, such as be set as 8s.It include two parts in reflected light beam signal,
A part is useful signal, and another part is noise signal, and useful signal can refer to that transmitting light beam irradiates aerial gas
The signal of the efficient beam returned on sol particle, and noise signal then may include the letter of the interference light beam in addition to efficient beam
Number, it can also include the electrical signal noise of internal system.The ratio of power of the two in first time period is defined as reflected light
Signal-to-noise ratio of the beam signal in first time period, the signal-to-noise ratio can be calculated according to preset algorithm.
Step S11: data processing module receives the reflected beams letter of laser transmitting-receiving device acquisition in second time period
Number, and calculate signal-to-noise ratio of the reflected light beam signal in second time period.
Second time period can arbitrarily be set according to demand, such as be set as 8s.In view of the practical meaning of second time period
Justice (illustrates) that second time period can usually be set as the continuous period with first time period, but also be not excluded for second later
There is the embodiment at interval between period and first time period.In signal-to-noise ratio and first time period in second time period
The definition of signal-to-noise ratio is similar with calculation, is not repeated to illustrate.
Step S12: data processing module is determining the signal-to-noise ratio in first time period and the noise in second time period
When than being respectively less than snr threshold, control instruction is sent to movement drive module.
Snr threshold is some preset value, if calculated signal-to-noise ratio shows reflected light less than the threshold value
Noise accounting in beam signal is excessive, and shelter is likely that there are on glass.Meanwhile in order to avoid the presence of single calculation signal-to-noise ratio
Uncertainty is calculated twice in step S10 and step S11, in step s 12, if the signal-to-noise ratio calculated twice
Both less than snr threshold can determine substantially and be implicitly present in shelter on glass, rather than some accidentalia or short time
Signal-to-noise ratio caused by interior interference temporarily reduces, and can send control instruction to movement drive module at this time, move drive module
After receiving the control instruction, starting rain brush cleans glass.In common embodiment, rain brush is usually driven by steering engine
It is dynamic, and move drive module and can control steering engine and then realize the control to rain brush.If the signal-to-noise ratio calculated twice is once
Less than snr threshold, or all it is not less than snr threshold, then data processing module is without carrying out any processing.
It should be understood that rain brush starting after, should continuous service for a period of time, this period can arbitrarily set according to demand
It is fixed, such as it is set as 8s.Step S10 to step S12 can be periodically carried out, to ensure the shelter on glass by clear in time
It removes, ensures the cleaning of glass.For example, a duty cycle is 24s, first time period 1-8s, second time period 9-
16s, rain brush working time are 17-24s.Wherein, two of rain brush continuous duty cycles can be continuously in time,
In order to avoid rain brush starting is too frequent, extends the service life of rain brush, one can also be spaced between two continuous duty cycles
The time that section is set, such as 5min.
Rain brush control is carried out based on signal-to-noise ratio data in the above-mentioned methods, is not influenced by sensor in existing method, the party
Method does not distinguish rainwater and other sundries, as long as being attached with shelter on glass, can all signal-to-noise ratio be caused to decline, and then cause
Rain brush starting, therefore this method can be effectively controlled the shelter on rain brush removing glass, enhance the function of automatic rain brush significantly.
Meanwhile this method will just control rain brush starting, have when calculated signal-to-noise ratio is both less than snr threshold twice
Effect avoids in rain brush control process because detecting that some of short duration existing interference signals lead to rain brush frequent starting, very big
Influence of the shake of detection data to rain brush controlling behavior is eliminated in degree, is conducive to precisely control rain brush, that is, only have
When being implicitly present in shelter on glass, rain brush just be will start, so as to extend the service life of rain brush.
