CN109050474B - Windshield wiper control method and device and laser detection equipment - Google Patents
Windshield wiper control method and device and laser detection equipment Download PDFInfo
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- CN109050474B CN109050474B CN201811038348.4A CN201811038348A CN109050474B CN 109050474 B CN109050474 B CN 109050474B CN 201811038348 A CN201811038348 A CN 201811038348A CN 109050474 B CN109050474 B CN 109050474B
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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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Abstract
The invention relates to the technical field of wipers, and provides a wiper control method and device and laser detection equipment. The windshield wiper control method comprises the following steps: in a first time period, receiving a reflected light beam signal collected by a laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the first time period; in a second time period, receiving a reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the second time period; and when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold, sending a control instruction to the motion driving module so that the motion driving module controls the wiper to clean the glass. The method is used for controlling the windshield wiper based on the signal-to-noise ratio, is not influenced by a sensor, can effectively remove rainwater or other sundries on the glass, and can effectively avoid detection data jitter in the control process of the windshield wiper, so that the windshield wiper can effectively work, and the service life of the windshield wiper is prolonged.
Description
Technical Field
The invention relates to the technical field of wipers, in particular to a wiper control method and device and laser detection equipment.
Background
At present, the automatic windshield wiper gradually replaces the traditional manual windshield wiper and is applied to the manufacturing fields of automobiles, radars and the like. In the prior art, a special sensor (such as an optical sensor and a capacitance sensor) is mainly adopted, and a wiper is controlled based on rainfall data, so that once sundries such as leaves appear on glass, the sensor cannot work normally, and the sundries on the glass are difficult to remove.
Disclosure of Invention
In view of this, embodiments of the present invention provide a wiper control method and apparatus, and a laser detection device, which control a wiper to automatically clear a blocking object on a glass, where the blocking object includes both rainwater and impurities such as leaves.
In order to achieve the purpose, the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a wiper control method, which is applied to a data processing module in a wiper control device, and the method includes:
in a first time period, receiving a reflected light beam signal collected by a laser transceiver in a wiper control device, and calculating the signal-to-noise ratio of the reflected light beam signal in the first time period, wherein the reflected light beam signal is formed after the reflected light beam signal sent by the laser transceiver to a glass where a wiper in the wiper control device is located is reflected;
in a second time period, receiving a reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the second time period;
and when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold, sending a control instruction to a motion driving module in the wiper control device so that the motion driving module controls a wiper to clean the glass.
In the method, the windshield wiper is controlled based on the signal-to-noise ratio data, the influence of a sensor is avoided, once rainwater or other sundries are attached to the glass, the signal-to-noise ratio is reduced, and then the windshield wiper is started, so that the method can control the windshield wiper to remove the rainwater on the glass and control the windshield wiper to remove the other sundries on the glass, and the function of the windshield wiper is effectively expanded.
Meanwhile, the method controls the windshield wiper to start when the signal-to-noise ratios calculated twice are smaller than the signal-to-noise ratio threshold value, effectively avoids the shaking of detection data in the control process of the windshield wiper, is beneficial to more accurately controlling the windshield wiper, enables the windshield wiper to start only when the shielding object is really attached to the glass, and cannot be started frequently due to some interference signals, so that the service life of the windshield wiper can be prolonged.
In addition, the method can be applied to some laser detection devices (such as laser radars, which may need to use a wiper) which are originally provided with laser receiving and transmitting devices, and meanwhile, in order to realize the functions of target detection and the like, the signal to noise ratio is originally calculated, the method can directly utilize hardware components of the laser detection devices to realize the function of wiper control, and a special sensor is not required to be installed, so that the manufacturing cost of the laser detection devices is saved.
In one possible implementation manner of the first aspect, after sending the control instruction to the motion driving module in the wiper control apparatus, the method further includes:
in a third time period, receiving a reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the third time period;
and when the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold value, sending a control instruction to the motion driving module again to enable the motion driving module to control the wiper to clean the glass again.
The signal-to-noise ratio in the third time period is calculated mainly for checking the effect of the previous wiper cleaning, that is, whether the signal-to-noise ratio is improved after cleaning, and if the signal-to-noise ratio is not improved significantly (still smaller than the signal-to-noise ratio threshold), the wiper needs to be controlled again for cleaning. The intelligent degree is higher, and the cleaning effect of the windshield wiper can be further improved.
