Lidar, window detection device, and vehicle

A window detection device for a LiDAR, comprising a rotating part, a transceiver device, and a data processing device;

• the rotating part being provided with a window;
• the transceiver device being mounted on the rotating part and rotating therewith;
• the transceiver device comprising a transmitter and a receiver, the transmitter being configured to emit a source laser signal of a predetermined wavelength at an emission time, the source laser signal being emitted from the window;
• the receiver collecting optical signals within the predetermined wavelength range through the window to obtain a time-stamped signal sequence to be processed;
• the data processing device comprising a signal filtering unit and a data processing unit, the signal filtering unit being configured to filter out signals corresponding to the emission time from the signal sequence to be processed collected by the receiver to obtain a sensing signal;
• the data processing unit being configured to process the sensing signal to obtain a sensing result;
• wherein the window detection device comprises a scanning component being disposed opposite to the window, the scanning component emitting a scanning optical signal of the predetermined wavelength at the emission time to scan the window.

A vehicle, comprising a LiDAR, wherein the LiDAR comprises:

• a rotating part, provided with a window;
• a transceiver device, mounted on the rotating part and rotating with the rotating part, the transceiver device comprising a transmitter, and a receiver;
• the transmitter being configured to emit a source laser signal of a predetermined wavelength at an emission time, the source laser signal being emitted from the window;
• the receiver collecting optical signals within the predetermined wavelength range through the window to obtain a signal sequence to be processed having a time-stamp;
• a window detection device, comprising scanning component being disposed opposite to the window, the scanning component emitting a scanning optical signal of the predetermined wavelength at the emission time to scan the window;
• and
• a data processing device, comprising:
• a signal filtering unit, configured to filter out signals corresponding to the emission time from the signal sequence to be processed collected by the receiver to obtain a sensing signal;
• and
• a data processing unit, configured to process the sensing signal to obtain a sensing result.