In addition, this method can be applied in certain laser detection equipments.These laser detection equipments are natively provided with
Laser transmitting-receiving device, and in order to protect laser transmitting-receiving device and other component, it is additionally provided with glass and for cleaning glass
The rain brush of glass.Meanwhile laser detection equipment is to realize that the functions such as target detection will natively calculate signal-to-noise ratio, therefore this method can
Directly to utilize the hardware component of laser detection equipment to realize the function of rain brush control, no longer needs to that dedicated sensor is installed, have
Conducive to the manufacturing cost for saving laser detection equipment.
Fig. 3 shows the flow chart of second of rain brush control method provided in an embodiment of the present invention.Referring to Fig. 3, this method
In addition to including the steps that Fig. 2 shows other than S10 to step S12, after step s 12 further include step S13 and step S14.
Step S13: data processing module receives the reflected beams letter of laser transmitting-receiving device acquisition within the third period
Number, and calculate signal-to-noise ratio of the reflected light beam signal within the third period.
The third period can arbitrarily set according to demand, such as be set as 8s.The third period can be set to start
After rain brush starting sometime, for example, rain brush starting while second time period terminates, then the third period can be with
It is set as and the second time period continuous period.The signal-to-noise ratio in signal-to-noise ratio and first time period in the third period is determined
Justice is similar with calculation, is not repeated to illustrate.
Step S14: data processing module when determining the signal-to-noise ratio in the third period still less than snr threshold, then
It is secondary to send control instruction to movement drive module.
In step s 12, glass is cleaned although starting rain brush, does not can determine that cleaning effect still, in third
In period, signal-to-noise ratio is calculated again, and its object is to examine last time to clean whether reached target.If the shelter on glass
It has been cleared by, it is clear that the signal-to-noise ratio in the third period should significantly improve, and will not be lower than snr threshold again, then count at this time
According to processing module without carrying out any processing.If the signal-to-noise ratio in the third period shows glass still less than snr threshold
On shelter fail to be removed efficiently, control instruction can be sent again to movement drive module at this time, move drive module
After receiving the control instruction, it is again started up rain brush and glass is cleaned, certainly, if rain brush is not yet out of service at this time,
The runing time of rain brush can also be extended, further to be cleaned.
Step S10 to step S14 can be periodically carried out, and to ensure that the shelter on glass is removed in time, be ensured
The cleaning of glass.For example, duty cycle is 32s, first time period 1-8s, second time period 9-16s, when third
Between section be 17-24s, rain brush working time first time is 17-24s, and second working time is 25-32s.It should also be noted that
If at the end of second time period and inactive rain brush, step S13 and step S14 can not be executed, until next
Period is handled again.Wherein, two of rain brush continuous duty cycles are can be in time continuously, in order to avoid rain brush
Start it is too frequent, extend the service life of rain brush, can also be spaced between two continuous duty cycles one section set when
Between, such as 5min.
Fig. 4 shows the structural schematic diagram of second of rain brush control device provided in an embodiment of the present invention.Referring to Fig. 4, phase
Compared with the rain brush control device in Fig. 1, the rain brush control device in Fig. 4 further includes scanner, and scanner is set to laser transmitting-receiving
On optical signal transmission channel between device and glass, while scanner is connect with movement drive module, can be driven by movement
Module controls it, and the main component of scanner is a rotatable motor.
First time period can be divided into for the N number of first sub- period, wherein N >=2, when not using scanner, emit light beam
And the spatial dimension of the covering of the reflected beams is 360 degree of area of space all standings (can be understood as a centrum), scanning
Device is used to the coverage area of the transmitting light beam in each first sub- period and the reflected beams being limited in 360 degree of area of space
In a 360/N degree azimuth in, for example, first time period be 8s, take N=8, then each first sub- period be 1s,
In 1s, the coverage area for emitting light beam and the reflected beams is limited in 0-45 degree angle, emit in 2s light beam with
And the coverage area of the reflected beams is limited in 45-90 degree angle, and so on, cover entire 360 degree of skies just in 8s
Between region.
