Automatic cleaning system and method for laser radar on intelligent mine card

Abstract

The invention discloses an automatic cleaning system and method for a laser radar on an intelligent mine truck, and the system comprises a vehicle-mounted laser radar, an intelligent driving domain controller, a cleaning system controller, a cleaning liquid pot module, an air storage tank module, an air pump, a liquid path electromagnetic valve, an air path electromagnetic valve, a nozzle module and the like, and forms a vehicle-mounted laser radar cleaning air path and a laser radar cleaning liquid path. All the modules are connected into the whole system through wire harnesses, a gas path is matched with a liquid path, the integration degree is high, and the cleaning strength is high; the smoothness of an air path is ensured through an air pump, an air path electromagnetic valve and a pressure sensor, and a liquid path nozzle is heated in a low-temperature environment through an electronic water pump, a temperature sensor and a liquid path electromagnetic valve, so that the liquid path nozzle is not frozen, and the smoothness of the liquid path is ensured; the cleaning method comprises the steps of cleaning request, cleaning process, detection after cleaning, gas path and liquid path circulation switching in the cleaning process, cleaning liquid residue is avoided, and the cleaning requirement is met.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent driving technology, and relates to the cleaning of a laser radar of an intelligent mining truck, and specifically relates to an automatic cleaning system and method for a laser radar on an intelligent mining truck. Background Art

[0002] With the development of society and the progress of science and technology, the intelligent driving technology of mining trucks is also approaching maturity. At the same time, on-board laser radar, as an important component of intelligent driving, plays a very important role in the driving safety of vehicles and the stability of intelligent driving systems. Since the operating environment of mining trucks is generally complex, dust, dry mud, mud, shellac, leaves and other debris during use are very likely to adhere to the on-board laser radar of unmanned intelligent mining trucks, affecting the recognition accuracy and perception effect of the vehicle's on-board laser radar, which may pose a threat to vehicle and driving safety and affect operational efficiency.

[0003] The existing laser radar cleaning system is a relatively traditional cleaning method, which mainly relies on cleaning fluid to clean the laser radar. This method has the following defects: (1) Cleaning fluid residue problem: After cleaning with liquid, cleaning fluid and stains are likely to remain on the surface of the LiDAR. These residues will block the sensor and cannot effectively eliminate the interference of liquid and rain, which will seriously affect the recognition accuracy and perception effect of the LiDAR. (2) Automatic cleaning problem: On unmanned intelligent mining trucks, traditional cleaning methods are difficult to achieve automatic cleaning. Especially in the extremely cold and low-temperature mining environment of -30-40°C, the risk of nozzle blockage is extremely high, and the cleaning efficiency is low, which cannot meet the cleaning needs of the laser radar of unmanned intelligent mining trucks operating around the clock; (3) Lack of integrated cleaning system: None of the unmanned intelligent driving models on the market currently have integrated lidar cleaning systems. However, during vehicle operation, the lidar surface is easily obscured by dirt such as dust, dry mud, mud, shellac, leaves, etc., which seriously reduces its perception ability, thus affecting the stability of the intelligent driving system and reducing the vehicle's operating efficiency. Summary of the invention

