CN114958197A - Hydrophobic material, laser radar noise reduction point method and laser radar device - Google Patents

Hydrophobic material, laser radar noise reduction point method and laser radar device Download PDF

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CN114958197A
CN114958197A CN202210513966.XA CN202210513966A CN114958197A CN 114958197 A CN114958197 A CN 114958197A CN 202210513966 A CN202210513966 A CN 202210513966A CN 114958197 A CN114958197 A CN 114958197A
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laser radar
hydrophobic material
noise reduction
point cloud
lidar
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陈海波
赵远鹏
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Deep Blue Technology Shanghai Co Ltd
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    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D183/00—Coating compositions based on macromolecular compounds obtained by reactions forming in the main chain of the macromolecule a linkage containing silicon, with or without sulfur, nitrogen, oxygen, or carbon only; Coating compositions based on derivatives of such polymers
    • C09D183/04—Polysiloxanes
    • C09D183/08—Polysiloxanes containing silicon bound to organic groups containing atoms other than carbon, hydrogen, and oxygen
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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Abstract

Provided are a hydrophobic material, a laser radar noise reduction point method, and a laser radar apparatus, wherein a film is formed within a radar scanning range on an outer surface of a housing of a laser radar using a hydrophobic material containing a compound synthesized by mixing polytetrafluoroethylene with a fluorinated alkyl-chain-modified siloxane polyhedron. There is also provided a laser radar apparatus having a noise reduction point function, including: a housing having an outer surface coated with the hydrophobic material; and the laser radar sensor is accommodated in the outer cover, and laser scanning is carried out through the outer cover so as to acquire point cloud data of the surrounding environment. By utilizing the material, the method and the device, the attachment of dirt such as dust, water mist and the like on the outer surface of the outer cover can be reduced, the scanning is prevented from being blocked or the laser radar is prevented from being wrongly identified, the anti-interference capability in the scanning process of the laser radar can be improved, and the sensing reliability and the stability of the laser radar are greatly improved.

Description

Hydrophobic material, laser radar noise reduction point method and laser radar device
Technical Field
The application relates to the technical field of radar dust and water prevention and fog prevention for automatic driving, in particular to a hydrophobic material, a laser radar noise reduction point method and a laser radar device.
Background
In the laser radar sensor field, native radar all has dustproof and waterproof fog effect poor, easily produces the problem of noise point and interference to lead to building the picture and the tracking precision of orbit is very poor, limited the application scene and the application range of this type of product. However, whether using mechanical rotation or tof (time of fire) imaging techniques, noise reduction by dust and water mist is still an unknown and common problem in the industry. The point cloud noise of the radar is too much, which directly causes the distortion of the collected map data, and the actual movement track and the target track of the machine have large deviation and even fail (initialization of a kidnapping or tracking of a lost state kidnapping).
The traditional coping schemes comprise a scheme of spraying water or blowing air and the like, however, the effect of a method for passively removing dust, water mist and the like in a scene with large dust is not obvious, the hardware cost is increased, and the reliability cannot be ensured. In addition, in the currently known technology, a nano non-hydrophilic dustproof material, such as titanium dioxide or polytetrafluoroethylene, is mainly adopted to cover the scanning range of the surface of the radar outer cover through a process, and noise of collected point cloud is reduced after the processing of a dust filtering algorithm, so that the detection precision and the sensing effect of the radar are improved to a certain extent, however, the effect is not ideal enough, and the software filtering effect is not good. Therefore, new hydrophobic materials are needed to meet the general outdoor application requirements of lidar.
Disclosure of Invention
The application aims to provide a hydrophobic material, a laser radar noise reduction point method and a laser radar device, and the method and the device can solve the problems that outdoor automatic driving system is large in dust, radar point cloud noise points are frequently reproduced under the scenes of water mist and the like, so that the motion trail is distorted, and further the laser radar device cannot be used.
The purpose of the application is realized by adopting the following technical scheme:
in a first aspect, the present application provides a hydrophobic material comprising a compound synthesized by mixing polytetrafluoroethylene with a fluorinated alkyl chain-modified siloxane polyhedron.