In a possible implementation manner of the first aspect, the first time period is divided into N first sub-time periods, the second time period is divided into N second sub-time periods, the scanner in the wiper control device limits the coverage of the emitted light beam and the reflected light beam in each first sub-time period to an azimuth angle of 360/N degrees in a 360-degree spatial area, and limits the coverage of the emitted light beam and the reflected light beam in each second sub-time period to an azimuth angle of 360/N degrees in the 360-degree spatial area, where N is greater than or equal to 2, during the first time period, the reflected light beam signal collected by the laser transceiver in the wiper control device is received, and the signal-to-noise ratio of the reflected light beam signal in the first time period is calculated, including:
in each first sub-time period, receiving a reflected light beam signal in an azimuth angle acquired by a laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the first sub-time period, and determining the total acquired signal-to-noise ratios in N first sub-time periods as the signal-to-noise ratio in the first time period;
in a second time period, receiving the reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the second time period, including:
in each second sub-time period, receiving the reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the second sub-time period, and determining the signal-to-noise ratio in the N second sub-time periods obtained in total as the signal-to-noise ratio in the second time period;
when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold, sending a control instruction to a motion driving module in the wiper control device, wherein the control instruction comprises the following steps:
and when the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period corresponding to the same azimuth angle are both smaller than the signal-to-noise ratio threshold value, sending a control instruction to the motion driving module.
In the implementation mode, the coverage range of the laser signal is manually divided into N azimuth angles, the reflection signal in each azimuth angle is acquired in time segments, and the corresponding signal-to-noise ratio is calculated. The method is beneficial to determining the specific position of the shielding object, meanwhile, in some practical application scenes of the method, such as laser detection equipment, the division of the azimuth angle is determined by the actual requirement of the target to be measured, and at least 3 azimuth angles (N is more than or equal to 3) are divided for realizing the target measurement.
In a possible implementation manner of the first aspect, the dividing the third time period into N third sub-time periods, limiting a coverage area of the emission light beam and the reflection light beam in each third sub-time period to an azimuth angle of 360/N degrees in a 360-degree spatial region by the scanner, receiving the reflection light beam signal collected by the laser transceiver during the third time period, and calculating a signal-to-noise ratio of the reflection light beam signal during the third time period includes:
in each third sub-time period, receiving the reflected light beam signal in an azimuth angle collected by the laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the third sub-time period, and determining the total obtained signal-to-noise ratios in the N third sub-time periods as the signal-to-noise ratio in the third time period;
when the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold value, sending a control instruction to the motion driving module again, wherein the control instruction comprises the following steps:
and when the signal-to-noise ratio in the third sub-time period corresponding to the azimuth angle with the shelter is still smaller than the signal-to-noise ratio threshold value, sending a control instruction to the motion driving module again, wherein the azimuth angle with the shelter is the azimuth angle in which the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period are both smaller than the signal-to-noise ratio threshold value.
In a possible implementation manner of the first aspect, the first time period, the second time period, and the third time period are consecutive time periods within one duty cycle.
The wipers are operated periodically to ensure timely cleaning of the blinds from the glass surface, while the three time periods are set to be continuous to make full use of the time in the operating cycle.
In a second aspect, an embodiment of the present invention provides a wiper control apparatus, including: the device comprises a laser receiving and transmitting device, a data processing module, a motion driving module and a windshield wiper, wherein the data processing module is respectively connected with the laser receiving and transmitting device and the motion driving module;
the laser receiving and transmitting device is used for transmitting a transmitting beam signal to the glass where the windshield wiper is located and collecting a reflected beam signal formed after the transmitting beam signal is reflected;
the data processing module is used for receiving the reflected light beam signals collected by the laser transceiver in a first time period, calculating the signal-to-noise ratio of the reflected light beam signals in the first time period, receiving the reflected light beam signals collected by the laser transceiver in a second time period, calculating the signal-to-noise ratio of the reflected light beam signals in the second time period, and sending a control instruction to the motion driving module when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold value;
the movement driving module is used for controlling the wiper to clean the glass according to the control instruction.
The wiper control device realizes the wiper control method provided by the embodiment of the invention, so that the wiper control device also has the beneficial effects of the wiper control method.
In a possible implementation manner of the second aspect, the data processing module is further configured to receive, within a third time period, a reflected light beam signal acquired by the laser transceiver after sending the control instruction to the motion driving module, calculate a signal-to-noise ratio of the reflected light beam signal within the third time period, and send the control instruction to the motion driving module again when it is determined that the signal-to-noise ratio within the third time period is still smaller than the signal-to-noise ratio threshold;
the movement driving module is also used for controlling the wiper to clean the glass again according to the control instruction.