[0004] In response to the above problems, the main purpose of the present invention is to design an automatic cleaning system and method for the laser radar on an intelligent mining truck to solve the problems of low integration of the vehicle-mounted laser radar using traditional cleaning methods, as well as residual water stains and difficulty in cleaning. These problems will reduce the recognition accuracy and perception effect of the vehicle-mounted laser radar.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: An automatic cleaning system for a laser radar on an intelligent mining truck, the cleaning system comprising a vehicle-mounted laser radar, an intelligent driving domain controller, a cleaning system controller, a cleaning liquid pot module, a nozzle module, an air storage tank module, an air pump, a liquid circuit solenoid valve, and a gas circuit solenoid valve; The intelligent driving domain controller is connected to the vehicle-mounted laser radar through ETH to detect the point cloud data of the vehicle-mounted laser radar, and through the analysis and algorithm processing of the point cloud data, determines that there are obstructions on the window FOV of the vehicle-mounted laser radar, and sends a cleaning request to the cleaning system controller; The cleaning system controller is connected to the intelligent driving domain controller via CAN, for receiving a cleaning request from the intelligent driving domain controller, and feeding back the cleaning process to the intelligent driving domain controller via CAN; The washing liquid pot module and the gas storage tank module are connected to the cleaning system controller via a hard line, and the cleaning system controller receives data information from the washing liquid pot module and the gas storage tank module to determine the current state of the cleaning system; The cleaning system controller is connected to the air pump through a hard line, and the air pump is connected to the air storage tank module through an air pipe. The washing liquid pot module includes an electronic water pump, and the electronic water pump is connected to the cleaning system controller through a hard line. The cleaning system controller sends a signal through the hard line to control the opening and closing of the electronic water pump and the air pump; The liquid circuit solenoid valve and the gas circuit solenoid valve are connected to the cleaning system controller through hard wires, and the opening and closing of the liquid circuit solenoid valve and the gas circuit solenoid valve are controlled by the cleaning system controller; the liquid circuit solenoid valve is connected to the electronic water pump and the nozzle module of the washing liquid pot module through a water pipe to form a cleaning liquid circuit, and is opened and closed under the control of the cleaning system controller; the gas circuit solenoid valve is connected to the gas storage tank module and the nozzle module through an air pipe to form a cleaning gas circuit, and is opened and closed under the control of the cleaning system controller; The nozzle module is fixed on the surface of the vehicle-mounted laser radar, connected to the cleaning gas circuit through a cleaning liquid circuit, and connected to the cleaning system controller through a hard line. The nozzle module is controlled to work by the cleaning system controller.

[0006] As a further description of the present invention, the washing liquid kettle module includes a temperature sensor and a first liquid level sensor, and the gas tank module includes a pressure sensor, a second liquid level sensor, and a drain solenoid valve; The temperature sensor, the first liquid level sensor, the pressure sensor, the second liquid level sensor, and the drain solenoid valve are all connected to the cleaning system controller through hard wires.

[0007] As a further description of the present invention, the washing liquid pot module also includes a washing pot for containing the washing liquid, and a liquid filling port arranged on one side of the washing pot, and the liquid filling port is closed by a pot cover; The electronic water pump is installed above the washing pot and is sealed with the washing pot through an electronic pump sealing gasket. The lower part of the electronic water pump is inserted into the cleaning liquid. The upper part of the electronic water pump is a circuit connection interface. The water outlet of the electronic water pump is connected to the water pipe through a water pipe joint and is connected to the liquid circuit solenoid valve to form a conveying channel for the cleaning liquid circuit. The temperature sensor is installed above the washing pot and is sealed with the washing pot through a temperature sensor sealing gasket, the lower part of the temperature sensor is inserted into the cleaning liquid, and the upper part of the temperature sensor is a circuit connection interface; The first liquid level sensor is installed above the washing pot and is sealed with the washing pot through a first liquid level sensor sealing gasket. The lower part of the first liquid level sensor is inserted into the cleaning liquid, and the upper part of the first liquid level sensor is a circuit connection interface.

[0008] As a further description of the present invention, the gas storage tank module also includes a gas storage tank, the gas inlet of the gas storage tank is connected to the air pump through an air pipe, and the gas outlet of the gas storage tank is connected to the gas circuit solenoid valve through the air pipe to form a gas circuit delivery channel; The pressure sensor and the second liquid level sensor are installed above the gas storage tank, with the upper part being the circuit connection interface and the lower part being embedded in the gas storage tank; The drain solenoid valve is installed at the lower part of the gas storage tank and is sealed with the gas storage tank through a drain solenoid valve sealing ring.

[0009] As a further description of the present invention, the nozzle module includes three liquid path nozzles, two gas path nozzles, and a nozzle bracket; The nozzle bracket is fixed above the vehicle-mounted laser radar, and the liquid path nozzle is fixed on the nozzle bracket. The three liquid path nozzles are evenly distributed above the surface of the vehicle-mounted laser radar according to their coverage range of about 50°; the water inlets of the three liquid path nozzles are connected to the water pipe through the liquid path nozzle four-way joint, and are connected to the liquid path solenoid valve to form a liquid path; The gas path nozzles are fixed on the nozzle bracket and evenly distributed above the surface of the vehicle-mounted laser radar; the two gas path nozzles are connected to the air pipe through the gas path nozzle three-way joints and connected to the gas path solenoid valve to form a gas path.

