WO2022141097A1 - 激光雷达的电加热红外窗口、激光雷达和可移动平台 - Google Patents

激光雷达的电加热红外窗口、激光雷达和可移动平台 Download PDF

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Publication number
WO2022141097A1
WO2022141097A1 PCT/CN2020/141036 CN2020141036W WO2022141097A1 WO 2022141097 A1 WO2022141097 A1 WO 2022141097A1 CN 2020141036 W CN2020141036 W CN 2020141036W WO 2022141097 A1 WO2022141097 A1 WO 2022141097A1
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Prior art keywords
light
transmitting
electric heating
infrared window
lidar
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PCT/CN2020/141036
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English (en)
French (fr)
Inventor
赖璐文
杨晶
吕荣
Original Assignee
深圳市大疆创新科技有限公司
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Priority to PCT/CN2020/141036 priority Critical patent/WO2022141097A1/zh
Priority to CN202080071320.XA priority patent/CN114556134A/zh
Publication of WO2022141097A1 publication Critical patent/WO2022141097A1/zh

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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
    • 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
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B1/00—Details of electric heating devices
    • H05B1/02—Automatic switching arrangements specially adapted to apparatus ; Control of heating devices
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00—Ohmic-resistance heating
    • H05B3/20—Heating elements having extended surface area substantially in a two-dimensional plane, e.g. plate-heater
    • H05B3/34—Heating elements having extended surface area substantially in a two-dimensional plane, e.g. plate-heater flexible, e.g. heating nets or webs
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B3/00—Ohmic-resistance heating
    • H05B3/84—Heating arrangements specially adapted for transparent or reflecting areas, e.g. for demisting or de-icing windows, mirrors or vehicle windshields

Definitions

  • Embodiments of the present invention relate to the technical field of ranging, and more particularly, to an electrically heated infrared window of a laser radar, a laser radar, and a movable platform.
  • Lidar is a precise optical measurement instrument that often uses an infrared beam to pass through a window for measurement. Since the interior of the lidar is a closed cavity to ensure the stability of the lidar, when the temperature of the window is lower than the dew point of the internal air, the internal water vapor will condense on the inside of the window, thereby destroying the window surface and increasing the refraction and reflection of the beam. , reducing the beam quality, resulting in a decrease in the measurement performance of the radar; similarly, when the temperature of the window is lower than the dew point of the air outside the radar, condensation will form outside the window, resulting in a decrease in the performance of the radar.
  • the first aspect of the embodiments of the present invention provides an electrically heated infrared window for a laser radar, including:
  • the light-transmitting base material includes a light-transmitting area and a non-light-transmitting area
  • a conductive material attached to the surface of the light-transmitting substrate, the conductive material at least exposing part of the light-transmitting area;
  • the electric heating controller is electrically connected with the conductive material, and is used for applying a voltage to the conductive material to make the conductive material generate heat.
  • a second aspect of the embodiments of the present invention provides an electrically heated infrared window for a laser radar, including:
  • the two electrodes are respectively electrically connected to the two opposite sides of the light-transmitting conductive film;
  • an electric heating controller electrically connected to the electrode, and used for applying a voltage to the light-transmitting conductive film through the electrode, so as to make the light-transmitting conductive film generate heat;
  • the distances between the two electrodes at at least two different positions are different.
  • a third aspect of the embodiments of the present invention provides a lidar, including a lidar measurement module and the above-mentioned electrically heated infrared window, where laser light emitted by the lidar measurement module exits through a light-transmitting area of the electrically heated infrared window.
  • a fourth aspect of the embodiments of the present invention provides a movable platform, including: a movable platform body and the above-mentioned lidar, where the lidar is mounted on the movable platform body.
  • the electrically heated infrared window of the laser radar, the laser radar and the movable platform of the embodiment of the present invention use the conductive material attached to the surface of the light-transmitting substrate for electrical heating, and the shape of the conductive material is optimized, so that the electrically heated infrared window has a good quality
  • the anti-fog and anti-frost effect, and the loss of beam energy is small.
  • FIG. 1 is a schematic frame diagram of a laser radar according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an embodiment in which a laser radar according to an embodiment of the present invention adopts a coaxial optical path;
  • FIG. 3 is a schematic diagram of a scanning pattern of a laser radar according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an electrically heated infrared window according to one embodiment of the present invention.
  • FIG. 5 is a schematic diagram of an electrically heated infrared window according to another embodiment of the present invention.
  • FIG. 6 is a schematic cross-sectional view of an electrically heated infrared window according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an electrically heated infrared window according to another embodiment of the present invention.
  • FIG. 8 is a schematic diagram of an electrical heating principle of an electrically heated infrared window according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an electric heating principle of an electric heating infrared window according to another embodiment of the present invention.
  • FIG. 10 is a schematic diagram of an electrically heated infrared window according to another embodiment of the present invention.
  • the electrically heated infrared window of the laser radar is applied to the laser radar.
  • the lidar is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects.
  • Lidar can detect the distance from the detected object to the lidar by the time of light propagation between the lidar and the detected object, that is, the time-of-flight (TOF).
  • TOF time-of-flight
  • the lidar 100 may include a transmitting circuit 110 , a receiving circuit 120 , a sampling circuit 130 and an arithmetic circuit 140 .
  • the transmit circuit 110 may transmit a sequence of light pulses.
  • the receiving circuit 120 can receive the optical pulse sequence reflected by the detected object, and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 130 after processing the electrical signal.
  • the sampling circuit 130 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 140 may determine the distance between the lidar 100 and the detected object based on the sampling result of the sampling circuit 130 .
  • the lidar 100 may further include a control circuit 150, which can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • a control circuit 150 can control other circuits, for example, can control the working time of each circuit and/or set parameters for each circuit.
  • the lidar shown in FIG. 1 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a beam of light for detection
  • the embodiment of the present application is not limited to this, the transmitting circuit
  • the number of any one of the receiving circuits, sampling circuits, and arithmetic circuits may also be at least two, for emitting at least two light beams in the same direction or in different directions respectively; wherein, the at least two light beam paths may be emitted simultaneously , or they can be emitted at different times.
  • the light-emitting chips in the at least two emission circuits are packaged in the same module.
  • each emitting circuit includes one laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and accommodated in the same packaging space.
  • the lidar 100 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence output from the transmitting circuit.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130 and the operation circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140 and the control circuit 150 may be called measurement module, the measurement module can be independent of other modules, for example, the scanning module.
  • a coaxial optical path can be used in the lidar, that is, the beam emitted by the lidar and the reflected beam share at least part of the optical path in the lidar.
  • the laser radar can also use an off-axis optical path, that is, the light beam emitted by the laser radar and the reflected light beam are transmitted along different optical paths in the laser radar.
  • FIG. 2 shows a schematic diagram of an embodiment in which the laser radar of the present invention adopts a coaxial optical path.
  • the lidar 200 includes a ranging module 210, and the ranging module 210 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit and arithmetic circuit) and an optical circuit Change element 206 .
  • the ranging module 210 is used for emitting a light beam, receiving the returning light, and converting the returning light into an electrical signal.
  • the transmitter 203 can be used to transmit a sequence of optical pulses.
  • the transmitter 203 may emit a sequence of laser pulses.
  • the laser beam emitted by the transmitter 203 is a narrow bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 204 is disposed on the outgoing light path of the transmitter, and is used for collimating the light beam emitted from the transmitter 203, and collimating the light beam emitted by the transmitter 203 into parallel light and outputting to the scanning module.
  • the collimating element also serves to converge at least a portion of the return light reflected by the probe.
  • the collimating element 204 may be a collimating lens or other elements capable of collimating light beams.
  • the transmitting optical path and the receiving optical path in the lidar are combined by the optical path changing element 206 before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, making the optical path more compact.
  • the emitter 203 and the detector 205 may use respective collimating elements, and the optical path changing element 206 may be arranged on the optical path behind the collimating element.
  • the optical path changing element can use a small-area reflector to transmit the beam.
  • the optical path and the receiving optical path are combined.
  • the optical path changing element may also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the emitter 203 , and the reflector is used to reflect the return light to the detector 205 . In this way, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.
  • the optical path altering element is offset from the optical axis of the collimating element 204 .
  • the optical path altering element may also be located on the optical axis of the collimating element 204 .
  • the lidar 200 also includes a scanning module 202 .
  • the scanning module 202 is placed on the outgoing optical path of the ranging module 210 .
  • the scanning module 202 is used to change the transmission direction of the collimated beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 .
  • the returned light is focused on the detector 205 via the collimating element 104 .