In a possible implementation manner of the second aspect, the first time period is divided into N first sub-time periods, and the second time period is divided into N second sub-time periods, where N ≧ 2, the wiper control device further includes: the scanner is arranged between the laser transceiver and the glass;
the scanner is used for limiting the coverage of the emitted light beam and the reflected light beam in each first sub-period to be within one 360/N degree azimuth angle in the 360-degree space area, and limiting the coverage of the emitted light beam and the reflected light beam in each second sub-period to be within one 360/N degree azimuth angle in the 360-degree space area;
the data processing module is specifically used for receiving the reflected light beam signal in one azimuth angle collected by the laser transceiver in each first sub-time period, and calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth within the first sub-period, determining the signal-to-noise ratio in the N total first sub-periods as the signal-to-noise ratio in the first period, receiving the reflected light beam signals collected by the laser transceiver in an azimuth angle in each second sub-time period, and calculating the signal-to-noise ratio of the reflected beam signal in the azimuth within the second sub-period, determining the signal-to-noise ratio within the N second sub-periods obtained in total as the signal-to-noise ratio within the second period, and when the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period corresponding to the same azimuth angle are both smaller than the signal-to-noise ratio threshold value, sending a control instruction to the motion driving module.
In a possible implementation manner of the second aspect, the third time period is divided into N third sub-time periods, and the scanner is further configured to limit the coverage of the emitted light beam and the reflected light beam in each third sub-time period to an azimuth angle of 360/N degrees in a 360-degree spatial region;
the data processing module is further specifically configured to receive, in each third sub-period, a reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculate a signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the third sub-period, determine, as the signal-to-noise ratio in the third time period, signal-to-noise ratios in N total obtained third sub-periods, and send a control instruction to the motion driving module again when it is determined that the signal-to-noise ratio in the third sub-period corresponding to the azimuth angle at which the obstruction exists is still smaller than the signal-to-noise ratio threshold, where the azimuth angle at which the obstruction exists is the azimuth angle at which both the signal-to-noise ratio in the corresponding first sub-period and the signal-to-noise ratio in the second sub-.
In a third aspect, an embodiment of the present invention provides a laser detection device, where the wiper control device provided in the second aspect or any one of the possible implementations of the second aspect is integrated in the laser detection device, and a wiper in the wiper control device is disposed at a glass of the laser detection device.
The laser detection equipment is integrated with the wiper control device provided by the embodiment of the invention, so that the wiper can be effectively controlled, the shelters on the glass can be removed in time, and the target detection result of the detection equipment can be improved. Meanwhile, the wiper control device can directly use the hardware component of the laser detection equipment without additionally installing a new element, so that the manufacturing cost is saved while the functions of the laser detection equipment are enriched.
In order to make the above objects, technical solutions and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural view showing a first wiper control apparatus provided in an embodiment of the present invention;
fig. 2 is a flowchart illustrating a first wiper control method according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a second wiper control method according to an embodiment of the present invention;
fig. 4 is a schematic structural view showing a second wiper control apparatus provided in the embodiment of the present invention;
fig. 5 is a flowchart showing a third wiper control method according to the embodiment of the present invention;
fig. 6 is a flowchart illustrating a fourth wiper control method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Also, in the description of the present invention, the terms "first", "second", and the like are used only to distinguish one entity or operation from another entity or operation, and are not to be construed as indicating or implying any relative importance or order between such entities or operations, nor are they to be construed as requiring or implying any such actual relationship or order between such entities or operations. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Fig. 1 is a schematic structural diagram showing a first wiper control apparatus according to an embodiment of the present invention. Referring to fig. 1, the wiper control device includes a laser transceiver, a data processing module, a motion driving module, and a wiper. The data processing module is respectively connected with the laser transceiver and the motion driving module, the motion driving module is connected with a windshield wiper, and the windshield wiper is usually arranged at a glass part needing to be cleaned. The laser transceiver may be integrated with a laser device and other devices for generating and emitting an emission beam to a region where the glass is located, and the laser transmitter may be integrated with a photodetector and other devices for collecting a reflection beam formed by reflection of the emission beam (including reflection of the glass, air, and a shield on the glass), and converting the reflection beam into an electrical signal to be output to the data processing module. The data processing module and the motion driving module may be a chip or an integrated circuit having an arithmetic processing capability.
Fig. 2 is a flowchart illustrating a first wiper control method according to an embodiment of the present invention. The method can be used in a data processing module of the wiper control device shown in fig. 1. Referring to fig. 2, the method includes:
step S10: the data processing module receives the reflected light beam signals collected by the laser transceiver in the first time period and calculates the signal-to-noise ratio of the reflected light beam signals in the first time period.
The first time period can be set arbitrarily according to the requirement, for example, set to 8 s. The reflected light beam signal includes two parts, one part is effective signal and the other part is noise signal, the effective signal can refer to the signal of the effective light beam which is irradiated on aerosol particles in the air and returns, and the noise signal can include the signal of an interference light beam except the effective light beam and can also include the electric signal noise inside the system. The ratio of the powers of the two in the first time period is defined as the signal-to-noise ratio of the reflected light beam signal in the first time period, and the signal-to-noise ratio can be calculated according to a preset algorithm.