Similar, second time period can be divided into for the N number of second sub- period, and scanner was also used to each second sub- time
The coverage area of transmitting light beam and the reflected beams in section is limited in the orientation of a 360/N degree in 360 degree of area of space
In angle.
Fig. 5 shows the flow chart of the third rain brush control method provided in an embodiment of the present invention.Referring to Fig. 5, increasing
After scanner, step S10 to step S12 can correspondingly be embodied as step S20 to step S22:
Step S20: data processing module receives a side of laser transmitting-receiving device acquisition within each first sub- period
Reflected light beam signal in parallactic angle, and calculate signal-to-noise ratio of the reflected light beam signal in the azimuth within the first sub- period.
It has been illustrated above, in each first sub- period, the coverage area for emitting light beam and the reflected beams is limited
System can calculate it within the first sub- period in an azimuth according to the reflected light beam signal in the azimuth
Signal-to-noise ratio.At the end of first time period, amount to the signal-to-noise ratio calculated in N number of first sub- period, i.e., described in step S10
First time period in signal-to-noise ratio in step S20 be actually above-mentioned N number of first sub- period in signal-to-noise ratio.
Such as in 1s, the signal-to-noise ratio of the reflected light beam signal in 0-45 degree angle is calculated, calculates 45-90 in 2s
Spend the signal-to-noise ratio of the reflected light beam signal in angle, and so on, amount in 8s and calculates 8 signal-to-noise ratio.
Step S21: data processing module receives a side of laser transmitting-receiving device acquisition within each second sub- period
Reflected light beam signal in parallactic angle, and calculate the noise within the second sub- period of the reflected light beam signal in the azimuth
Than.
It is similar with step S20, at the end of second time period, amount to the signal-to-noise ratio calculated in N number of second sub- period, i.e.,
Signal-to-noise ratio in second time period described in step S11 is actually in above-mentioned N number of second sub- period in the step s 21
Signal-to-noise ratio.
Step S22: data processing module determine the signal-to-noise ratio in corresponding same azimuthal first sub- period with
And the second signal-to-noise ratio in the sub- period sends control instruction to movement drive module when being respectively less than snr threshold.
N number of azimuth is while dividing light beam, according to the coverage area of light beam, actually also by glass unit divisi8 be it is N number of
Region, each azimuth are used to describe to exist in the corresponding region in the azimuth and block in the signal-to-noise ratio in a sub- period
A possibility that object.Step S22 with step S12 be actually it is similar, only step S22 needs to carry out N number of azimuth respectively
Judgement, step S12 can be regarded as a kind of special circumstances of N=1.
If the signal-to-noise ratio in the corresponding first sub- period of same azimuth and the signal-to-noise ratio in the second sub- period
Respectively less than snr threshold can determine in the corresponding glassy zone in the azimuth substantially and be implicitly present in shelter, at this time can be with
Control instruction is sent to movement drive module, after movement drive module receives the control instruction, starting rain brush carries out glass
It cleans.If condition above is not satisfied in any one azimuth in N number of azimuth, data processing module is without being appointed
Where reason.
Step S20 to step S22 can be periodically carried out, and to ensure that the shelter on glass is removed in time, be ensured
The cleaning of glass.For example, a duty cycle is 24s, first time period 1-8s, counted in every 1s in first time period
The signal-to-noise ratio for calculating 45 degree of angles, successively calculates 8 signal-to-noise ratio, second time period 9-16s, every 1s in second time period
The interior signal-to-noise ratio for calculating 45 degree of angles successively calculates 8 signal-to-noise ratio, and the rain brush working time is 17-24s.Wherein, the two of rain brush
A continuous duty cycle can be continuously in time, and in order to avoid rain brush starting is too frequent, extend rain brush uses the longevity
Life can also be spaced one time set, such as 5min between two continuous duty cycles.