  • the scanning module 202 can include at least one optical element for changing the propagation path of the light beam, wherein the optical element can change the propagation path of the light beam by reflecting, refracting, diffracting the light beam, or the like.
  • the scanning module 202 includes lenses, mirrors, prisms, gratings, liquid crystals, optical phased arrays (Optical Phased Array) or any combination of the above optical elements.
  • at least part of the optical elements are moving, for example, the at least part of the optical elements are driven to move by a driving module, and the moving optical elements can reflect, refract or diffract the light beam to different directions at different times.
  • the multiple optical elements of the scanning module 202 may be rotated or oscillated about a common axis 209, each rotating or oscillating optical element being used to continuously change the propagation direction of the incident beam.
  • the plurality of optical elements of the scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds.
  • at least some of the optical elements of scan module 202 may rotate at substantially the same rotational speed.
  • the plurality of optical elements of the scanning module may also be rotated about different axes.
  • the plurality of optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which are not limited herein.
  • the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214, and the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209, so that the first optical element 214 changes The direction of the collimated beam 219.
  • the first optical element 214 projects the collimated beam 219 in different directions.
  • the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 209 changes with the rotation of the first optical element 214 .
  • the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated beam 219 passes.
  • the first optical element 214 includes a prism whose thickness varies along at least one radial direction.
  • the first optical element 214 includes a wedge prism that refracts the collimated light beam 219 .
  • the scanning module 202 further includes a second optical element 215 , the second optical element 215 rotates around the rotation axis 209 , and the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214 .
  • the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214 .
  • the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
  • the first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotational speed and/or steering of the first optical element 214 and the second optical element 215 are different, thereby projecting the collimated beam 219 into the external space Different directions can scan a larger spatial range.
  • the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
  • the rotational speeds of the first optical element 214 and the second optical element 215 may be determined according to the area and pattern expected to be scanned in practical applications.
  • Drives 216 and 217 may include motors or other drives.
  • the second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the second optical element 215 comprises a prism whose thickness varies along at least one radial direction.
  • the second optical element 215 comprises a wedge prism.
  • the scanning module 202 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element.
  • the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes.
  • the third optical element comprises a prism of varying thickness along at least one radial direction.
  • the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotations.
  • FIG. 3 is a schematic diagram of a scanning pattern of the lidar 200 . It can be understood that when the speed of the optical element in the scanning module changes, the scanning pattern also changes accordingly.
  • the scanning module 202 When the light 211 projected by the scanning module 202 hits the detection object 201 , a part of the light is reflected by the detection object 201 to the lidar 200 in a direction opposite to the projected light 211 .
  • the returning light 212 reflected by the probe 201 passes through the scanning module 202 and then enters the collimating element 204 .
  • a detector 205 is placed on the same side of the collimating element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
  • each optical element is coated with an anti-reflection coating.
  • the thickness of the anti-reflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
  • a filter layer is coated on the surface of an element located on the beam propagation path in the lidar, or a filter is provided on the beam propagation path, which is used to transmit at least the wavelength band of the beam emitted by the transmitter and reflect Other bands to reduce the noise that ambient light brings to the receiver.
  • the transmitter 203 may comprise a laser diode through which laser pulses are emitted on the nanosecond scale.
  • the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time.
  • the laser radar 200 can calculate the TOF by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the probe 201 to the laser radar 200 .
  • the distance and orientation detected by the lidar 200 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the lidar of the embodiment of the present invention can be applied to a movable platform, and the lidar can be installed on the movable platform body of the movable platform.
  • the movable platform with lidar can measure the external environment, for example, measure the distance between the movable platform and obstacles for obstacle avoidance and other purposes, and perform two-dimensional or three-dimensional mapping of the external environment.
  • an embodiment of the present invention proposes an electrically heated infrared window of the laser radar, including: a light-transmitting base material, the light-transmitting base material includes a light-transmitting area and a non-light-transmitting base material. a light-transmitting area; a conductive material attached to the surface of the light-transmitting substrate, the conductive material exposes at least part of the light-transmitting area; an electric heating controller, electrically connected to the conductive material, is used for the The conductive material applies a voltage to heat the conductive material.
  • the electrically heated infrared window of the embodiment of the present invention uses conductive material to heat and dehaze the light-transmitting substrate, so that the infrared window has good heating performance, and has better anti-fogging and anti-fogging properties than spraying hydrophobic films and hydrophilic films.
  • the electrically heated infrared window of the embodiment of the present invention arranges the conductive material in a targeted manner for the light-passing area of the lidar, so that the conductive material exposes at least part of the light-passing area, thereby reducing the absorption and reflection of the light beam by the conductive material , which improves the transmittance of the light-transmitting area and ensures the beam quality.
  • the conductive material can be attached to the surface of the transparent substrate on the inner side of the lidar body, and heating the conductive material with electricity can quickly eliminate fogging and condensation on the inner window of the lidar body. It can eliminate fogging and condensation on the outer window of the lidar body, and improve the optical performance of the window under harsh conditions.
  • the conductive material can also be attached to the surface of the light-transmitting substrate outside the lidar body.
  • Various suitable processes such as evaporation, sputtering, spraying, bonding, printing, chemical vapor deposition, reactive ion plating and the like can be used to attach the conductive material to the surface of the light-transmitting substrate.
  • the light-transmitting base material can be made of an infrared high-transmittance material, for example, a glass material, a plastic material, and the like.
  • a transparent substrate made of glass the transparent substrate can be quickly and evenly heated after the conductive material is energized, and the glass material is resistant to high temperature and can be heated to a higher temperature.
  • the transparent base material of plastic material the higher toughness of the plastic material can withstand stronger impacts and ensure the safety of the window in harsh environments.
  • a light-transmitting conductive film may be used as the conductive material, so that the light transmittance can be improved while realizing the electric heating function.
  • the light-transmitting conductive film covers at least part of the non-light-transmitting area and exposes at least part of the light-transmitting area.
  • a light-transmitting conductive film can be formed on the light-transmitting substrate by a shading process, that is, the area where the light-transmitting conductive film does not need to be formed is shielded, and then the light-transmitting conductive material is sprayed to form a patterned light-transmitting film. conductive film.
  • the light-transmitting conductive film is light-transmitting, it can cover most of the non-light-transmitting area, but it is necessary to have a preset distance between the light-transmitting conductive film and the edge of the light-transmitting substrate to prevent electrical leakage.
  • the heated infrared window is installed on the lidar housing, the light-transmitting conductive film at the edge is in contact with the outside world, resulting in a short circuit.
  • the edge area of the electrically heated infrared window is usually a non-transparent area, and not arranging a transparent conductive film in the edge area can reduce the heating area and reduce the heating power consumption. Referring to FIG.
  • the preset distances between the upper, lower, left, and right edges of the transparent conductive film and the transparent substrate there are preset distances between the upper, lower, left, and right edges of the transparent conductive film and the transparent substrate, and the preset distances between the transparent conductive film and different edges of the transparent substrate can be the same or different.
  • a predetermined distance can also be made between the conductive material and the edge of the light-transmitting substrate.
  • the electric heating controller can connect two opposite corners of the conductive material. Thereby, a plurality of paths can be formed between two opposite corners of the conductive material, so as to ensure that the heating effect can be generated in each area of the light-transmitting conductive film.
  • the light-transmitting conductive film may be an ITO (Indium Tin Oxide, indium tin oxide) film.
  • ITO is an N-type semiconductor material with good electrical conductivity and light transmittance. Its main components are indium oxide and tin oxide, indium oxide is a transparent material, and tin oxide is a conductive material.
  • the light-transmitting conductive film can also use other film materials with both conductivity and light-transmitting properties.
  • the transmittance of the light beam can be improved by reducing the absorption and reflection of the light beam by the light-transmitting conductive film.
  • the absorptivity of light-transmitting conductive films such as ITO films for infrared beams is affected by the thickness of the films. In one embodiment, the thickness of the light-transmitting conductive films can be set to be less than 20 nm, so that the absorption of light beams is small.
  • the electrically heated infrared window of the embodiment of the present invention may further include an anti-reflection film covering the light-transmitting conductive film, specifically an infrared anti-reflection film.
  • the anti-reflection film re-reflects the reflected light to the light-transmitting conductive film, and a small part of the reflected light is reflected by the light-transmitting conductive film and then reflected by the anti-reflection film, thereby further reducing the reflectivity. Therefore, by using the light-transmitting conductive film in combination with the anti-reflection film, high light transmittance is ensured, thereby improving the output power of the light beam, which is beneficial to realize long-distance ranging.
