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Sensor cleaning method and device, mining unmanned vehicle and readable storage medium

A technology for cleaning devices and sensors, applied in the field of sensor cleaning methods, devices, unmanned mine vehicles and readable storage media, can solve the problems affecting the operation of unmanned mine vehicles, low cleaning efficiency, etc.

Active Publication Date: 2020-07-10
三一智矿科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing method is to automatically drive to the maintenance point for manual cleaning after the mining unmanned vehicle detects that the sensor is dirty. The cleaning efficiency of this method is too low, and it will affect the operation of the mining unmanned vehicle

Method used

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  • Sensor cleaning method and device, mining unmanned vehicle and readable storage medium
  • Sensor cleaning method and device, mining unmanned vehicle and readable storage medium
  • Sensor cleaning method and device, mining unmanned vehicle and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] figure 1 It is a flow chart of a sensor cleaning method provided in Embodiment 1 of the present invention. The method is applied to mine unmanned vehicles and includes the following steps:

[0047] Step S11: Acquiring the dirt detection value of the sensor, and judging whether the dirt detection value is greater than or equal to a preset value.

[0048] In the embodiment of the present invention, when the mining unmanned vehicle is driving in the mining area, there will generally be large gravels on the road, or artificial obstacles, etc. At this time, the mining unmanned vehicle will detect the surrounding environment through sensors obstacles, so that the obstacles can be avoided in time for driving, wherein the sensor includes at least one sensor among camera, ultrasonic radar, millimeter wave radar and laser radar. Since the loading and unloading of various items is carried out in the mining area with a relatively harsh air environment, the sensor will be dirty due...

Embodiment 2

[0062] image 3 It is a flow chart of a sensor cleaning method provided in Embodiment 2 of the present invention. The method is applied to mine unmanned vehicles and includes the following steps:

[0063] Step S31: Acquiring the dirt detection value of the sensor, and judging whether the dirt detection value is greater than or equal to a preset value.

[0064] This step is consistent with the above step S11, and will not be repeated here.

[0065] Step S32: When it is determined that the contamination detection value is greater than or equal to the preset value, control the mining unmanned vehicle to decelerate to a stop, and detect the current rainfall.

[0066] This step is consistent with the above step S12, and will not be repeated here.

[0067] Step S33: cleaning the sensor according to the amount of rainfall and a preset cleaning logic corresponding to the amount of rainfall.

[0068] This step is consistent with the above step S13, and will not be repeated here.

...

Embodiment 3

[0078] Figure 5 It is a schematic structural diagram of a sensor cleaning device provided in Embodiment 3 of the present invention.

[0079] The sensor cleaning device 500 includes:

[0080] A dirt judgment module 510, configured to acquire a dirt detection value of the sensor, and determine whether the dirt detection value is greater than or equal to a preset value;

[0081] The rainfall detection module 520 is used to control the mining unmanned vehicle to decelerate to a stop and detect the current rainfall when it is determined that the dirt detection value is greater than or equal to the preset value;

[0082] A cleaning logic module 530, configured to clean the sensor according to the amount of rainfall and a preset cleaning logic corresponding to the amount of rainfall;

[0083] The driving module 540 is configured to control the mining unmanned vehicle to continue driving after the preset cleaning logic is completed.

[0084] Such as Image 6 As shown, the cleanin...

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Abstract

The invention provides a sensor cleaning method and device, a mining unmanned vehicle and a readable storage medium, which are applied to the mining unmanned vehicle. The method comprise the followingsteps: acquiring a dirt detection value of a sensor, and judging whether the dirt detection value is greater than or equal to a preset value or not; if so, controlling a mining unmanned vehicle to decelerate to stop, and detecting the current rainfall capacity; and cleaning the sensor according to the rainfall and preset cleaning logic corresponding to the rainfall. According to the sensor cleaning method, after the mining unmanned vehicle detects that the dirt detection value of the sensor reaches a preset value, running can be stopped for rainfall detection; and then the corresponding cleaning logic is selected in combination with rainfall to clean the sensor, so that the self-cleaning efficiency of the sensor is improved, and cleaning water is saved.

Description

technical field [0001] The invention relates to the field of mining unmanned vehicles, in particular to a sensor cleaning method and device, a mine unmanned vehicle and a readable storage medium. Background technique [0002] In recent years, the application cases of unmanned driving technology in mining areas have increased year by year. With the improvement of unmanned level, mining unmanned vehicles are also facing a new problem in mining areas: sensor cleaning. The existing method is to automatically drive from the maintenance point for manual cleaning after the mining unmanned vehicle detects that the sensor is dirty. This method is too low in cleaning efficiency and will affect the operation of the mining unmanned vehicle. Contents of the invention [0003] In view of the above problems, the present invention provides a sensor cleaning method, device, mining unmanned vehicle and readable storage medium, so as to improve the efficiency of sensor self-cleaning and save...

Claims

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Application Information

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IPC IPC(8): B60S1/56
CPCB60S1/56
Inventor 刘嘉伟田承伟丁守祥
Owner 三一智矿科技有限公司
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