Step S11: and the data processing module receives the reflected light beam signals collected by the laser transceiver in the second time period and calculates the signal-to-noise ratio of the reflected light beam signals in the second time period.
The second time period can be arbitrarily set according to requirements, for example, set to 8 s. The second time period may generally be set as a continuous time period with the first time period in view of its practical significance (explained later), but embodiments in which there is a gap between the second time period and the first time period are not excluded. The definition and calculation of the signal-to-noise ratio in the second time period and the signal-to-noise ratio in the first time period are similar, and are not repeated.
Step S12: and the data processing module sends a control instruction to the motion driving module when determining that the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold value.
The threshold value of the signal-to-noise ratio is a certain preset value, and if the calculated signal-to-noise ratio is smaller than the threshold value, the calculated signal-to-noise ratio indicates that the noise ratio in the reflected light beam signal is too large, and a shelter is likely to exist on the glass. Meanwhile, in order to avoid uncertainty in single calculation of the signal-to-noise ratio, in step S10 and step S11, two calculations are performed, in step S12, if the signal-to-noise ratios calculated twice are both smaller than the signal-to-noise ratio threshold, it can be basically determined that a blocking object does exist on the glass, instead of the temporary reduction of the signal-to-noise ratio caused by some accidental factors or interference in a short time, a control command can be sent to the motion driving module, and after receiving the control command, the motion driving module starts a wiper to clean the glass. In a common embodiment, the wiper is usually driven by a steering engine, and the motion driving module can control the steering engine to further realize the control of the wiper. If the signal-to-noise ratio calculated twice is smaller than the signal-to-noise ratio threshold value only once or not smaller than the signal-to-noise ratio threshold value, the data processing module does not need to perform any processing.
It is understood that the operation of the wiper should be continued for a certain period of time after the wiper is started, and the period of time can be set arbitrarily according to requirements, for example, set to 8 s. Steps S10 to S12 may be performed periodically to ensure that the covering on the glass is removed in time, and to ensure the glass is clean. For example, one duty cycle is 24s, the first period is 1-8 s, the second period is 9-16 s, and the wiper operation time is 17-24 s. Two continuous working cycles of the wiper may be continuous in time, and in order to avoid too frequent activation of the wiper and prolong the service life of the wiper, a set time, for example, 5min, may also be provided between the two continuous working cycles.
The method is used for controlling the windshield wiper based on the signal-to-noise ratio data, is not influenced by a sensor in the existing method, does not distinguish rainwater and other sundries, and can cause the signal-to-noise ratio to be reduced and further cause the windshield wiper to be started as long as a shielding object is attached to the glass, so that the method can effectively control the windshield wiper to remove the shielding object on the glass, and greatly strengthens the function of the automatic windshield wiper.
Meanwhile, the method controls the windshield wiper to start only when the signal-to-noise ratios calculated twice are smaller than the signal-to-noise ratio threshold value, thereby effectively avoiding the frequent starting of the windshield wiper caused by detecting some transient interference signals in the control process of the windshield wiper, eliminating the influence of the jitter of detection data on the control behavior of the windshield wiper to the greatest extent, being beneficial to controlling the windshield wiper more accurately, namely, the windshield wiper can be started only when the shielding object really exists on the glass, and further prolonging the service life of the windshield wiper.
Furthermore, the method may be applied in certain laser detection devices. These laser detection devices are inherently provided with a laser transmitter-receiver device, and in order to protect the laser transmitter-receiver device and other components, a glass and a wiper for cleaning the glass are also provided. Meanwhile, the signal-to-noise ratio of the laser detection equipment is originally calculated for realizing the functions of target detection and the like, so that the method can directly realize the function of wiper control by utilizing the hardware component of the laser detection equipment without installing a special sensor, and is favorable for saving the manufacturing cost of the laser detection equipment.
Fig. 3 is a flowchart illustrating a second wiper control method according to an embodiment of the present invention. Referring to fig. 3, the method includes step S13 and step S14 after step S12 in addition to step S10 to step S12 shown in fig. 2.
Step S13: and the data processing module receives the reflected light beam signals collected by the laser transceiver in a third time period and calculates the signal-to-noise ratio of the reflected light beam signals in the third time period.
The third time period may be arbitrarily set according to the requirement, for example, set to 8 s. The third period of time may be set to start at a certain time after the wiper is activated, for example, the wiper is activated while the second period of time is ended, and the third period of time may be set to a period of time continuous with the second period of time. The definition and calculation of the signal-to-noise ratio in the third time period and the signal-to-noise ratio in the first time period are similar, and are not repeated.
Step S14: and when the data processing module determines that the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold value, the data processing module sends a control instruction to the motion driving module again.