  • covering the light-transmitting conductive film with an anti-reflection film can better protect the light-transmitting conductive film and prevent the light-transmitting conductive film from being scratched and falling off due to aging.
  • the combination sequence of the antireflection film and the light-transmitting conductive film does not necessarily have to be in the order of forming the light-transmitting conductive film first and then forming the antireflection film, but may also be the first
  • the anti-reflection film is formed, and then the light-transmitting conductive film is formed, that is, the anti-reflection film can be arranged between the light-transmitting conductive film and the light-transmitting substrate, and the anti-reflection effect can also be realized.
  • the electrically heated infrared window may also include a black film for blocking visible light.
  • the black film is formed before the light-transmitting conductive film, that is, the film layers are arranged in the order of the light-transmitting conductive film, the black film and the light-transmitting substrate, so that the appearance of the electrically heated infrared window can be black.
  • the arrangement order of the black film, the light-transmitting conductive film and the light-transmitting substrate is adopted, since the light-transmitting conductive film (such as ITO film) usually has a color, it will be difficult to realize the appearance of the electrically heated infrared window. is black.
  • the conductive material of the embodiment of the present invention at least partially exposes the light-transmitting area of the light-transmitting substrate.
  • the selection of the light-passing area and the non-light-passing area is related to the scanning pattern of the lidar.
  • the light-transmitting area in the embodiment of the present invention is mainly located in the center area and both sides of the center area of the light-transmitting substrate.
  • the light-passing area is located in the central area of the light-transmitting substrate.
  • the light-passing area can be set in a dumbbell shape, that is, both ends are circular or oval, and the middle sunken shape.
  • FIG. 4 shows an exemplary electrically heated infrared window 401 using a light-transmitting conductive film as the conductive material.
  • the light-transmitting area 404 is located in the central area of the window, and the light-transmitting conductive film 403 surrounds the light-transmitting area 404 and covers most of the non-light-transmitting area, which is different from the light-transmitting area 404 .
  • Complementary relationship only a certain distance is reserved between its edge and the edge of the light-transmitting substrate.
  • FIG. 5 shows another exemplary electrically heated infrared window using a light-transmitting conductive film as the conductive material.
  • the light-transmitting area 505 includes at least areas located on both sides of the central area of the light-transmitting substrate 501.
  • the light-transmitting area 505 is exemplified as a rectangular area, but the light-transmitting area can also have other shapes; and, the rectangular area A part of the non-light-transmitting area may be included, and the light-transmitting area may also include a part of the area covered by the light-transmitting substrate 501 .
  • the conductive material 502 includes a plurality of light-transmitting conductive films 502 covering the non-light-transmitting area, and FIG. 5 is illustrated as a light-transmitting conductive film 502 arranged in the central area of the light-transmitting substrate 501 and two light-transmitting conductive films 502 arranged on both sides of the light-transmitting area. Light-transmitting conductive film 502 .
  • a plurality of light-transmitting conductive films 502 are arranged between the electrodes 503 and 504, and the electrodes 503 and 504 are connected in series with each other.
  • the electrode 503 and the electrode 504 can be made of materials with higher conductivity, sprayed on the light-transmitting conductive film 502 , and electrically connected to two opposite sides of each light-transmitting conductive film 502 .
  • the voltage can be applied at two opposite corners of the light-transmitting conductive film 502 , for example, between points A and C or between points B and D.
  • the light-transmitting conductive film 502 is arranged in blocks, and the heating area is controlled by selecting the position of the light-transmitting conductive film 502.
  • the light-transmitting conductive film may not be provided in the light-transmitting area to avoid interference with the light-transmitting area. .
  • the light-transmitting conductive film may not be provided in the area that does not need to be heated.
  • the electrode 503 and the electrode 504 are connected in series with a plurality of light-transmitting conductive films 502 end-to-end. When voltages are applied at points A and C, the resistance of any path (eg, path 1 and path 2) is the same, so the current flowing through any path is the same. , the heating power is the same, so that the light-transmitting conductive film is evenly heated, and the heating process is more stable and reliable.
  • FIG. 6 shows a cross-sectional view of the electrically heated infrared window shown in FIG. 5 .
  • the electrically heated infrared window includes a transparent substrate 601 , a transparent conductive film 602 formed on the transparent substrate 601 , and an infrared antireflection film 604 sprayed on the transparent conductive film 602 .
  • the infrared anti-reflection film 604 is provided with an opening with the same shape as the electrode 603, the opening exposes the light-transmitting conductive film 602 below it, and the electrode 603 can be formed by spraying a conductive material in the opening, thereby realizing the connection between the electrode 603 and the light-transmitting conductive film 602. Electrical connection.
  • the conductive material may be a conductor that is not closed around the light-passing area, and the electric heating controller connects both ends of the conductor to electrically heat the conductor. Since the conductor is arranged around the light-passing area, the shading and refraction of the light beam can also be reduced while achieving the heating effect.
  • the conductive material can be selected from low-cost opaque conductive materials, such as heating wires.
  • the conductive material can be arranged on the light-transmitting substrate by means of bonding, printing, evaporation and the like. Since the conductive material is arranged around the light-transmitting area, even if a non-light-transmitting material is used, the requirements for the transmittance of the light beam can be met.
  • the shape of the light-transmitting area is similar to the light-transmitting area 404 shown in FIG. 4 , that is, a dumbbell-shaped area located in the central area of the light-transmitting substrate.
  • the light-transmitting region 703 is located in the middle of the light-transmitting substrate 701 , the conductor 702 is not closed around the light-transmitting region 703 , and electrodes 704 and 705 are respectively provided at both ends of the conductor 702 .
  • the electrically heated infrared window of the embodiment of the present invention can use a temperature detector and a relative humidity detector to control the electrical heating of the conductive material.
  • the electrically heated infrared window further includes a temperature detector 804 and a relative humidity detector 805 arranged within a preset range around the light-transmitting substrate 801 .
  • the controller 803 is electrically connected, and the electric heating controller 803 is connected to a power source 806 , and the power source 806 supplies power to the electric heating controller 803 .
  • the temperature detector 804 may be directly disposed on the transparent substrate 801 to detect the temperature of the transparent substrate 801 ; the temperature detector 804 may also be disposed near the transparent substrate 801 .
  • the relative humidity detector 805 may be disposed near the light-transmitting substrate 801 .
  • the electric heating controller 803 is configured to receive the relative humidity within a preset range around the light-transmitting substrate detected by the relative humidity detector 805, and calculate the dew point temperature of the air according to the relative humidity, that is, the air contained in the air at a fixed air pressure. The temperature to which gaseous water is saturated to condense into liquid water. The electric heating controller 803 receives the temperature detected by the temperature detector 804 within a preset range around the transparent substrate 801 , and maintains a preset temperature around the transparent substrate 801 by applying a voltage to the conductive material 802 to make the conductive material 802 generate heat.
  • the temperature within the range is never lower than the dew point temperature. Therefore, it is possible to accurately control the temperature within the preset range of the light-transmitting substrate not to be lower than the dew point temperature, and prevent fogging of the electrically heated infrared window.
  • This solution can energize and heat the electric heating infrared window when condensation is about to occur, so as to realize anti-fog.
  • the electrically heated infrared window of the embodiment of the present invention can use the lidar measurement module of the lidar itself to control the heating of the conductive material.
  • the heating controller sends an electric heating signal to control the electric heating of the conductive material, and realizes defogging, defrosting and foreign matter removal through high temperature.
  • the electric heating controller 903 is electrically connected to the lidar measurement module 904 , and the power supply 905 is used to supply power to the electric heating controller 903 .
  • the lidar measurement module 904 includes a transmitting circuit, a receiving circuit, etc., which transmit and receive a light pulse sequence through an infrared window that is electrically heated. For details, please refer to FIG. 1 and FIG. 2 and related descriptions.
  • the lidar measurement module 904 detects that there is foreign object interference on the electric heating infrared window, it sends an electric heating signal to the electric heating controller 903, and the electric heating controller 903 applies a voltage to the conductive material 902 when receiving the electric heating signal, so that the The conductive material generates heat.
  • the light pulses emitted by the transmitting circuit are reflected by the foreign objects and received by the receiving circuit. close. Therefore, if the distance measured by the lidar measurement module 904 is less than the preset distance, it can be determined that there is foreign object interference on the electric heating infrared window.
  • the electric heating infrared window of the embodiment of the present invention uses conductive material to heat the light-transmitting substrate, and has good anti-fog and frost-proof effects; at the same time, the conductive material exposes at least part of the light-transmitting area, thereby reducing the absorption and reflection of the light beam by the conductive material, The transmittance of the light-passing area is improved, and the beam quality is guaranteed.