[0010] As a further description of the present invention, the liquid path nozzle is composed of a PTC chip, a nozzle body, and a nozzle ball; A slot is provided on one side of the nozzle body, the nozzle ball is located on the other side of the nozzle body, and the lower part of the nozzle body is a water pipe channel, which is connected to the nozzle ball; The liquid path nozzle is fixed on the nozzle bracket through a slot, the PTC chip is embedded and fixed in the nozzle body and located at the water pipe channel, the PTC chip heats the liquid path nozzle by receiving a heating instruction issued by the cleaning system controller, and the PTC chip is sealed by a sealant.

[0011] A method for automatically cleaning a laser radar on an intelligent mining truck, based on the above-mentioned automatic cleaning system, comprises the following steps: The intelligent driving domain controller obtains the point cloud data scanned by the on-board laser radar, identifies the point cloud data to determine obstacles, and determines obstacles within a preset distance range from the surface of the on-board laser radar as suspicious obstructions; Determine the obstruction on the surface of the vehicle-mounted laser radar by the intensity of the reflected light of the suspected obstruction; When the area of ​​the obstruction on the surface of the vehicle-mounted laser radar is larger than the preset value, a cleaning instruction demand is generated and given to the cleaning system controller; The cleaning system controller receives the cleaning request sent by the intelligent driving domain controller, detects and determines whether the cleaning liquid pot module and the gas tank module have reached the preset threshold, controls the cleaning liquid pot module, the gas tank module and the nozzle module, and cleans the surface of the vehicle-mounted laser radar; After cleaning is completed, the cleaning system controller feeds back to the intelligent driving domain controller. The intelligent driving domain controller obtains the point cloud data of the on-board laser radar, analyzes the point cloud data to determine whether the cleaning requirements are met. If the requirements are not met, the cleaning instructions are resent to the cleaning system controller until the requirements are met after cleaning.

[0012] As a further description of the present invention, the above-mentioned point cloud data includes reflected light intensity and position information, and the currently collected point cloud data is analyzed by the intelligent driving domain controller; based on a pre-trained deep learning model as a target detection model, the current frame point cloud data is input into the target detection model, and the deep learning model is run to obtain at least one obstacle corresponding to the current frame point cloud data; Through the point cloud data, the different distances of various obstacles are obtained, and the distance of the obstacle is compared with the preset distance of the surface position of the vehicle-mounted laser radar. The obstacle within the preset distance range is located as a suspicious obstruction; If the reflected light intensity of at least one of the suspected obstructions is greater than the first preset light intensity, it is determined that there is an obstruction on the surface of the vehicle-mounted laser radar.

[0013] As a further description of the present invention, the above-mentioned cleaning system controller detects whether the temperature sensor in the washing kettle, the first liquid level sensor, and the pressure sensor in the gas storage tank reach a preset threshold; If the temperature sensor does not reach the threshold, the cleaning system controller turns on the PTC chip inside the nozzle for heating; if the first liquid level sensor does not reach the threshold, the cleaning system controller sends a liquid adding alarm signal to add liquid; if the pressure sensor does not reach the threshold, the cleaning system controller starts the air pump to pressurize the air tank; When the above-mentioned temperature sensor, first liquid level sensor, and pressure sensor reach the preset thresholds, the current cleaning system state meets the conditions for starting cleaning, and the cleaning system controller sends control information. According to the control information, the electronic water pump and the liquid circuit solenoid valve are turned on for a preset time, and the cleaning fluid cleans the surface of the vehicle-mounted laser radar through the liquid circuit nozzle. The electronic water pump and the liquid circuit solenoid valve are closed after reaching the preset time, and the liquid circuit nozzle stops spraying liquid.

[0014] As a further description of the present invention, according to the control information, the air circuit solenoid valve is opened for a preset duration, and compressed gas is passed through the air circuit nozzle to clean the liquid and stains remaining on the surface of the vehicle-mounted laser radar. The air pump works synchronously, and the air circuit solenoid valve is closed after reaching the preset duration, and the air circuit nozzle stops spraying. After the pressure in the air tank reaches the threshold, the air pump stops working.