In step S12, although the wiper is activated to clean the glass, the cleaning effect cannot be determined, and in the third period of time, the signal-to-noise ratio is calculated again with the object of checking whether the last cleaning has reached the target. If the occlusion on the glass has been cleared, it is clear that the signal-to-noise ratio in the third time period should be significantly improved and will not be lower than the signal-to-noise ratio threshold, and at this time, the data processing module does not need to perform any processing. If the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold value, it indicates that the blocking object on the glass cannot be effectively cleared, at this time, the control instruction may be sent to the motion driving module again, and after receiving the control instruction, the motion driving module starts the wiper again to clean the glass, and of course, if the wiper does not stop operating at this time, the operating time of the wiper may also be extended to perform further cleaning.
Steps S10 to S14 may be performed periodically to ensure that the covering on the glass is removed in time, and to ensure the glass is clean. For example, one working period is 32s, the first time period is 1-8 s, the second time period is 9-16 s, the third time period is 17-24 s, the first working time of the windshield wiper is 17-24 s, and the second working time is 25-32 s. It is also noted that if the wiper is not activated at the end of the second period, the steps S13 and S14 may not be executed, and the process may be repeated until the next cycle. Two continuous working cycles of the wiper may be continuous in time, and in order to avoid too frequent activation of the wiper and prolong the service life of the wiper, a set time, for example, 5min, may also be provided between the two continuous working cycles.
Fig. 4 is a schematic structural diagram showing a second wiper control apparatus provided in the embodiment of the present invention. Referring to fig. 4, compared with the wiper control device in fig. 1, the wiper control device in fig. 4 further includes a scanner, the scanner is disposed on the optical signal transmission channel between the laser transceiver and the glass, and the scanner is connected to the motion driving module and can be controlled by the motion driving module, and the main component of the scanner is a rotatable motor.
The first time period may be divided into N first sub-time periods, where N ≧ 2, when the scanner is not used, the spatial coverage of the emitted light beam and the reflected light beam are both 360 degrees of spatial coverage (which may be understood as a pyramid), the scanner is configured to limit the coverage of the emitted light beam and the reflected light beam in each first sub-time period to an azimuth angle of 360/N degrees in the 360 degrees of spatial coverage, for example, 8s for the first time period, and 1s for each first sub-time period, in 1s, the coverage of the emitted light beam and the reflected light beam is limited to 0-45 degrees, in 2s the coverage of the emitted light beam and the reflected light beam is limited to 45-90 degrees, and so on, in 8s, the entire 360 degrees of spatial coverage is exactly covered.
Similarly, the second time period may be divided into N second sub-time periods, and the scanner is further configured to limit the coverage of the emitted light beam and the reflected light beam in each second sub-time period to within one 360/N degree azimuth angle in the 360 degree spatial region.
Fig. 5 is a flowchart illustrating a third wiper control method according to an embodiment of the present invention. Referring to fig. 5, after adding the scanner, steps S10 to S12 may be implemented as steps S20 to S22, respectively:
step S20: and the data processing module receives the reflected light beam signals in an azimuth angle collected by the laser transceiver in each first sub-time period, and calculates the signal-to-noise ratio of the reflected light beam signals in the azimuth angle in the first sub-time period.
As already explained above, the coverage of the emitted light beam and the reflected light beam is limited to an azimuth angle during each first sub-period, so that the signal-to-noise ratio during the first sub-period can be calculated from the reflected light beam signal in the azimuth angle. At the end of the first time period, the snrs in the N first sub-time periods are calculated, i.e., the snr in the first time period described in step S10 is actually the snrs in the N first sub-time periods in step S20.
For example, the signal-to-noise ratio of the reflected beam signal at 0-45 degrees is calculated in the 1 st s, the signal-to-noise ratio of the reflected beam signal at 45-90 degrees is calculated in the 2 nd s, and so on, for a total of 8 signal-to-noise ratios at 8 th s.
Step S21: and the data processing module receives the reflected light beam signals in an azimuth angle collected by the laser transceiver in each second sub-time period, and calculates the signal-to-noise ratio of the reflected light beam signals in the azimuth angle in the second sub-time period.
Similarly to step S20, at the end of the second period, the snrs in the N second sub-periods are calculated, i.e., the snr in the second period described in step S11 is actually the snr in the N second sub-periods in step S21.
Step S22: and the data processing module sends a control instruction to the motion driving module when determining that the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period which correspond to the same azimuth are both smaller than the signal-to-noise ratio threshold value.
The N azimuth angles divide the light beam, and actually divide the glass into N areas according to the coverage of the light beam, and the signal-to-noise ratio of each azimuth angle in one sub-time period is used for describing the possibility that a shelter exists in the area corresponding to the azimuth angle. Step S22 is substantially similar to step S12, except that step S22 requires N azimuths to be determined separately, and step S12 may be considered as a special case where N is 1.