  • the electrically heated infrared window includes: a transparent substrate 1001 ; a transparent conductive film attached to the surface of the transparent substrate 1001 1002; two electrodes 1003 oppositely arranged on both sides of the light-transmitting conductive film 1002, the two electrodes 1003 are electrically connected to two opposite sides of the light-transmitting conductive film 1002 respectively; an electric heating controller (not shown) is connected to the electrodes 1003 is electrically connected for applying a voltage to the light-transmitting conductive film 1002 through the electrodes 1003 to make the light-transmitting conductive film 1002 generate heat; wherein, the distances between the two electrodes 1003 at at least two different positions are different.
  • the electrical heating controller connects two electrodes 1003 at opposite corners.
  • the electric heating controller can apply a voltage between points A and C, or between points B and D, so that the current flows through the entire light-transmitting conductive film 1002 , and the light-transmitting substrate 1001 uniform heating.
  • the light-transmitting substrate 1001 includes a light-transmitting area and a non-light-transmitting area
  • the spacing between the electrodes 1003 can be configured according to the positions of the light-transmitting area and the non-light-transmitting area of the light-transmitting substrate 1001 .
  • the conductivity of the electrodes 1003 is higher than that of the light-transmitting conductive film 1002, and the distance between the two electrodes 1003 in the light-transmitting area is smaller than that in the non-light-transmitting area.
  • the light-transmitting area is located in the central area of the light-transmitting substrate 1001 .
  • the path 2 with the shorter path passing through the light-transmitting conductive film 1002 is shorter than the path 2 passing through the light-transmitting conductive film 1002 .
  • the path 1 with the longer path of the light-transmitting conductive film 1002 has a smaller resistance, so under the same voltage, the current flowing through the path 2 is larger, and the heating power is larger, so that the heating rate of the light-transmitting area is faster, so as to facilitate more Quickly removes condensation from light-transmitting areas.
  • the light-transmitting conductive film 1002 can be an ITO film, or other conductive light-transmitting films.
  • the light-transmitting conductive film 1002 may also be covered with an anti-reflection film to improve the light transmittance of the electrically heated infrared window and increase the output power of the light beam.
  • covering the light-transmitting conductive film 1001 with an anti-reflection film can better protect the light-transmitting conductive film and prevent the light-transmitting conductive film from being scratched and falling off due to aging.
  • a predetermined distance is spaced between the light-transmitting conductive film 1002 and the edge of the light-transmitting substrate 1001 .
  • the electric heating infrared window is installed on the lidar housing, the light-transmitting conductive film at the edge is prevented from contacting with the outside world, resulting in a short circuit.
  • the electrically heated infrared window of the embodiment of the present invention can use a temperature detector and a relative humidity detector to control the electrical heating of the conductive material.
  • the electrically heated infrared window further includes a temperature detector and a relative humidity detector disposed within a preset range around the light-transmitting substrate.
  • the temperature detector and the relative humidity detector are electrically connected to the electrical heating controller, and the electrical heating controls
  • the device is connected to the power supply, and the power supply supplies power to the electric heating controller.
  • the electric heating controller is used to receive the relative humidity within a preset range around the transparent substrate detected by the relative humidity detector, and calculate the dew point temperature of the air according to the relative humidity.
  • the electric heating controller receives the temperature detected by the temperature detector within a preset range around the transparent substrate, and keeps the temperature within the preset range around the transparent substrate always constant by applying a voltage to the conductive material to make the conductive material generate heat. below the dew point temperature. Therefore, it is possible to accurately control the temperature within the preset range of the light-transmitting substrate not to be lower than the dew point temperature, and prevent fogging of the electrically heated infrared window.
  • the electrically heated infrared window of the embodiment of the present invention can use the lidar measurement module of the lidar itself to control the heating of the conductive material.
  • the heating controller sends an electric heating signal to control the electric heating of the conductive material, and realizes defogging, defrosting and foreign matter removal through high temperature.
  • the electric heating controller is electrically connected with the lidar measurement module, and the power source is used to supply power to the electric heating controller.
  • the lidar measurement module detects that there is foreign object interference on the electric heating infrared window, it sends an electric heating signal to the electric heating controller, and the electric heating controller applies a voltage to the conductive material when receiving the electric heating signal, so that the conductive material fever.
  • the distances between the electrodes in the electric heating infrared window of this embodiment are not constant and equal, so the resistance values of different paths are not constant and equal, so that part of the region can have a faster heating rate.
  • the above exemplarily describes the electrically heated infrared window of the lidar according to the embodiment of the present invention.
  • the lidar 100 provided according to the embodiment of the present invention is described below with reference to FIG. 1 again.
  • the lidar 100 according to the embodiment of the present invention includes a lidar measurement module and the above-mentioned electrically heated infrared window, and the lidar measurement module electrically heats the infrared window. Transmit and receive beams.
  • the lidar 100 includes a lidar measurement module and the above-mentioned electrically heated infrared window, and the lidar measurement module electrically heats the infrared window. Transmit and receive beams.
  • the measurement module of the lidar mainly includes a transmitting circuit 110 , a receiving circuit 120 , a sampling circuit 130 and an arithmetic circuit 140 .
  • the transmitting circuit 110 is used for transmitting light pulse signals through the electrically heated infrared window of the embodiment of the present invention
  • the receiving circuit 120 is used for receiving back light pulse signals through the electrically heated infrared window of the embodiment of the present invention
  • the sampling circuit 130 is used for returning the optical pulse signal.
  • the optical pulse signal is sampled to obtain a sampled signal
  • the arithmetic circuit 140 is used to determine the distance between the lidar and the measured object according to the sampled signal.
  • the lidar 100 may further include a control circuit, which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit, and the like.
  • a control circuit which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit, and the like.
  • the lidar of the embodiment of the present invention adopts the above-mentioned electric heating infrared window, it has better anti-fog and anti-frost effects, and the loss of light beam energy is small.
  • An embodiment of the present invention further provides a movable platform, where the movable platform includes any one of the above-mentioned lidars and a movable platform body, and the lidar is mounted on the movable platform body.
  • the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, a camera, and a gimbal.
  • the body of the movable platform is the fuselage of the unmanned aerial vehicle.
  • the movable platform body is the body of the automobile.
  • the vehicle may be an autonomous driving vehicle or a semi-autonomous driving vehicle, which is not limited herein.
  • the movable platform body is the body of the remote control car.
  • the movable platform body is a robot.
  • the movable platform body is the camera itself.
  • the movable platform is a gimbal
  • the movable platform body is a gimbal body.
  • the gimbal can be a handheld gimbal, or a gimbal mounted on a car or an aircraft.
  • the movable platform adopts the lidar according to the embodiment of the present invention, it also has the advantages mentioned above.
  • the computer program product includes one or more computer instructions.
  • the computer may be a general purpose computer, special purpose computer, computer network, or other programmable device.
  • the computer instructions may be stored in or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, optical fiber, digital subscriber line, DSL) or wireless (eg, infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media.
  • the usable media may be magnetic media (eg, floppy disk, hard disk, magnetic tape), optical media (eg, digital video disc (DVD)), or semiconductor media (eg, solid state disk (SSD)), etc. .