The above method can not only clean the shelter adhered on glass, additionally it is possible to determine the glass region where shelter
The location information in domain, shelter can further be statisticallyd analyze by data processing module, or be recorded on other ground
Side is for statistical analysis, and the position distribution rule of shelter is described with realizing, these descriptions can be used for rain brush design
The purposes such as improvement.On the other hand, it although current most of rain brush can only clean monolithic glass simultaneously, does not exclude the presence of yet
Or the rain brush that can be only cleaned to some region of glass can be produced later, such rain brush can use above-mentioned screening
The location information of block material realizes the accurate cleaning to glass.
It should also be noted that in certain practical application scenes of rain brush control method, in laser detection equipment, division side
Parallactic angle is that the actual demand of measurement target is determined, to realize target-finding, at least to divide 3 azimuths (N >=3),
In these application scenarios, rain brush should be controlled using the method for step S20 to step S22.
Fig. 6 shows the flow chart of the 4th kind of rain brush control method provided in an embodiment of the present invention.Referring to Fig. 6, increasing
After scanner, step S13 to step S14 can correspondingly be embodied as step S23 to step S24:
Step S23: data processing module receives a side of laser transmitting-receiving device acquisition within each third sub- period
Reflected light beam signal in parallactic angle, and calculate the noise within the third sub- period of the reflected light beam signal in the azimuth
Than.
It is similar with step S20, at the end of the third period, amount to the signal-to-noise ratio calculated in N number of third sub- period, i.e.,
Signal-to-noise ratio in the third period described in step S13 is actually in above-mentioned N number of third sub- period in step S23
Signal-to-noise ratio.
Step S24: data processing module determined in the third sub- period corresponding with the azimuth there are shelter
When signal-to-noise ratio is still less than snr threshold, control instruction is sent to movement drive module again.
Here, signal-to-noise ratio and the second sub- time in the corresponding first sub- period are referred to there are the azimuth of shelter
Signal-to-noise ratio in section is respectively less than the azimuth of snr threshold, that is, the azimuth of rain brush starting is triggered in step S22.
In step S22, glass is cleaned although starting rain brush, not can determine that the orientation there are shelter still
The cleaning effect of the corresponding glassy zone in angle calculates in the azimuth again within the corresponding third in the azimuth sub- period
Reflected light beam signal signal-to-noise ratio, its object is to examine last time clean whether reached target.If the shelter on glass
It has been cleared by, it is clear that the signal-to-noise ratio in the third sub- period should significantly improve, and will not be lower than snr threshold again, at this time
Then data processing module is without carrying out any processing.If signal-to-noise ratio in the sub three periods still less than snr threshold,
Show that the shelter on glass fails to be removed efficiently, control instruction can be sent again to movement drive module at this time, moved
It after drive module receives the control instruction, is again started up rain brush and glass is cleaned, certainly, if rain brush not yet stops at this time
It only runs, the runing time of rain brush can also be extended, further to be cleaned.
Step S20 to step S24 can be periodically carried out, and to ensure that the shelter on glass is removed in time, be ensured
The cleaning of glass.For example, a duty cycle is 32s, first time period 1-8s, counted in every 1s in first time period
The signal-to-noise ratio for calculating 45 degree of angles, successively calculates 8 signal-to-noise ratio, second time period 9-16s, every 1s in second time period
The interior signal-to-noise ratio for calculating 45 degree of angles successively calculates 8 signal-to-noise ratio, and the third period is 17-24s, within the third period
The signal-to-noise ratio that 45 degree angles are calculated in every 1s, successively calculates 8 signal-to-noise ratio, and rain brush working time first time is 17-24s, and second
The task time is 25-32s.If may be noted that at the end of second time period and inactive rain brush, step S23 and
Step S24 can not be executed, until next cycle is handled again.It should also be noted that can only be counted within the third period
There are the signal-to-noise ratio in the corresponding third in the azimuth of the shelter period for calculation, the signal-to-noise ratio in other thirds sub- period
It can not calculate, shelter occurs in the corresponding glassy zone in certain azimuths within the third period in time, can also wait until
Next cycle is handled again.Wherein, two of rain brush continuous duty cycles are can be in time continuously, in order to keep away
Rain-strip free starting is too frequent, extends the service life of rain brush, can also be spaced one section of setting between two continuous duty cycles
Good time, such as 5min.