If the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period corresponding to the same azimuth angle are both smaller than the signal-to-noise ratio threshold value, the fact that the sheltering object exists in the glass area corresponding to the azimuth angle can be basically determined, at the moment, a control instruction can be sent to the motion driving module, and after the motion driving module receives the control instruction, a wiper is started to clean the glass. If any azimuth angle in the N azimuth angles does not meet the above condition, the data processing module does not need to perform any processing.
Steps S20 to S22 may be performed periodically to ensure that the covering on the glass is removed in time, and to ensure the glass is clean. For example, one working cycle is 24s, the first time period is 1-8 s, the signal-to-noise ratio of 45 degrees is calculated in every 1s in the first time period, 8 signal-to-noise ratios are sequentially calculated, the second time period is 9-16 s, the signal-to-noise ratio of 45 degrees is calculated in every 1s in the second time period, 8 signal-to-noise ratios are sequentially calculated, and the working time of the windshield wiper is 17-24 s. Two continuous working cycles of the wiper may be continuous in time, and in order to avoid too frequent activation of the wiper and prolong the service life of the wiper, a set time, for example, 5min, may also be provided between the two continuous working cycles.
The method can not only clean the sheltering object attached to the glass, but also determine the glass area where the sheltering object is located, the position information of the sheltering object can be further statistically analyzed by the data processing module, or the position information is recorded and statistically analyzed in other places, so that the position distribution rule of the sheltering object can be described, and the descriptions can be used for the purposes of improvement of the design of the windshield wiper and the like. On the other hand, although most of the wipers at present can only clean a whole glass at the same time, the existence of the wiper or the subsequent manufacture of the wiper capable of cleaning only a certain area of the glass is not excluded, and the wiper can realize the accurate cleaning of the glass by utilizing the position information of the shielding object.
It should be noted that in some practical application scenarios of the wiper control method, such as the laser detection device, the division of the azimuth is determined by the actual requirement of the target to be measured, and at least 3 azimuths (N ≧ 3) are divided to achieve the target measurement, in these application scenarios, the method from step S20 to step S22 should be used to control the wiper.
Fig. 6 is a flowchart illustrating a fourth wiper control method according to an embodiment of the present invention. Referring to fig. 6, after adding the scanner, steps S13 to S14 may be implemented as steps S23 to S24, respectively:
step S23: and the data processing module receives the reflected light beam signal in an azimuth angle acquired by the laser transceiver in each third sub-time period, and calculates the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the third sub-time period.
Similarly to step S20, at the end of the third period, the snrs in the N third sub-periods are calculated, i.e., the snrs in the third period described in step S13 are actually the snrs in the N third sub-periods in step S23.
Step S24: and when the data processing module determines that the signal-to-noise ratio in the third sub-time period corresponding to the azimuth angle with the shelter is still smaller than the signal-to-noise ratio threshold value, the data processing module sends a control instruction to the motion driving module again.
Here, the azimuth at which the shield exists refers to an azimuth at which the snr in the corresponding first sub-period and the snr in the corresponding second sub-period are both smaller than the snr threshold, that is, an azimuth at which the wiper activation is triggered in step S22.
In step S22, although the wiper is activated to clean the window, it is not possible to determine the cleaning effect of the window area corresponding to the azimuth where the obstacle exists, and in the third sub-period corresponding to the azimuth, the snr of the reflected light beam signal in the azimuth is calculated again, for the purpose of checking whether the previous cleaning has reached the target. If the occlusion on the glass has been removed, it is clear that the signal-to-noise ratio in the third sub-period should be significantly improved and not lower than the signal-to-noise ratio threshold, and at this time, the data processing module does not need to perform any processing. If the signal-to-noise ratio in the third sub-third time period is still smaller than the signal-to-noise ratio threshold value, it indicates that the blocking object on the glass cannot be effectively cleared, at this time, the control instruction can be sent to the motion driving module again, and after the motion driving module receives the control instruction, the wiper is started again to clean the glass, and of course, if the wiper does not stop running at this time, the running time of the wiper can be prolonged, so as to further clean the glass.