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

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Abstract

一种激光雷达的电加热红外窗口、激光雷达和可移动平台，电加热红外窗口包括：透光基材（1001），透光基材（1001）包括通光区域和非通光区域；贴附在透光基材（1001）表面的导电材料，导电材料至少暴露部分通光区域；电加热控制器，与导电材料电性连接，用于对导电材料施加电压，以使导电材料发热。电加热红外窗口具有良好的防雾防霜效果，并且对光束能量的损耗较小。

Description

激光雷达的电加热红外窗口、激光雷达和可移动平台 技术领域
本发明实施例涉及测距技术领域，并且更具体地，涉及一种激光雷达的电加热红外窗口、激光雷达和可移动平台。
背景技术
激光雷达是一种精密的光学测量仪器，常使用红外光束透过窗口进行测量。由于激光雷达内部为封闭的腔体以保证激光雷达的稳定性，因此当窗口温度低于内部空气露点时，内部水蒸气会在窗口内侧凝露，从而破坏窗口面型，增加光束的折射和反射，降低光束质量，导致雷达的测量性能下降；同理，当窗口温度低于雷达外部空气露点时，窗口外部会形成凝露，导致雷达性能下降。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本发明的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
针对现有技术的不足，本发明实施例第一方面提供了一种激光雷达的电加热红外窗口，包括：
透光基材，所述透光基材包括通光区域和非通光区域；
贴附在所述透光基材表面的导电材料，所述导电材料至少暴露部分所述通光区域；
电加热控制器，与所述导电材料电性连接，用于对所述导电材料施加电压，以使所述导电材料发热。
本发明实施例第二方面提供了一种激光雷达的电加热红外窗口，包括：
透光基材；
贴附在所述透光基材表面的透光导电薄膜；
在所述透光导电薄膜两侧相对设置的两个电极，所述两个电极分别与所述透光导电薄膜的两个对边电性连接；
电加热控制器，与所述电极电性连接，用于通过所述电极对所述透光导电薄膜施加电压，以使所述透光导电薄膜发热；
其中，至少两个不同位置处的所述两个电极之间的间距不同。
本发明实施例第三方面提供一种激光雷达，包括激光雷达测量模块和如上所述的电加热红外窗口，所述激光雷达测量模块发射的激光通过所述电加热红外窗口的通光区域出射。
本发明实施例第四方面提供一种可移动平台，包括：可移动平台本体和如上所述的激光雷达，所述激光雷达搭载在所述可移动平台本体上。
本发明实施例的激光雷达的电加热红外窗口、激光雷达和可移动平台采用贴附在透光基材表面的导电材料进行电加热，并优化了导电材料的形状，使电加热红外窗口具有良好的防雾防霜效果，并且对光束能量的损耗较小。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例所涉及的一种激光雷达的示意性框架图；
图2是本发明实施例所涉及的激光雷达采用同轴光路的一种实施例的示意图；
图3是根据本发明实施例的激光雷达的一种扫描图案的示意图；
图4是根据本发明一个实施例的电加热红外窗口的示意图；
图5是根据本发明另一个实施例的电加热红外窗口的示意图；
图6是根据本发明一个实施例的电加热红外窗口的截面示意图；
图7是根据本发明另一个实施例的电加热红外窗口的示意图；
图8是根据本发明一个实施例的电加热红外窗口的电加热原理的示意图；
图9是根据本发明另一个实施例的电加热红外窗口的电加热原理的示意图；
图10是根据本发明另一个实施例的电加热红外窗口的示意图。
具体实施方式
为了使得本发明的目的、技术方案和优点更为明显，下面将参照附图详细描述根据本发明的示例实施例。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是本发明的全部实施例，应理解，本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例，本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
应当理解的是，本发明能够以不同形式实施，而不应当解释为局限于这里提出的实施例。相反地，提供这些实施例将使公开彻底和完全，并且将本发明的范围完全地传递给本领域技术人员。
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时，单数形式的“一”、“一个”和“所述/该”也意图包括复数形式，除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”，当在该说明书中使用时，确定所述特征、整数、步骤、操作、元件和/或部件的存在，但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时，术语“和/或”包括相关所列项目的任何及所有组合。
为了彻底理解本发明，将在下列的描述中提出详细的结构，以便阐释本发明提出的技术方案。本发明的可选实施例详细描述如下，然而除了这些详细描述外，本发明还可以具有其他实施方式。
本发明各个实施例提供的激光雷达的电加热红外窗口应用于激光雷达。在一种实施方式中，激光雷达用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。激光雷达可以通过激光雷达和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探 测探测物到激光雷达的距离。
为了便于理解，以下将结合图1所示的激光雷达100对测距的工作流程进行举例描述。
如图1所示，激光雷达100可以包括发射电路110、接收电路120、采样电路130和运算电路140。
发射电路110可以发射光脉冲序列。接收电路120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路130。采样电路130可以对电信号进行采样，以获取采样结果。运算电路140可以基于采样电路130的采样结果，以确定激光雷达100与被探测物之间的距离。
可选地，该激光雷达100还可以包括控制电路150，该控制电路150可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。
应理解，虽然图1示出的激光雷达中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，用于出射一路光束进行探测，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个，用于沿相同方向或分别沿不同方向出射至少两路光束；其中，该至少两束光路可以是同时出射，也可以是分别在不同时刻出射。一个示例中，该至少两个发射电路中的发光芯片封装在同一个模块中。例如，每个发射电路包括一个激光发射芯片，该至少两个发射电路中的激光发射芯片中的die封装到一起，容置在同一个封装空间中。
一些实现方式中，除了图1所示的电路，激光雷达100还可以包括扫描模块160，用于将发射电路出射的至少一路激光脉冲序列改变传播方向出射。
其中，可以将包括发射电路110、接收电路120、采样电路130和运算电路140的模块，或者，包括发射电路110、接收电路120、采样电路130、运算电路140和控制电路150的模块称为测量模块，该测量模块可以独立于其他模块，例如，扫描模块。
激光雷达中可以采用同轴光路，也即激光雷达出射的光束和经反射回来的光束在激光雷达内共用至少部分光路。例如，发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后，经探测物反射回来的激光脉冲 序列经过扫描模块后入射至接收电路。或者，激光雷达也可以采用异轴光路，也即激光雷达出射的光束和经反射回来的光束在激光雷达内分别沿不同的光路传输。图2示出了本发明的激光雷达采用同轴光路的一种实施例的示意图。
激光雷达200包括测距模块210，测距模块210包括发射器203(可以包括上述的发射电路)、准直元件204、探测器205(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件206。测距模块210用于发射光束，且接收回光，将回光转换为电信号。其中，发射器203可以用于发射光脉冲序列。在一个实施例中，发射器203可以发射激光脉冲序列。可选的，发射器203发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件204设置于发射器的出射光路上，用于准直从发射器203发出的光束，将发射器203发出的光束准直为平行光出射至扫描模块。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件204可以是准直透镜或者是其他能够准直光束的元件。
在图2所示实施例中，通过光路改变元件206来将激光雷达内的发射光路和接收光路在准直元件204之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以是发射器203和探测器205分别使用各自的准直元件，将光路改变元件206设置在准直元件之后的光路上。
在图2所示实施例中，由于发射器203出射的光束的光束孔径较小，激光雷达所接收到的回光的光束孔径较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射发射器203的出射光，反射镜用于将回光反射至探测器205。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡。