This technical scheme's beneficial effect lies in, through coating hydrophobic material on the surface at the laser radar dustcoat, can reduce the adhesion of dust and water smoke on the dustcoat surface, avoids laser radar to discern adnexed dust or water smoke as the barrier to reduce or eliminate the noise point, perhaps avoid dirt such as dust water smoke to form the scanning and shelter from, can improve the interference killing feature of laser radar scanning in-process, improved laser radar's perception reliability and stability greatly. The hydrophobic material comprises a compound synthesized by mixing polytetrafluoroethylene and a fluorinated alkyl chain modified siloxane polyhedron, and the polytetrafluoroethylene and the fluorinated alkyl chain modified siloxane polyhedron are synthesized by certain miscibility, so that the hydrophobic material is simple in obtaining mode, convenient and practical, and can obtain excellent dustproof and waterproof fog performance.
In some alternative embodiments, the hydrophobic material comprises the compound having a structure represented by the following formula (1),
Figure BDA0003638853720000021
in the formula (I), the compound is shown in the specification,
the polymerization degree n ranges from 103 to 104,
R f is-CH 2 -CH 2 -(CF 2 ) 7 -CF 3 。
The technical scheme has the beneficial effects that polytetrafluoroethylene (PTFE or F-4) is a synthetic material with extremely high surface energy, and simultaneously has good solubility resistance, chemical corrosion resistance, very wide temperature resistance, extremely low water absorption, good aging resistance, outstanding surface non-stick property and complete non-flammability, and the fluorinated alkyl chain modified siloxane polyhedron has extremely low surface energy, so that the fluorinated alkyl chain modified siloxane polyhedron cannot be attached by other substances, and the compound obtained by mixing the two materials has excellent dustproof and waterproof fog effects, can physically reduce or even eliminate noise points, and further obtains a more stable and reliable scanning result.
In some alternative embodiments, the ratio of the molar mass ratio of the polytetrafluoroethylene to the fluorinated alkyl chain-modified siloxane polyhedra in the hydrophobic material is less than 1. The technical scheme has the beneficial effects that when the ratio of the polytetrafluoroethylene to the fluorinated alkyl chain modified siloxane polyhedron is less than 1, a compound with better dustproof and waterproof fog performance can be obtained.
In some alternative embodiments, the molar mass ratio of the polytetrafluoroethylene to the fluorinated alkyl chain-modified siloxane polyhedra is 3: 7. the technical scheme has the beneficial effects that the smaller the ratio of the polytetrafluoroethylene to the fluorinated alkyl chain modified siloxane polyhedron is, the higher the hydrophobic rate of the obtained compound is, and tests prove that when the ratio is 3: when 7, a hydrophobic compound having an optimum hydrophobic ratio is obtained.
In a second aspect, the present application provides a lidar noise reduction point method, wherein a hydrophobic material is used to form a film in a radar scanning range on an outer surface of a housing of the lidar, wherein the hydrophobic material is the hydrophobic material.
In some optional embodiments, the film formation is performed by coating or spraying. The technical scheme has the beneficial effects that the laser radar can conveniently and well have the waterproof and dustproof functions by adopting a film coating or spraying method.
In some alternative embodiments, the film thickness formed by the film formation is 1.2 mm. The technical scheme has the beneficial effects that experiments prove that the optimal hydrophobicity can be obtained when the film thickness is 1.2mm, so that the dustproof, waterproof and noise-reducing effects are improved.
In some optional embodiments, the point cloud data scanned by the lidar is processed by a dust filtering algorithm. The technical scheme has the beneficial effects that noise is further eliminated through algorithm compensation, so that a more accurate scanning result is obtained, and the follow-up chart and the track tracking precision are favorably improved.
In some optional embodiments, the dust filtration is performed using a plane fitting filter algorithm based on an irregular triangular mesh. The technical scheme has the beneficial effects that the adjacent relation between the point cloud points can be intuitively obtained, so that the noise points in the point cloud can be conveniently removed.