In addition, the embodiment of the present invention also provides a kind of laser detection equipment, it is integrated with invention in laser detection equipment and implements
The rain brush control device that example provides, the rain brush in rain brush control device are arranged at the glass of laser detection equipment.Wherein, glass
Main function be the component protected in laser detection equipment, while the translucency of glass nor affects on the spy of laser detection equipment
Brake.The laser detection equipment is other than the conventional func with detecting devices, additionally it is possible to which effectively control rain brush removes detection
Shelter on equipment glass improves the object detection results of detecting devices.Simultaneously as integrated rain brush control device can be with
The acquisition of optical signal and the calculating of signal-to-noise ratio are directly carried out using the hardware component of laser detection equipment, without installing sensor additional
Equal elements, therefore there is no the manufacturing cost for increasing detecting devices while abundant laser detection equipment function.In this way
Laser detection equipment, may be, but not limited to, laser radar.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through it
His mode is realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart and block diagram in attached drawing are aobvious
The device of multiple embodiments according to the present invention, architectural framework in the cards, the function of method and computer program product are shown
It can and operate.In this regard, each box in flowchart or block diagram can represent one of a module, section or code
Point, a part of the module, section or code includes one or more for implementing the specified logical function executable
Instruction.It should also be noted that function marked in the box can also be attached to be different from some implementations as replacement
The sequence marked in figure occurs.For example, two continuous boxes can actually be basically executed in parallel, they sometimes may be used
To execute in the opposite order, this depends on the function involved.It is also noted that each of block diagram and or flow chart
The combination of box in box and block diagram and or flow chart can be based on the defined function of execution or the dedicated of movement
The system of hardware is realized, or can be realized using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in computer-readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words to existing
Having the part for the part or the technical solution that technology contributes can be embodied in the form of software products, the computer
Software product is stored in a storage medium, including some instructions are used so that computer equipment executes each embodiment institute of the present invention
State all or part of the steps of method.Computer equipment above-mentioned includes: personal computer, server, mobile device, intelligently wears
The various equipment with execution program code ability such as equipment, the network equipment, virtual unit are worn, storage medium above-mentioned includes: U
Disk, mobile hard disk, read-only memory, random access memory, magnetic disk, tape or CD etc. are various to can store program code
Medium.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of rain brush control method, which is characterized in that applied to the data processing module in rain brush control device, the method
Include:
In first time period, the reflected light beam signal of the laser transmitting-receiving device acquisition in the rain brush control device is received, and
Calculate signal-to-noise ratio of the reflected light beam signal in the first time period, wherein the reflected light beam signal is described sharp
It is formed after the transmitting beam signal reflection that glass where rain brush of from the light R-T unit to the rain brush control device issues
Signal；
In second time period, the reflected light beam signal of the laser transmitting-receiving device acquisition is received, and calculates the reflection
Signal-to-noise ratio of the beam signal in the second time period；
Determining that the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period be respectively less than signal-to-noise ratio threshold
When value, the movement drive module into the rain brush control device sends control instruction, so that the movement drive module controls
The rain brush cleans the glass.
2. rain brush control method according to claim 1, which is characterized in that described into the rain brush control device
After moving drive module transmission control instruction, the method also includes:
Within the third period, the reflected light beam signal of the laser transmitting-receiving device acquisition is received, and calculates the reflection
Signal-to-noise ratio of the beam signal within the third period；
When determining the signal-to-noise ratio in the third period still less than the snr threshold, driven again to the movement
Module sends the control instruction, so that rain brush described in secondary control cleans the glass to the movement drive module again.