在图2所示实施例中，光路改变元件偏离了准直元件204的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件204的光轴上。
激光雷达200还包括扫描模块202。扫描模块202放置于测距模块210的出射光路上，扫描模块202用于改变经准直元件204出射的准直光束219的传输方向并投射至外界环境，并将回光投射至准直元件204。回光经准直元件104汇聚到探测器205上。
在一个实施例中，扫描模块202可以包括至少一个光学元件，用于改变光束的传播路径，其中，该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如，扫描模块202包括透镜、反射镜、棱镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中，至少部分光学元件是运动的，例如通过驱动模块来驱动该至少部分光学元件进行运动，该运动的光学元件可以在不同时刻将光束反射、折射或衍射至不同的方向。在一些实施例中，扫描模块202的多个光学元件可以绕共同的轴209旋转或振动，每个旋转或振动的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块202的多个光学元件可以以不同的转速旋转，或以不同的速度振动。在另一个实施例中，扫描模块202的至少部分光学元件可以以基本相同的转速旋转。在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。
在一个实施例中，扫描模块202包括第一光学元件214和与第一光学元件214连接的驱动器216，驱动器216用于驱动第一光学元件214绕转动轴209转动，使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中，准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中，第一光学元件214包括相对的非平行的一对表面，准直光束219穿过该对表面。在一个实施例中，第一光学元件214包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件214包括楔角棱镜，对准直光束219进行折射。
在一个实施例中，扫描模块202还包括第二光学元件215，第二光学元件215绕转动轴209转动，第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中，第二光学元件215与另一驱动器217连接，驱动器217驱动第二光学元件215转动。第一光学元件214和第二光学元件215可以由相同或不同的驱动器驱动，使第一光学元件214和第二光学元件215的转速和/或转向不同，从而将准直光束219投射至外界空间不同的方向，可以扫 描较大的空间范围。在一个实施例中，控制器218控制驱动器216和217，分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器216和217可以包括电机或其他驱动器。
在一个实施例中，第二光学元件215包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件215包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件215包括楔角棱镜。
一个实施例中，扫描模块202还包括第三光学元件(未图示)和用于驱动第三光学元件运动的驱动器。可选地，该第三光学元件包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。
扫描模块202中的各光学元件旋转可以将光投射至不同的方向，例如光211和213，如此对激光雷达200周围的空间进行扫描。如图3所示，图3为激光雷达200的一种扫描图案的示意图。可以理解的是，扫描模块内的光学元件的速度变化时，扫描图案也会随之变化。
当扫描模块202投射出的光211打到探测物201时，一部分光被探测物201沿与投射的光211相反的方向反射至激光雷达200。探测物201反射的回光212经过扫描模块202后入射至准直元件204。
探测器205与发射器203放置于准直元件204的同一侧，探测器205用于将穿过准直元件204的至少部分回光转换为电信号。
一个实施例中，各光学元件上镀有增透膜。可选的，增透膜的厚度与发射器203发射出的光束的波长相等或接近，能够增加透射光束的强度。
一个实施例中，激光雷达中位于光束传播路径上的一个元件表面上镀有滤光层，或者在光束传播路径上设置有滤光器，用于至少透射发射器所出射的光束所在波段，反射其他波段，以减少环境光给接收器带来的噪音。
在一些实施例中，发射器203可以包括激光二极管，通过激光二极管发射纳秒级别的激光脉冲。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如 此，激光雷达200可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物201到激光雷达200的距离。
激光雷达200探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施方式中，本发明实施方式的激光雷达可应用于可移动平台，激光雷达可安装在可移动平台的可移动平台本体。具有激光雷达的可移动平台可对外部环境进行测量，例如，测量可移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。
激光雷达在工作时需要透过红外窗口发射和接收光束。针对激光雷达的红外窗口易起雾、结霜的问题，本发明实施例提出了一种激光雷达的电加热红外窗口，包括：透光基材，所述透光基材包括通光区域和非通光区域；贴附在所述透光基材表面的导电材料，所述导电材料至少暴露部分所述通光区域；电加热控制器，与所述导电材料电性连接，用于对所述导电材料施加电压，以使所述导电材料发热。
本发明实施例的电加热红外窗口采用导电材料对透光基材进行加热除雾，使得红外窗口具有良好的加热性能，与喷涂疏水膜和亲水膜等手段相比具有更好的防雾防霜效果；同时，本发明实施例的电加热红外窗口针对激光雷达的通光区域有针对性地布置导电材料，使导电材料至少暴露部分通光区域，从而减少导电材料对光束的吸收和反射作用，提高了通光区域的透光率，保证了光束质量。
在下文的描述中，导电材料可以贴附在透光基材位于激光雷达机体内侧的表面上，对导电材料通电加热能快速消除激光雷达机体内侧窗口的起雾、凝露，同时由于热传导作用也可以消除激光雷达机体外侧窗口的起雾、凝露，提高窗口在恶劣条件下的光学性能。可选地，导电材料也可以贴附在透光基材位于激光雷达机体外侧的表面上。可以采用蒸发、溅射、喷涂、粘接、印刷、化学气相沉积、反应离子镀等各种合适的工艺使导电材料贴附在透光基材表面。
透光基材可以采用红外高透材质，例如可以采用玻璃材质、塑料材质等。当采用玻璃材质的透光基材时，对导电材料通电后可快速均匀地加热透光基材，并且玻璃材质耐高温，可加热到较高温度。当采用塑料材质的透光基材时，塑料材质更高的韧性可以抵挡更强的冲击，保证恶劣环境下窗口的安全 性。
在一个实施例中，导电材料可以采用透光导电薄膜，使其在实现电加热功能的同时，提高透光率。透光导电薄膜覆盖至少部分非通光区域，并暴露至少部分通光区域。示例性地，可以采用遮镀工艺在透光基材上形成透光导电薄膜，即对不需要形成透光导电薄膜的区域进行遮蔽处理，之后喷涂透光导电材料，以形成图案化的透光导电薄膜。
可选地，由于透光导电薄膜的具有透光性，因而可以覆盖大部分的非通光区域，但需要使透光导电薄膜与透光基材的边缘之间具有预设距离，防止将电加热红外窗口安装到激光雷达外壳上时，边缘处的透光导电薄膜与外界接触，导致短路。并且，电加热红外窗口的边缘区域通常为非透光区域，不在边缘区域设置透光导电薄膜可以减小加热面积，降低加热功耗。参见图6，透光导电薄膜与透光基材的上下左右边缘之间各留有预设距离，透光导电薄膜与透光基材不同边缘之间的预设距离可以相同，也可以不同。当然，除透光导电薄膜以外，当采用其他导电材料时，也可以使导电材料与透光基材的边缘之间间隔预设距离。
当采用透光导电薄膜作为导电材料对电加热红外窗口进行加热时，电加热控制器可以连接导电材料的两个对角处。由此，可以在导电材料的两个对角之间形成多条通路，保证透光导电薄膜的各个区域均能产生加热效果。
示例性地，透光导电薄膜可以采用ITO(Indium Tin Oxide，氧化铟锡)薄膜。ITO为N型半导体材料，具有良好的导电性和透光性，其主要成分是氧化铟和氧化锡，氧化铟为透明材料，氧化锡为导电材料。透光导电薄膜也可以采用其他兼具导电性和透光性的薄膜材料。
当光束通过物体时，物体对光束的反射率、吸收率和透过率之和为1，因此，可以通过减小透光导电薄膜对光束的吸收和反射来提高光束的透过率。ITO薄膜等透光导电薄膜对于红外光束的吸收率受到薄膜厚度的影响，在一个实施例中，可以将透光导电薄膜的厚度设置为20nm以下，使其对于光束的吸收较小。
而为了减小对光束的反射率，本发明实施例的电加热红外窗口还可以包括覆盖透光导电薄膜的增透膜，具体可以为红外增透膜。增透膜将反射光重新反射到透光导电薄膜，反射光中的小部分被透光导电薄膜反射后又被增透 膜反射，从而实现进一步减小反射率。由此，通过使用透光导电薄膜与增透膜结合，保证了较高的透光率，从而提高了光束的输出功率，有利于实现远距离测距。同时，采用增透膜覆盖透光导电薄膜可以更好地保护透光导电薄膜，防止透光导电薄膜划伤以及老化脱落。
需要说明的是，在本发明实施例的电加热红外窗口中，增透膜和透光导电薄膜的组合顺序不一定要按照先形成透光导电薄膜、再形成增透膜，而也可以是先形成增透膜、再形成透光导电薄膜，即增透膜可以设置在透光导电薄膜与透光基材之间，也能够实现增透效果。