In a third aspect, the present application provides a laser radar apparatus having a noise reduction point function, including:
a housing having an outer surface coated with a hydrophobic material;
a lidar sensor housed within the housing, laser scanned through the housing to acquire point cloud data of a surrounding environment,
wherein the hydrophobic material is the hydrophobic material.
In some optional embodiments, the lidar device further includes a dust filtering processing unit, and the dust filtering processing unit is configured to perform dust filtering processing on the point cloud data acquired by the lidar sensor to filter noise in the point cloud data.
Drawings
The present application is further described below with reference to the drawings and examples.
FIG. 1 is a diagram of two examples of conventional lidar housings;
FIG. 2 is a diagram illustrating a point cloud scanned without a lidar noise reduction process according to the present application;
FIG. 3 is a diagram illustrating a point cloud scanned using a lidar noise reduction point method according to an embodiment of the present application under the same conditions as FIG. 2;
fig. 4 is a schematic structural diagram of a laser radar apparatus provided in an embodiment of the present application;
FIG. 5 is a graph of the results of a simulated rain test on a lidar apparatus according to an embodiment of the application, showing a graphical representation of the point cloud obtained when the spray distance is 50 cm;
fig. 6 is a graph of the result of a simulated rain test performed on the laser radar apparatus according to the embodiment of the present application, showing a graphical representation of the point cloud obtained when the water spray distance is 100 cm.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Fig. 1 shows two examples of conventional lidar housings. As shown in fig. 1, dust, mist, and the like are likely to adhere to the radar scanning range indicated by the square frame on the laser radar cover due to the radar operating environment and the like. The dust water mist interferes scanning, becomes a noise point in the point cloud after scanning, and the radar point cloud noise point is frequently reproduced under the scenes of large dust, water mist and the like, so that the acquired map data are easily distorted, the actual movement track of the machine and the target track have large deviation, and even the result is invalid. The novel hydrophobic material is mainly formed by mixing fluorine-containing polytetrafluoroethylene and fluorinated alkyl chain modified siloxane polyhedrons, namely F-POSS, and is formed into a film in the scanning range of the radar outer cover surface so as to prevent dust and water mist, so that the requirement of outdoor universal application of laser radar is met.
Polytetrafluoroethylene is a synthetic material with very high surface energy, which makes it well attached to other substances; the paint has good solvent resistance and chemical corrosion resistance, wide temperature resistance range, extremely low water absorption, good aging resistance, outstanding surface non-stickiness and complete non-inflammability. The molecular structure is shown in the following formula (2).
Figure BDA0003638853720000051
In some embodiments, the polymerization degree n ranges from 103 to 104.
F-POSS is a synthetic material with a very low surface energy that makes it unattainable by other substances. The molecular structure of F-POSS is shown in the following formula (3), and F-POSS has a cage structure.
Figure BDA0003638853720000052
Wherein R is f is-CH 2 -CH 2 -(CF 2 ) q -CF 3 Q is between 0 and 15, preferably 7. Determination of R after repeated tests of various materials f Adopts polytetrafluoroethylene materials because the polytetrafluoroethylene and the F-POSS are not completely dissolved and mixedThe back molecules are mutually filled and uniformly arranged, and the non-hydrophilic effect of the novel surface hydrophobic material can be obtained.
In some embodiments, the mixing temperature is 4-50 ℃ and the mechanical mixing is performed under a pressure of 1.01325 x 10^5 Pa.
The key factor for synthesizing the polytetrafluoroethylene and the F-POSS is that the polytetrafluoroethylene and the F-POSS have certain miscibility, namely the polytetrafluoroethylene and the F-POSS are easy to synthesize into a whole after being mixed so as to form a novel surface hydrophobic material, and the synthetic molecular formula is (-CF 2-CF 2-)]n-R f SiO 1.5 ) 8 The molecular structure of the synthesized compound is shown as the formula (1) above.