[0015] Compared with the prior art, the technical effects of the present invention are: The present invention provides an automatic cleaning system and method for a laser radar on an intelligent mining truck. The system includes a vehicle-mounted laser radar, an intelligent driving domain controller, a cleaning system controller, a cleaning liquid pot module, an air storage tank module, an air pump, a liquid circuit solenoid valve, a gas circuit solenoid valve, a nozzle module and other cleaning units to form a vehicle-mounted laser radar cleaning gas circuit and a laser radar cleaning liquid circuit with high integration. The radar cleaning liquid circuit is used to clean the laser radar through the liquid circuit, and the radar cleaning gas circuit is used to clean the laser radar through the gas circuit. Each module is connected to form a whole system through a wiring harness, and the gas circuit and the liquid circuit cooperate to have a strong cleaning force. The air pump, the gas circuit solenoid valve and the pressure sensor are used to ensure the smooth flow of the gas circuit. The electronic water pump, the temperature sensor and the liquid circuit solenoid valve are used to heat the liquid circuit nozzle in a low temperature environment to prevent the liquid circuit nozzle from being frozen and ensure the smooth flow of the liquid circuit. The cleaning method includes a cleaning request, a cleaning process and a post-cleaning detection. A set of processes ensures the cleaning effect. During the cleaning process, the gas circuit and the liquid circuit are cyclically switched to avoid residual cleaning fluid and meet the cleaning requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the cleaning system of the present invention; Figure 2 This is a structural view of a washing liquid jug module of the present invention; Figure 3 This is a structural view of the gas storage tank module of the present invention; Figure 4 A structural view of a nozzle module of the present invention; Figure 5A structural view of a liquid path nozzle of the present invention; Figure 6 It is a flowchart of the intelligent driving domain controller control method of the present invention; Figure 7 It is a schematic flow chart of the control method of the cleaning system controller of the present invention.

[0017] In the figure, 1. washing liquid pot module, 11. electronic water pump, 111. electronic water pump sealing ring, 12. temperature sensor, 121. temperature sensor sealing gasket, 13. first liquid level sensor, 131. first liquid level sensor sealing gasket, 14. washing pot, 15. pot cover; 2. Gas storage tank module, 21. Pressure sensor, 22. Second liquid level sensor, 23. Drain solenoid valve, 231. Drain solenoid valve, 24. Gas storage tank; 3. Nozzle module, 31. Liquid nozzle, 311. Liquid nozzle four-way joint, 312. PTC chip, 313. Nozzle body, 314. Nozzle ball, 315. Sealant, 32. Gas nozzle, 321. Gas nozzle three-way joint, 33. Nozzle bracket; A. Vehicle-mounted laser radar. DETAILED DESCRIPTION

[0018] The present invention is described in detail below in conjunction with the accompanying drawings: In one embodiment of the present invention, a laser radar automatic cleaning system on a smart mining truck is disclosed, referring to Figure 1-5As shown, the cleaning system includes a vehicle-mounted laser radar A, an intelligent driving domain controller, a cleaning system controller, a washing liquid pot module 1, an air tank module 2, a nozzle module 3, an air pump, a liquid circuit solenoid valve, and an air circuit solenoid valve; wherein, the intelligent driving domain controller is connected to the vehicle-mounted laser radar A through ETH, and is used to detect the point cloud data of the vehicle-mounted laser radar A, and through the analysis and algorithm processing of the point cloud data, it is determined that there are obstructions on the window FOV of the vehicle-mounted laser radar A, and a cleaning request is issued to the cleaning system controller; the cleaning system controller is connected to the intelligent driving domain controller through CAN, and is used to receive the cleaning request of the intelligent driving domain controller, and feedback the progress after the cleaning is completed to the intelligent driving domain controller through CAN; the washing liquid pot module 1 and the air tank module 2 are connected to the cleaning system controller through a hard line, and the data information of the washing liquid pot module 1 and the air tank module 2 is received by the cleaning system controller to determine the current state of the cleaning system; the cleaning system controller is connected to the air pump through a hard line, and the air pump is connected to the air tank module 2 through an air pipe, and the washing The washing liquid pot module 1 includes an electronic water pump 11, which is connected to the cleaning system controller through a hard line, and the cleaning system controller sends signals through the hard line to control the opening and closing of the electronic water pump 11 and the air pump; the liquid circuit solenoid valve and the gas circuit solenoid valve are connected to the cleaning system controller through a hard line, and the opening and closing of the liquid circuit solenoid valve and the gas circuit solenoid valve are controlled by the cleaning system controller; the liquid circuit solenoid valve is connected to the electronic water pump 11 and the nozzle module 3 of the washing liquid pot module 1 through a water pipe to form a cleaning liquid circuit, and is opened and closed under the control of the cleaning system controller; the gas circuit solenoid valve is connected to the gas storage tank module 2 and the nozzle module 3 through an air pipe to form a cleaning gas circuit, and is opened and closed under the control of the cleaning system controller; the nozzle module 3 is fixed on the surface position of the vehicle-mounted laser radar A, connected to the cleaning gas circuit through the cleaning liquid circuit, forming a gas circuit and a liquid circuit to clean the surface of the vehicle-mounted laser radar FOV, and is connected to the cleaning system controller through a hard line, and the nozzle module 3 is controlled by the cleaning system controller to work.