在一些实施例中，电加热红外窗口还可以包括黑膜，用于阻挡可见光。其中，黑膜形成于透光导电薄膜之前，即膜层排列顺序为透光导电薄膜、黑膜和透光基材，由此可以使电加热红外窗口的外观呈现为黑色。反之，如果采用黑膜、透光导电薄膜和透光基材的排列顺序，则由于透光导电薄膜(例如ITO薄膜)通常具有颜色，因而会导致工艺上难以实现使电加热红外窗口的外观呈现为黑色。
如上所述，本发明实施例的导电材料至少部分暴露透光基材的通光区域。通光区域和非通光区域的选择与激光雷达的扫描图案有关。本发明实施例的通光区域主要位于透光基材的中心区域及中心区域两侧。在一个实施例中，通光区域位于透光基材的中心区域，为了与激光雷达的扫描图案相匹配，通光区域的形状可以设置为哑铃形，即两端为圆形或椭圆形、中部凹陷的形状。
图4示出了采用透光导电薄膜作为导电材料的一种示例性的电加热红外窗口401。在图4所示的电加热红外窗口401中，通光区域404位于窗口的中心区域，透光导电薄膜403包围通光区域404，且覆盖大部分的非通光区域，与通光区域404为互补关系，仅其边缘与透光基材的边缘之间预留一定距离。当在设置在透光导电薄膜403的两个对角处的电极402与电极405之间施加电压时，电流会流经透光导电薄膜403，电流产生的热使得透光导电薄膜下方的透光基材温度上升，从而使得通光区域404温度上升，在实现防雾、除霜功能的同时，还能保证通光区域404的透光率。
参见图5，图5示出了采用透光导电薄膜作为导电材料的另一种示例性的电加热红外窗口。其中，通光区域505至少包括位于透光基材501中心区域的两侧的区域，图5中将通光区域505例示为矩形区域，但通光区域也可以 具有其他形状；并且，该矩形区域中可以包括部分非通光区域，而通光区域也可以包括被透光基材501覆盖的部分区域。导电材料502包括覆盖非通光区域的多块透光导电薄膜502，图5中例示为设置在透光基材501中心区域的一块透光导电薄膜502和设置在透光区域两侧的两块透光导电薄膜502。多块透光导电薄膜502设置在电极503和电极504之间，由电极503和电极504彼此串联。示例性地，电极503和电极504可以采用导电率较高的材料，喷涂在透光导电薄膜502上，与每块透光导电薄膜502的两个对边电性连接。电压可以施加在透光导电薄膜502的两个对角处，例如可以施加在A点和C点之间或B点和D点之间。
在图5所示的电加热红外窗口中，透光导电薄膜502分块设置，通过选择透光导电薄膜502的位置控制加热区域，通光区域可以不设置透光导电薄膜，以避免干扰通光。不需要加热的区域也可以不设置透光导电薄膜。电极503和电极504与多块透光导电薄膜502首尾串联，当在A点和C点施加电压时，任意通路(例如路径1和路径2)的阻值相同，因此任意通路流过的电流相同，发热功率相同，从而使透光导电薄膜均匀发热，加热过程更加稳定可靠。
图6示出了图5所示的电加热红外窗口的截面图。如图6所示，电加热红外窗口包括透光基材601，形成在透光基材601上的透光导电薄膜602，以及在透光导电薄膜602上喷涂的红外增透膜604。红外增透膜604上设有和电极603形状一致的开口，开口暴露其下方的透光导电薄膜602，在开口内喷涂导电材料即可形成电极603，从而实现电极603与透光导电薄膜602的电性连接。
除了可以采用透光导电薄膜作为导电材料以外，在另一个实施例中，导电材料可以为围绕通光区域非闭合设置的导体，电加热控制器连接导体的两端，从而对导体进行通电加热。由于导体围绕通光区域设置，因而同样可以在实现加热效果的同时减少对光束的遮挡和折射。
为了进一步降低电加热红外窗口的成本，导电材料可以选择成本较低的不透光导电材料，例如电热丝等。可以通过粘接、印刷、蒸镀等方式，将导电材料布置在透光基材上。由于导电材料围绕通光区域布置，因而即使采用非透光材料，也可以满足对光束透过率的要求。
示例性地，通光区域的形状与如图4所示的通光区域404类似，即位于透光基材中心区域的哑铃状区域。参见图7，通光区域703位于透光基材701中部，导体702围绕通光区域703非闭合设置，导体702的两端分别设置有电极704和电极705。当在电极704和电极705之间施加电压时，电流会流经导体702，电流产生的热量使得透光基材701的温度上升，从而使通光区域703的温度上升，实现对通光区域703的防雾、除霜。
作为一种实现方式，本发明实施例的电加热红外窗口可以利用温度探测器和相对湿度探测器控制对导电材料的通电加热。具体地，参见图8，电加热红外窗口还包括设置在透光基材801周围预设范围内的温度探测器804和相对湿度探测器805，温度探测器804和相对湿度探测器805与电加热控制器803电性连接，电加热控制器803连接电源806，电源806为电加热控制器803供电。示例性地，温度探测器804可以直接设置在透光基材801上以探测透光基材801的温度；温度探测器804也可以设置在透光基材801附近。相对湿度探测器805可以设置在透光基材801附近。
由于激光雷达为封闭腔体，当外界温度下降时，电加热红外窗口的温度下降较激光雷达内部空气更快。电加热控制器803用于接收相对湿度探测器805探测到的透光基材周围预设范围内的相对湿度，并根据该相对湿度计算空气的露点温度，即在固定的气压下空气中所含的气态水达到饱和而凝结成液态水所需要降至的温度。电加热控制器803接收温度探测器804探测到的透光基材801周围预设范围内的温度，并通过对导电材料802施加电压以使导电材料802发热来保持透光基材801周围预设范围内的温度始终不低于露点温度。由此，可以实现准确控制透光基材预设范围内的温度不低于露点温度，防止电加热红外窗口起雾。该方案可以在即将发生凝露时对电加热红外窗口进行通电加热，实现防雾。
作为另外一种实现方式，本发明实施例的电加热红外窗口可以利用激光雷达自身的激光雷达测量模块控制对导电材料的通电加热，当激光雷达测量模块感知到红外窗口处异物干扰时，向电加热控制器发送电加热信号，控制对导电材料进行通电加热，通过高温实现除雾除霜、去除异物。
如图9所示，电加热控制器903与激光雷达测量模块904电性连接，电源905用于为电加热控制器903供电。激光雷达测量模块904包括发射电路、 接收电路等，其通过电加热红外窗口发射光脉冲序列以及接收回光脉冲序列，具体可以参照图1和图2及相关描述。当激光雷达测量模块904检测到电加热红外窗口上存在异物干扰时，向电加热控制器903发送电加热信号，电加热控制器903在接收到电加热信号时对导电材料902施加电压，以使所述导电材料发热。
示例性地，若电加热红外窗口上存在霜、露等异物，则发射电路发射的光脉冲被异物反射并被接收电路接收，若基于异物反射的回光脉冲测距，则测得的距离极近。因此，若激光雷达测量模块904测得的距离小于预设距离，则可以判断电加热红外窗口上存在异物干扰。
本发明实施例的电加热红外窗口采用导电材料对透光基材进行加热，防雾防霜效果好；同时，导电材料至少暴露部分通光区域，从而减少导电材料对光束的吸收和反射作用，提高了通光区域的透光率，保证了光束质量。
本发明实施例另一方面提供了一种激光雷达的电加热红外窗口，参见图10，该电加热红外窗口包括：透光基材1001；贴附在透光基材1001表面的透光导电薄膜1002；在透光导电薄膜1002两侧相对设置的两个电极1003，两个电极1003分别与透光导电薄膜1002的两个对边电性连接；电加热控制器(未图示)，与电极1003电性连接，用于通过电极1003对透光导电薄膜1002施加电压，以使透光导电薄膜1002发热；其中，至少两个不同位置处的两个电极1003之间的间距不同。
在一些实施例中，电加热控制器连接两个电极1003的对角处。例如，电加热控制器可以在A、C两点之间施加电压，也可以在B、D两点之间施加电压，以使电流流过整个透光导电薄膜1002，实现对透光基材1001的均匀加热。
在一些实施例中，透光基材1001包括通光区域和非通光区域，可以根据透光基材1001的通光区域和非通光区域的位置来配置电极1003之间的间距。具体地，电极1003的导电率高于透光导电薄膜1002的导电率，两个电极1003在通光区域处的间距小于在非通光区域处的间距。可选地，通光区域位于透光基材1001的中心区域。
如图10所示，当在A点和C点施加电压时，由于电极1003的导电率高于透光导电薄膜1002的导电率，因此经过透光导电薄膜1002的路径较短的路径2较经过透光导电薄膜1002的路径较长的路径1的电阻小，因此在同等 电压下，路径2流过的电流较大，发热功率较大，从而使通光区域的升温速率更快，以便于更快地去除通光区域的凝露。
透光导电薄膜1002可以采用ITO薄膜，也可以采用其他具有导电性的透光薄膜。透光导电薄膜1002上还可以覆盖有增透膜，以提高电加热红外窗口的透光率，提高光束的输出功率。同时，采用增透膜覆盖透光导电薄膜1001可以更好地保护透光导电薄膜，防止透光导电薄膜划伤以及老化脱落。
示例性地，透光导电薄膜1002与透光基材1001的边缘之间间隔预设距离。防止将电加热红外窗口安装到激光雷达外壳上时，边缘处的透光导电薄膜与外界接触，导致短路。
作为一种实现方式，本发明实施例的电加热红外窗口可以利用温度探测器和相对湿度探测器控制对导电材料的通电加热。具体地，电加热红外窗口还包括设置在透光基材周围预设范围内的温度探测器和相对湿度探测器，温度探测器和相对湿度探测器与电加热控制器电性连接，电加热控制器连接电源，电源为电加热控制器供电。
电加热控制器用于接收相对湿度探测器探测到的透光基材周围预设范围内的相对湿度，并根据该相对湿度计算空气的露点温度。电加热控制器接收温度探测器探测到的透光基材周围预设范围内的温度，并通过对导电材料施加电压以使导电材料发热来保持透光基材周围预设范围内的温度始终不低于露点温度。由此，可以实现准确控制透光基材预设范围内的温度不低于露点温度，防止电加热红外窗口起雾。