3. rain brush control method according to claim 2, which is characterized in that the first time period is divided into N number of first son
Period, the second time period were divided into for the N number of second sub- period, and the scanner in the rain brush control device is by each first
The coverage area of the transmitting light beam in the sub- period and the reflected beams is limited in one in 360 degree of area of space
In the azimuth of 360/N degree, and by each second sub- period the transmitting light beam and the reflected beams cover
Lid scope limitation is in the azimuth of a 360/N degree in 360 degree of area of space, wherein N >=2, it is described in first time period
It is interior, the reflected light beam signal of the laser transmitting-receiving device acquisition in the rain brush control device is received, and calculate the reflected beams
Signal-to-noise ratio of the signal in the first time period, comprising:
Within each first sub- period, the reflected beams letter in an azimuth of the laser transmitting-receiving device acquisition is received
Number, and signal-to-noise ratio of the reflected light beam signal in the azimuth within the described first sub- period is calculated, it is N number of by what is obtained in total
Signal-to-noise ratio in the first sub- period is determined as the signal-to-noise ratio in the first time period；
It is described to receive the reflected light beam signal of laser transmitting-receiving device acquisition in second time period, and described in calculating
Signal-to-noise ratio of the reflected light beam signal in second time period, comprising:
Within each second sub- period, the reflected beams letter in an azimuth of the laser transmitting-receiving device acquisition is received
Number, and calculate the signal-to-noise ratio within the described second sub- period of the reflected light beam signal in the azimuth, the N that will be obtained in total
Signal-to-noise ratio in a second sub- period is determined as the signal-to-noise ratio in the second time period；
It is described to determine that the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period be respectively less than noise
When than threshold value, the movement drive module into the rain brush control device sends control instruction, comprising:
In the determining signal-to-noise ratio corresponded in same azimuthal first sub- period and in the second sub- period
Signal-to-noise ratio when being respectively less than the snr threshold, send the control instruction to the movement drive module.
4. rain brush control method according to claim 3, which is characterized in that the third period is divided into N number of third
Period, the scanner is by the transmitting light beam in each third sub- period and the coverage area of the reflected beams
It is limited in the azimuth of a 360/N degree in 360 degree of area of space, it is described within the third period, receive the laser
The reflected light beam signal of R-T unit acquisition, and calculate noise of the reflected light beam signal within the third period
Than, comprising:
Within each third sub- period, the reflected beams letter in an azimuth of the laser transmitting-receiving device acquisition is received
Number, and calculate the signal-to-noise ratio within the third sub- period of the reflected light beam signal in the azimuth, the N that will be obtained in total
Signal-to-noise ratio in a third sub- period is determined as the signal-to-noise ratio in the third period；
It is described when determining the signal-to-noise ratio in the third period still less than the snr threshold, again to the movement
Drive module sends the control instruction, comprising:
Determining the signal-to-noise ratio in the third sub- period corresponding with the azimuth there are shelter still less than the letter
When making an uproar than threshold value, the control instruction is sent to the movement drive module again, wherein described there are the azimuths of shelter
The letter is respectively less than for the signal-to-noise ratio in the corresponding first sub- period and the signal-to-noise ratio in the second sub- period
It makes an uproar than the azimuth of threshold value.
5. the rain brush control method according to any one of claim 2-4, which is characterized in that the first time period, institute
It states second time period and the third period is the continuous period in a duty cycle.
6. a kind of rain brush control device characterized by comprising laser transmitting-receiving device, data processing module, movement drive module
And rain brush, the data processing module is connect with the laser transmitting-receiving device and the movement drive module respectively, described
Movement drive module is connect with the rain brush；
The laser transmitting-receiving device is used to issue transmitting beam signal, and the acquisition transmitting to the glass where the rain brush
The reflected light beam signal formed after beam signal reflection；
The data processing module is used in first time period, receives the reflected beams of the laser transmitting-receiving device acquisition
Signal, and signal-to-noise ratio of the reflected light beam signal in the first time period is calculated, in second time period, described in reception
The reflected light beam signal of laser transmitting-receiving device acquisition, and the reflected light beam signal is calculated in the second time period
Signal-to-noise ratio, and believe determining that the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are respectively less than
When making an uproar than threshold value, control instruction is sent to the movement drive module；
The movement drive module is used to control the rain brush according to the control instruction and clean to the glass.