[0019] It should be noted that, in this embodiment, the hard-wire connection is a connection method, which is mainly connected through a wire or an Ethernet cable to transmit signals or energy.

[0020] Specifically, this embodiment analyzes the specific settings of the above-mentioned washer liquid pot module 1, gas tank module 2, and nozzle module 3, and discloses the coordination of the washer liquid pot module 1, gas tank module 2, nozzle module 3 with the intelligent driving domain controller, cleaning system controller, liquid circuit solenoid valve, and gas circuit solenoid valve.

[0021] In this embodiment, the washing liquid pot module 1 includes: a temperature sensor 12, a first liquid level sensor 13, which detects the current temperature and storage volume of the washing liquid, and is used to provide data for whether to start the PTC chip heating, provide an alarm signal for whether to add washing liquid, and remind the vehicle operator to pay attention to the storage volume of the washing liquid; the gas storage tank module 2 includes: a pressure sensor 21, a second liquid level sensor 22, and a drainage solenoid valve 23. The pressure sensor 21 provides the current pressure state data information of the compressed gas in the gas circuit to the washing system controller, and provides data for the washing system controller to start the air pump and whether to perform gas storage and pressurization; the second liquid level sensor 22 detects the liquid accumulation data in the gas storage tank 24, and provides a basis for the washing system controller to determine whether the preset threshold is reached and whether to control the opening of the drainage solenoid valve. Specifically, the temperature sensor 12, the first liquid level sensor 13, the pressure sensor 21, the second liquid level sensor 22, and the drainage solenoid valve 23 are all connected to the washing system controller through hard wires. The cleaning system controller collects and analyzes data information from the temperature sensor 12, the first liquid level sensor 13, the pressure sensor 21, and the second liquid level sensor 22 through a hard-wired connection to determine the current state of the cleaning system, and sends signals through a hard-wired connection to control the opening and closing of the electronic water pump 11, the air pump, the liquid circuit solenoid valve, the gas circuit solenoid valve, and the drain solenoid valve, and the operation of the PTC heating chip inside the nozzle module 3 to complete the cleaning requests for the liquid circuit and the gas circuit.

[0022] It should be noted that, in the present embodiment, the washing liquid jug module 1 further includes a washing jug 14 for containing washing liquid, and a liquid filling port arranged on one side of the washing jug 14, and the liquid filling port is closed by a jug cover 15; wherein, the washing liquid can be filled with different types of washing liquids according to different seasons. In autumn and winter, it is necessary to add winter type washing liquid suitable for a low temperature environment of minus 40°C to prevent freezing, and summer type washing liquid is added at other times.

[0023] The electronic water pump 11 is installed above the washing pot 14 and is sealed with the washing pot 14 by an electronic pump sealing gasket 111. The lower part of the electronic water pump 11 is inserted into the cleaning liquid. The upper part of the electronic water pump 11 is a circuit connection interface. The water outlet of the electronic water pump 11 is connected to the water pipe through a water pipe joint and connected to the liquid circuit solenoid valve to form a conveying channel for the cleaning liquid circuit. The electronic water pump 11 can be in the form of a unidirectional or bidirectional pump. If a bidirectional pump is used, different water outlet directions are adjusted by changing the positive and negative poles of the power supply.

[0024] The temperature sensor 12 is installed above the washing pot 14 and is sealed with the washing pot 14 by a temperature sensor sealing gasket 121. The lower part of the temperature sensor 12 is inserted into the cleaning liquid, and the upper part of the temperature sensor 12 is a circuit connection interface; after power is turned on, the collected cleaning liquid temperature information is transmitted to the cleaning system controller.