Steps S20 to S24 may be performed periodically to ensure that the covering on the glass is removed in time, and to ensure the glass is clean. For example, one working cycle is 32s, the first time period is 1-8 s, the signal-to-noise ratio of 45 degrees is calculated in every 1s in the first time period, 8 signal-to-noise ratios are sequentially calculated, the second time period is 9-16 s, the signal-to-noise ratio of 45 degrees is calculated in every 1s in the second time period, 8 signal-to-noise ratios are sequentially calculated, the third time period is 17-24 s, the signal-to-noise ratio of 45 degrees is calculated in every 1s in the third time period, 8 signal-to-noise ratios are sequentially calculated, the first working time of the windshield wiper is 17-24 s, and the second working time of the windshield wiper is 25-32 s. Note that, if the wiper is not activated at the end of the second period, the step S23 and the step S24 may not be executed, and the process may be waited for the next cycle. It should be further noted that, in the third time period, only the snr in the third sub-time period corresponding to the azimuth angle where the blocking object exists may be calculated, and snrs in other third sub-time periods may not be calculated, so that the blocking object appears in the glass region corresponding to some azimuth angles in the third time period in time, and the processing may be performed until the next cycle. Two continuous working cycles of the wiper may be continuous in time, and in order to avoid too frequent activation of the wiper and prolong the service life of the wiper, a set time, for example, 5min, may also be provided between the two continuous working cycles.
In addition, the embodiment of the invention also provides laser detection equipment, wherein the wiper control device provided by the embodiment of the invention is integrated in the laser detection equipment, and a wiper in the wiper control device is arranged at the glass of the laser detection equipment. The main function of the glass is to protect components in the laser detection device, and the light transmittance of the glass does not influence the detection function of the laser detection device. The laser detection device has the conventional function of the detection device, and can also effectively control the wiper to clear the sheltering object on the glass of the detection device, thereby improving the target detection result of the detection device. Meanwhile, the integrated windshield wiper control device can directly use the hardware component of the laser detection equipment to collect optical signals and calculate the signal-to-noise ratio without additionally arranging elements such as a sensor and the like, so that the manufacturing cost of the detection equipment is not increased basically while the functions of the laser detection equipment are enriched. Such a laser detection device may be, but is not limited to, a lidar.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device to execute all or part of the steps of the method according to the embodiments of the present invention. The aforementioned computer device includes: various devices having the capability of executing program codes, such as a personal computer, a server, a mobile device, an intelligent wearable device, a network device, and a virtual device, the storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic disk, magnetic tape, or optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the 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 wiper control method, characterized in that, applied to a data processing module in a wiper control apparatus, the method comprises:
in a first time period, receiving a reflected light beam signal collected by a laser transceiver in the wiper control device, and calculating a signal-to-noise ratio of the reflected light beam signal in the first time period, wherein the reflected light beam signal is a signal formed after a reflected light beam signal emitted by the laser transceiver to a glass where a wiper in the wiper control device is located is reflected;
in a second time period, receiving the reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the second time period;
and when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold, sending a control instruction to a motion driving module in the wiper control device, so that the motion driving module controls the wiper to clean the glass.
2. The wiper control method according to claim 1, wherein after the sending of the control instruction to the movement driving module in the wiper control apparatus, the method further comprises:
in a third time period, receiving the reflected light beam signal collected by the laser transceiver, and calculating the signal-to-noise ratio of the reflected light beam signal in the third time period;
and when the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold value, sending the control instruction to the motion driving module again to enable the motion driving module to control the wiper to clean the glass again.
3. The wiper control method according to claim 2, wherein the first period is divided into N first sub-periods, the second time period is divided into N second sub-time periods, the scanner in the wiper control apparatus limits the coverage of the emitted light beam and the reflected light beam in each first sub-time period to within one 360/N degree azimuth angle in a 360 degree spatial region, and limiting the coverage of the emitted and reflected beams within each second sub-period to within one 360/N degree azimuth in a 360 degree spatial region, wherein, N is more than or equal to 2, in the first time period, the reflected light beam signal collected by a laser transceiver in the wiper control device is received, and the signal-to-noise ratio of the reflected light beam signal in the first time period is calculated, which comprises:
in each first sub-time period, receiving a reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the first sub-time period, and determining the total obtained signal-to-noise ratios in the N first sub-time periods as the signal-to-noise ratio in the first time period;
in the second time period, receiving the reflected light beam signal collected by the laser transceiver and calculating the signal-to-noise ratio of the reflected light beam signal in the second time period includes:
in each second sub-time period, receiving the reflected light beam signal in one azimuth angle collected by the laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the second sub-time period, and determining the total obtained signal-to-noise ratios in the N second sub-time periods as the signal-to-noise ratio in the second time period;
when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both smaller than the signal-to-noise ratio threshold, sending a control instruction to a motion driving module in the wiper control device, including:
and sending the control instruction to the motion driving module when the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period corresponding to the same azimuth angle are both smaller than the signal-to-noise ratio threshold value.