In some embodiments, the ratio of the mixed molar mass ratio of polytetrafluoroethylene to F-POSS is less than 1. This is because the smaller the ratio of polytetrafluoroethylene to F-POSS, the higher the hydrophobicity. In a preferred embodiment, the mixing molar mass ratio of the polytetrafluoroethylene to the F-POSS is 3: 7.
in some embodiments, the hydrophobic material obtained by synthesis is coated or sprayed on the outer surface of the laser radar housing. Preferably, the film is formed by external coating.
In some embodiments, the thickness of the film is 1.2 mm. The experimental surface can obtain better dustproof and waterproof fog effect under the condition of the thickness, and the noise reduction point effect is most obvious.
In some embodiments, to further filter noise in the point cloud data, the point cloud data is subjected to a dust filtering process after scanning. Preferably, statistical filtering, that is, a plane fitting filtering algorithm based on Irregular triangular Network (TIN), is used to process the point cloud data. TIN is an important method for representing digital elevation simulation, the proximity relation between discrete points in space is often stored, and the known method of Delauney triangulation network is adopted to construct TIN; by observing the constructed Delauney triangulation network, the adjacent relation between points can be intuitively obtained, and further, the method is beneficial to removing noise points in the point cloud.
The effect of the point cloud obtained after the processing by the laser radar noise reduction point method according to the embodiment of the present application is described next. FIG. 2 is a diagram illustrating a point cloud scanned without lidar noise reduction processing according to the present application; fig. 3 is a diagram illustrating a point cloud scanned using the lidar noise reduction point method according to an embodiment of the present application under the same conditions as fig. 2.
As shown in fig. 2, in the point cloud image obtained without the laser radar noise reduction processing according to the present application, the abnormal point cloud display caused by the dirty cover is clearly seen in the large square frame on the left side of the image, that is, the dirty cover forms a shield for scanning, and the point cloud display on the back side is rare. In addition, abnormal point cloud display caused by obvious dirt exists in the middle small square.
In contrast, after the laser radar noise reduction point method according to the embodiment of the application is used, as shown in fig. 3, the point cloud image in the left square box in the graph is displayed normally without occlusion, and abnormal point cloud display caused by dirt such as dust, water mist and the like does not exist at the center of the graph. In addition, the problem of wire breakage caused by dirt such as dust, water mist and the like is solved.
The laser radar noise reduction point method according to the present application is explained above.
The laser radar noise reduction point method can reduce the attachment of dust and water mist on the outer surface of the outer cover by coating the hydrophobic material on the outer surface of the laser radar outer cover, avoids the laser radar from recognizing the attached dust or water mist as a barrier, or avoids dirt such as the dust, the water mist and the like from shielding scanning, thereby reducing or eliminating noise points, improving the anti-interference capability of the laser radar in the scanning process, and greatly improving the perception reliability and stability of the laser radar. The hydrophobic material comprises a compound synthesized by mixing polytetrafluoroethylene and a fluorinated alkyl chain modified siloxane polyhedron, and the polytetrafluoroethylene and the fluorinated alkyl chain modified siloxane polyhedron are synthesized by certain miscibility, so that the hydrophobic material is simple in obtaining mode, convenient and practical, and can obtain excellent dustproof and waterproof fog performance. In addition, noise is further eliminated through algorithm compensation, so that a more accurate scanning result is obtained, and the accuracy of follow-up images and track tracking is improved.
Referring to fig. 4, an embodiment of the present application further provides a laser radar apparatus with a noise reduction function, where a specific implementation manner of the laser radar apparatus is consistent with the implementation manner and the achieved technical effect described in the embodiment of the foregoing method, and details are not repeated.
The laser radar apparatus includes:
a housing 101 having an outer surface coated with a hydrophobic material;
a lidar sensor 102 housed within the housing 101, laser scanned through the housing 101 to acquire point cloud data of the surrounding environment,
wherein the hydrophobic material, i.e., the hydrophobic material described above, comprises a compound synthesized by mixing polytetrafluoroethylene with a fluorinated alkyl chain-modified siloxane polyhedron.
In some embodiments, the lidar device further includes a dust filtering processing unit 103, where the dust filtering processing unit 103 is configured to perform dust filtering processing on the point cloud data acquired by the lidar sensor 102 to filter noise in the point cloud data.