作为另外一种实现方式，本发明实施例的电加热红外窗口可以利用激光雷达自身的激光雷达测量模块控制对导电材料的通电加热，当激光雷达测量模块感知到红外窗口处异物干扰时，向电加热控制器发送电加热信号，控制对导电材料进行通电加热，通过高温实现除雾除霜、去除异物。具体地，电加热控制器与激光雷达测量模块电性连接，电源用于为电加热控制器供电。当激光雷达测量模块检测到电加热红外窗口上存在异物干扰时，向电加热控制器发送电加热信号，电加热控制器在接收到电加热信号时对导电材料施加电压，以使所述导电材料发热。
本实施例的电加热红外窗口中电极之间的间距不恒相等，因此不同通路的电阻值不恒相等，由此可以使部分区域具有更快的升温速率。
以上示例性地描述了根据本发明实施例的激光雷达的电加热红外窗口。下面重新参照图1描述根据本发明实施例提供的激光雷达100，根据本发明实施例的激光雷达100包括激光雷达测量模块和如上所述的电加热红外窗口，激光雷达测量模块通过电加热红外窗口发射和接收光束。为了简洁，下文中仅对激光雷达100的主要结构和功能进行描述，而省略上文中已经描述的部分具体细节。
如图1所示，激光雷达的测量模块主要包括发射电路110、接收电路120、采样电路130和运算电路140。其中，发射电路110用于通过本发明实施例的电加热红外窗口发射光脉冲信号，接收电路120用于通过本发明实施例的电加热红外窗口接收回光脉冲信号，采样电路130用于对回光脉冲信号进行采样，以得到采样信号，运算电路140用于根据采样信号确定激光雷达与被测物之间的距离。可选地，激光雷达100还可以包括控制电路，该控制电路可以实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。激光雷达100的其他具体结构可以参照上文对图1和图2的激光雷达进行的相关描述。
本发明实施例的激光雷达由于采用了上述电加热红外窗口，因而具有更好的防雾防霜效果，并且对光束能量的损耗较小。
本发明实施例还提供了一种可移动平台，所述可移动平台包括上述任一激光雷达以及可移动平台本体，所述激光雷达搭载在所述可移动平台本体上。在某些实施方式中，可移动平台包括无人飞行器、汽车、遥控车、机器人、相机、云台中的至少一种。当可移动平台为无人飞行器时，可移动平台本体为无人飞行器的机身。当可移动平台为汽车时，可移动平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当可移动平台为遥控车时，可移动平台本体为遥控车的车身。当可移动平台为机器人时，可移动平台本体为机器人。当可移动平台为相机时，可移动平台本体为相机本身。当可移动平台为云台时，可移动平台本体为云台本体。该云台可以是手持云台，也可以是搭载在汽车或飞行器上的云台。
由于可移动平台采用了根据本发明实施例的激光雷达，因而也具备了上文所述的优点。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其他任 意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本发明实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如数字视频光盘(digital video disc，DVD))、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
尽管这里已经参考附图描述了示例实施例，应理解上述示例实施例仅仅是示例性的，并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改，而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个设备，或一些特征可以忽略，或不执行。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该本发明的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如相应的权利要求书所反映的那样，其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若 干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。

Claims (25)

  1. 一种激光雷达的电加热红外窗口，其特征在于，包括：
    透光基材，所述透光基材包括通光区域和非通光区域；
    贴附在所述透光基材表面的导电材料，所述导电材料至少暴露部分所述通光区域；
    电加热控制器，与所述导电材料电性连接，用于对所述导电材料施加电压，以使所述导电材料发热。
  2. 根据权利要求1所述的激光雷达的电加热红外窗口，其特征在于，所述导电材料包括透光导电薄膜，所述透光导电薄膜覆盖至少部分所述非通光区域。
  3. 根据权利要求2所述的激光雷达的电加热红外窗口，其特征在于，所述电加热控制器连接所述导电材料的两个对角处。
  4. 根据权利要求2所述的激光雷达的电加热红外窗口，其特征在于，所述透光导电薄膜为ITO薄膜。
  5. 根据权利要求2所述的激光雷达的电加热红外窗口，其特征在于，所述透光导电薄膜通过遮镀工艺形成在所述透光基材上。
  6. 根据权利要求2所述的激光雷达的电加热红外窗口，其特征在于，所述透光导电薄膜与所述透光基材的边缘之间具有预设距离。
  7. 根据权利要求2-6中任一项所述的激光雷达的电加热红外窗口，其特征在于，还包括覆盖所述透光导电薄膜的增透膜。
  8. 根据权利要求1所述的激光雷达的电加热红外窗口，其特征在于，所述导电材料为围绕所述通光区域非闭合设置的导体，所述电加热控制器连接所述导体的两端。
  9. 根据权利要求2-8中任一项所述的激光雷达的电加热红外窗口，其特征在于，所述通光区域位于所述透光基材的中心区域。
  10. 根据权利要求9所述的激光雷达的电加热红外窗口，其特征在于，所述通光区域为哑铃形。
  11. 根据权利要求2-7中任一项所述的激光雷达的电加热红外窗口，其特征在于，所述通光区域位于所述透光基材的中心区域的两侧。
  12. 根据权利要求11所述的激光雷达的电加热红外窗口，其特征在于， 所述导电材料包括覆盖所述非通光区域的多块透光导电薄膜，多块所述透光导电薄膜设置在两个电极之间，由所述两个电极彼此串联。
  13. 根据权利要求1-12中任一项所述的电加热红外窗口，其特征在于，还包括设置在所述透光基材周围预设范围内的温度探测器和相对湿度探测器，所述温度探测器和所述相对湿度探测器与所述电加热控制器电性连接；
    所述电加热控制器用于接收所述相对湿度探测器探测到的所述透光基材周围预设范围内的相对湿度，并根据所述相对湿度计算空气的露点温度；
    所述电加热控制器用于接收所述温度探测器探测到的所述透光基材周围预设范围内的温度，并通过对所述导电材料施加电压以使所述导电材料发热来保持所述温度不低于所述露点温度。
  14. 根据权利要求1-12中任一项所述的电加热红外窗口，其特征在于，所述电加热控制器与激光雷达测量模块电性连接，当所述激光雷达测量模块检测到所述电加热红外窗口上存在异物干扰时，向所述电加热控制器发送电加热信号，所述电加热控制器在接收到所述电加热信号时对所述导电材料施加电压，以使所述导电材料发热。
  15. 一种激光雷达的电加热红外窗口，其特征在于，包括：
    透光基材；
    贴附在所述透光基材表面的透光导电薄膜；
    在所述透光导电薄膜两侧相对设置的两个电极，所述两个电极分别与所述透光导电薄膜的两个对边电性连接；
    电加热控制器，与所述电极电性连接，用于通过所述电极对所述透光导电薄膜施加电压，以使所述透光导电薄膜发热；
    其中，至少两个不同位置处的所述两个电极之间的间距不同。
  16. 根据权利要求15所述的电加热红外窗口，其特征在于，所述电加热控制器连接所述两个电极的对角处。
  17. 根据权利要求16所述的电加热红外窗口，其特征在于，所述透光基材包括通光区域和非通光区域，所述电极的导电率高于所述透光导电薄膜的导电率，所述两个电极在所述通光区域处的间距小于在所述非通光区域处的间距。
  18. 根据权利要求17所述的电加热红外窗口，其特征在于，所述通光区 域位于所述透光基材的中心区域。
  19. 根据权利要求15所述的电加热红外窗口，其特征在于，所述透光导电薄膜与所述透光基材的边缘之间间隔预设距离。
  20. 根据权利要求15所述的电加热红外窗口，其特征在于，所述透光导电薄膜包括ITO薄膜。
  21. 根据权利要求15所述的电加热红外窗口，其特征在于，还包括覆盖所述透光导电薄膜的增透膜。
  22. 根据权利要求15-21中任一项所述的电加热红外窗口，其特征在于，还包括设置在所述透光基材周围预设范围内的温度探测器和相对湿度探测器，所述温度探测器和所述相对湿度探测器与所述电加热控制器电性连接；
    所述电加热控制器用于接收所述相对湿度探测器探测到的所述透光基材周围预设范围内的相对湿度，并根据所述相对湿度计算空气的露点温度；
    所述电加热控制器用于接收所述温度探测器探测到的所述透光基材周围预设范围内的温度，并通过对所述透光导电薄膜施加电压以使所述透光导电薄膜发热来保持所述温度不低于所述露点温度。
  23. 根据权利要求15-21中任一项所述的电加热红外窗口，其特征在于，所述电加热控制器与激光雷达测量模块电性连接，当所述激光雷达测量模块检测到所述电加热红外窗口上存在异物干扰时，向所述电加热控制器发送电加热信号，所述电加热控制器在接收到所述电加热信号时对所述透光导电薄膜施加电压，以使所述透光导电薄膜发热。
  24. 一种激光雷达，其特征在于，包括激光雷达测量模块和如权利要求1-23中任一项所述的电加热红外窗口，所述激光雷达测量模块发射的激光通过所述电加热红外窗口的通光区域出射。
  25. 一种可移动平台，其特征在于，包括：
    可移动平台本体；
    如权利要求24所述的激光雷达，所述激光雷达搭载在所述可移动平台本体上。
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