4. The wiper control method according to claim 3, wherein the third time period is divided into N third sub-time periods, the scanner limits the coverage of the emitted light beam and the reflected light beam in each third sub-time period to an azimuth angle of 360/N degrees in a 360-degree spatial area, and the receiving the reflected light beam signal collected by the laser transceiver and calculating the signal-to-noise ratio of the reflected light beam signal in the third time period comprises:
in each third sub-time period, receiving a reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculating the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the third sub-time period, and determining the total obtained signal-to-noise ratios in the N third sub-time periods as the signal-to-noise ratio in the third time period;
when it is determined that the signal-to-noise ratio in the third time period is still less than the signal-to-noise ratio threshold, sending the control instruction to the motion driving module again, including:
when the signal-to-noise ratio in the third sub-time period corresponding to the azimuth angle with the shelter is still smaller than the signal-to-noise ratio threshold value, sending the control instruction to the motion driving module again, wherein the azimuth angle with the shelter is the azimuth angle at which the signal-to-noise ratio in the first sub-time period and the signal-to-noise ratio in the second sub-time period are both smaller than the signal-to-noise ratio threshold value.
5. The wiper control method according to any one of claims 2 to 4, wherein the first period, the second period, and the third period are consecutive periods within one duty cycle.
6. A wiper control apparatus, comprising: the device comprises a laser receiving and transmitting device, a data processing module, a motion driving module and a windshield wiper, wherein the data processing module is respectively connected with the laser receiving and transmitting device and the motion driving module, and the motion driving module is connected with the windshield wiper;
the laser receiving and transmitting device is used for transmitting a transmitting beam signal to the glass where the windshield wiper is located and collecting a reflected beam signal formed after the transmitting beam signal is reflected;
the data processing module is used for receiving the reflected light beam signal acquired by the laser transceiver in a first time period, calculating a signal-to-noise ratio of the reflected light beam signal in the first time period, receiving the reflected light beam signal acquired by the laser transceiver in a second time period, calculating a signal-to-noise ratio of the reflected light beam signal in the second time period, and sending a control instruction to the motion driving module when the signal-to-noise ratio in the first time period and the signal-to-noise ratio in the second time period are both determined to be smaller than a signal-to-noise ratio threshold;
the movement driving module is used for controlling the wiper to clean the glass according to the control command.
7. The wiper control apparatus according to claim 6, wherein the data processing module is further configured to receive the reflected light beam signal collected by the laser transceiver device in a third time period after the control command is sent to the motion driving module, calculate a signal-to-noise ratio of the reflected light beam signal in the third time period, and send the control command to the motion driving module again when it is determined that the signal-to-noise ratio in the third time period is still smaller than the signal-to-noise ratio threshold;
the movement driving module is also used for controlling the wiper to clean the glass again according to the control instruction.
8. The wiper control apparatus as set forth in claim 7, wherein said first time period is divided into N first sub-periods, and said second time period is divided into N second sub-periods, where N ≧ 2, the wiper control apparatus further comprising: the scanner is arranged between the laser transceiver and the glass;
the scanner is used for limiting the coverage of the emitted light beam and the reflected light beam in each first sub-period to be within one 360/N degree azimuth angle in the 360-degree space area, and limiting the coverage of the emitted light beam and the reflected light beam in each second sub-period to be within one 360/N degree azimuth angle in the 360-degree space area;
the data processing module is specifically configured to receive, in each first sub-period, the reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculate a signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the first sub-period, determine, as the signal-to-noise ratio in the first time period, the total obtained signal-to-noise ratios in N first sub-periods, receive, in each second sub-period, the reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculate the signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the second sub-period, determine, as the signal-to-noise ratio in the second time period, the total obtained signal-to-noise ratios in N second sub-periods, and when it is determined that both the signal-to-noise ratio in the first sub-period and the signal-to-noise ratio in the second sub-period corresponding to the same azimuth angle are smaller than the signal-to-, and sending the control instruction to the motion driving module.
9. The wiper control apparatus of claim 8, wherein the third time period is divided into N third sub-periods, and the scanner is further configured to limit the coverage of the emitted light beam and the reflected light beam within each third sub-period to within one 360/N degree azimuth angle in a 360 degree spatial region;
the data processing module is further specifically configured to receive, in each third sub-period, a reflected light beam signal in an azimuth angle acquired by the laser transceiver, calculate a signal-to-noise ratio of the reflected light beam signal in the azimuth angle in the third sub-period, determine, as the signal-to-noise ratio in the third time period, signal-to-noise ratios in N total obtained third sub-periods, and send the control instruction to the motion driving module again when it is determined that the signal-to-noise ratio in the third sub-period corresponding to the azimuth angle at which the obstruction exists is still smaller than the signal-to-noise ratio threshold, where the azimuth angle at which the obstruction exists is an azimuth angle at which both the signal-to-noise ratio in the first sub-period and the signal-to-noise ratio in the second sub-period are smaller than the signal-to-noise ratio threshold.
10. Laser detection device, characterized in that a wiper control according to any one of claims 6-9 is integrated in the laser detection device, wherein a wiper in the wiper control is arranged at the glass of the laser detection device.
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