The case of performing a simulated rain test on the lidar device according to an embodiment of the present application is described below, in which the simulated test is performed with the sprinkler at a distance of 30-100cm from the radar, and fig. 5 and 6 show the test result at a distance of 50cm and the test result at a distance of 100cm, respectively.
As shown in FIG. 5, when the sprinkler is 50cm away from the radar, only in the dense rain, i.e. the square in the figure, there is a very small amount of abnormal point cloud display. As shown in fig. 6, when the distance of the watering can is as long as 100cm, there is no abnormal cloud display, especially, compared with fig. 5, there is no abnormal cloud display in the box of fig. 6.
Tests prove that the laser radar device can meet the requirements of drawing construction and perception of the laser radar slarm.
The laser radar apparatus according to the embodiment of the present application is described above. By using the laser radar device according to the embodiment of the application, the effect obtained by using the laser radar noise reduction point method according to the application can be obtained.
While the present application is described in terms of various aspects, including exemplary embodiments, the principles of the invention should not be limited to the disclosed embodiments, but are also intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. A hydrophobic material, characterized in that,
the hydrophobic material comprises a compound synthesized by mixing polytetrafluoroethylene with a fluorinated alkyl chain-modified siloxane polyhedron.
2. The hydrophobic material as claimed in claim 1, wherein,
the hydrophobic material includes the compound having a structure represented by the following formula (1),
Figure FDA0003638853710000011
in the formula (I), the compound is shown in the specification,
the polymerization degree n ranges from 103 to 104,
R f is-CH 2 -CH 2 -(CF 2 ) 7 -CF 3 。
3. The hydrophobic material of claim 1, wherein,
in the hydrophobic material, the ratio of the molar mass ratio of the polytetrafluoroethylene to the fluorinated alkyl chain-modified siloxane polyhedra is less than 1.
4. The hydrophobic material of claim 3, wherein,
the molar mass ratio of the polytetrafluoroethylene to the fluorinated alkyl chain modified siloxane polyhedron is 3: 7.
5. a laser radar noise reduction point method is characterized in that,
film formation is performed within a radar scanning range on an outer surface of a housing of a laser radar using a hydrophobic material according to any one of claims 1 to 4.
6. The lidar noise reduction point method of claim 5, wherein,
the film formation is carried out by adopting a film coating or spraying mode, and the thickness of the film formed by the film formation is 1.2 mm.
7. The lidar noise reduction point method of claim 5, wherein,
and processing the point cloud data scanned by the laser radar through a dust filtering algorithm.
8. The lidar noise reduction point method of claim 7, wherein,
and carrying out dust filtration treatment by adopting a plane fitting filtration algorithm based on an irregular triangular net.
9. A laser radar apparatus having a noise reduction point function, comprising:
a housing having an outer surface coated with a hydrophobic material;
a lidar sensor housed within the housing, laser scanned through the housing to acquire point cloud data of a surrounding environment,
wherein the hydrophobic material is the hydrophobic material of any one of claims 1 to 4.
10. The lidar apparatus of claim 9, further comprising:
and the dust filtering processing unit is used for filtering the point cloud data acquired by the laser radar sensor to filter noise points in the point cloud data.
CN202210513966.XA 2022-05-11 2022-05-11 Hydrophobic material, laser radar noise reduction point method and laser radar device Pending CN114958197A (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107418420A (en) * 2017-07-27 2017-12-01 浙江工业大学之江学院 A kind of hydrophobic polyurethane hybrid coating and preparation method thereof
CN109694647A (en) * 2018-12-26 2019-04-30 中国科学院兰州化学物理研究所 A kind of long-acting solid lubrication protection coating with excellent resistance to Space environmental property

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107418420A (en) * 2017-07-27 2017-12-01 浙江工业大学之江学院 A kind of hydrophobic polyurethane hybrid coating and preparation method thereof
CN109694647A (en) * 2018-12-26 2019-04-30 中国科学院兰州化学物理研究所 A kind of long-acting solid lubrication protection coating with excellent resistance to Space environmental property

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