7. rain brush control device according to claim 6, which is characterized in that the data processing module is also used to described
After sending control instruction to the movement drive module, within the third period, the laser transmitting-receiving device acquisition is received
The reflected light beam signal, and signal-to-noise ratio of the reflected light beam signal within the third period is calculated, and in determination
When signal-to-noise ratio in the third period is still less than the snr threshold, institute is sent to the movement drive module again
State control instruction；
The movement drive module is also used to the rain brush according to the control instruction secondary control again and cleans to the glass.
8. rain brush control device according to claim 7, which is characterized in that the first time period is divided into N number of first son
Period, the second time period were divided into for the N number of second sub- period, wherein N >=2, the rain brush control device further include: sweep
Device is retouched, the scanner is arranged between the laser transmitting-receiving device and the glass；
The scanner is used for the covering model of the transmitting light beam in each first sub- period and the reflected beams
In the azimuth for enclosing a 360/N degree being limited in 360 degree of area of space, and will be described in each second sub- period
The coverage area of transmitting light beam and the reflected beams is limited in the azimuth of a 360/N degree in 360 degree of area of space
It is interior；
The data processing module was specifically used within each first sub- period, received the one of the laser transmitting-receiving device acquisition
Reflected light beam signal in a azimuth, and the reflected light beam signal in the azimuth is calculated within the described first sub- period
Signal-to-noise ratio, the noise signal-to-noise ratio in the N number of first sub- period obtained in total being determined as in the first time period
Than, within each second sub- period, the reflected light beam signal in an azimuth of the laser transmitting-receiving device acquisition is received,
And the signal-to-noise ratio within the described second sub- period of the reflected light beam signal in the azimuth is calculated, it is N number of by what is obtained in total
Signal-to-noise ratio in the second sub- period is determined as the signal-to-noise ratio in the second time period, and is determining that correspondence is same
Signal-to-noise ratio in azimuthal first sub- period and the signal-to-noise ratio in the second sub- period are respectively less than the letter
When making an uproar than threshold value, the control instruction is sent to the movement drive module.
9. rain brush control device according to claim 8, which is characterized in that the third period is divided into N number of third
Period, the scanner be also used to by each third sub- period the transmitting light beam and the reflected beams cover
Lid scope limitation is in the azimuth of a 360/N degree in 360 degree of area of space；
The data processing module was specifically also used within each third sub- period, received the laser transmitting-receiving device acquisition
Reflected light beam signal in one azimuth, and calculate reflected light beam signal in the azimuth in the third sub- period
Signal-to-noise ratio in the N number of third sub- period obtained in total is determined as in the third period by interior signal-to-noise ratio
Signal-to-noise ratio, and determine the signal-to-noise ratio in corresponding with the azimuth there are shelter third sub- period still less than
When the snr threshold, the control instruction is sent to the movement drive module again, wherein described there are shelter
Azimuth is that the signal-to-noise ratio in the corresponding first sub- period and the signal-to-noise ratio in the second sub- period are respectively less than
The azimuth of the snr threshold.
10. a kind of laser detection equipment, which is characterized in that be integrated in the laser detection equipment any in claim 6-9
Rain brush control device described in, the rain brush in the rain brush control device are arranged at the glass of the laser detection equipment.
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| CN112540362A (en) * | 2020-11-23 | 2021-03-23 | 南京牧镭激光科技有限公司 | Three-dimensional scanning type wind measurement laser radar fixed type windscreen wiper control device and method thereof |
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