[0025] The first liquid level sensor 13 is installed above the washing pot 14 and is sealed with the washing pot 14 by a first liquid level sensor sealing gasket 131. The lower part of the first liquid level sensor 13 is inserted into the cleaning liquid, and the upper part of the first liquid level sensor 13 is a circuit connection interface; the capacity information of the cleaning liquid is transmitted to the cleaning system controller. When the cleaning liquid needs to be added, the pot lid 15 of the washing pot 14 is opened to add liquid through the liquid filling port, and the liquid filling port is closed at other times.

[0026] In this embodiment, the gas tank module 2 further includes a gas tank 24, the air inlet of the gas tank 24 is connected to the air pump through an air pipe, and the air outlet of the gas tank 24 is connected to the gas circuit solenoid valve through an air pipe, forming a gas transmission channel; the pressure sensor 21 and the second liquid level sensor 22 are installed above the gas tank 24, the upper part of which is a circuit connection interface, and the lower part is embedded in the gas tank 24; the drainage solenoid valve is installed at the lower part of the gas tank 24, and is sealed with the gas tank 24 through the drainage solenoid valve sealing ring 231. The pressure sensor 21 transmits the collected current pressure value information to the cleaning system controller. If the gas storage pressure drops to a preset threshold, a control information is sent to start the air pump to start working, pressurize the gas tank 24, and the pressure sensor 21 transmits the current pressure information to the cleaning system controller in real time. After the pressure reaches the preset threshold, the air pump stops working, and reciprocates to meet the jetting demand. In addition, due to the long-term charging and discharging of the air tank 24, liquid may accumulate inside and gather at the bottom of the air tank. The second liquid level sensor 22 will provide liquid level status information to the cleaning system controller. When the water level reaches the preset threshold, the drain solenoid valve 23 is started to drain excess liquid. When the liquid capacity reaches the set threshold, the drain solenoid valve 23 is closed.

[0027] In this embodiment, the nozzle module 3 includes three liquid path nozzles 31, two gas path nozzles 32, and a nozzle bracket 33; the nozzle bracket 33 is fixed on the top of the vehicle-mounted laser radar A, forming a good appearance match with the vehicle-mounted laser radar A; the liquid path nozzle 31 is fixed on the nozzle bracket 33, and the three liquid path nozzles 31 are evenly distributed above the surface of the vehicle-mounted laser radar A according to their coverage range of about 50°, ensuring that the surface of the vehicle-mounted laser radar FOV can be fully covered; the water inlets of the three liquid path nozzles 31 are connected to the water pipe through the liquid path nozzle four-way joint 311, and are connected to the liquid path solenoid valve to form a liquid path; the gas path nozzle 32 is fixed on the nozzle bracket 33, and is evenly distributed above the surface of the vehicle-mounted laser radar A, so that the blowing range can cover the laser radar FOV surface; the two gas path nozzles 32 are connected to the air pipe through the gas path nozzle three-way joint 321, and are connected to the gas path solenoid valve to form a gas path. When the liquid circuit solenoid valve is opened, cleaning liquid is sprayed through the liquid circuit nozzle 31 to clean the surface of the vehicle-mounted laser radar FOV. When the gas circuit solenoid valve is opened, gas is sprayed through the gas circuit nozzle 32 to clean the residual liquid and stains remaining on the surface of the vehicle-mounted laser radar FOV.

[0028] More specifically, in this embodiment, Figure 5 As shown, the liquid circuit nozzle 31 is composed of a PTC chip 312, a nozzle body 313, and a nozzle ball 314; a card slot is set on one side of the nozzle body 313, and the nozzle ball 314 is located on the other side of the nozzle body 313, and the lower part of the nozzle body 313 is a water pipe channel (a hollow channel designed on the nozzle body 313), the water pipe channel is connected to the nozzle ball 314, and the nozzle ball 314 is located at the end of the water pipe channel. When the liquid circuit is connected and the nozzle ball 314 is opened, the cleaning liquid flows through the water pipe channel through the nozzle ball 314, and finally flows out from the nozzle. The liquid path nozzle 31 is fixed on the nozzle bracket 33 through a slot, and the PTC chip 312 is embedded and fixed in the nozzle body 313 and is located at the water pipe channel. The PTC chip 312 receives a heating instruction from the cleaning system controller to heat the liquid path nozzle 31 to prevent the cleaning liquid from freezing in a low temperature environment and to avoid the liquid path being blocked and unable to clean. When the temperature reaches a predetermined threshold, the PTC chip 312 stops heating to save energy consumption; the PTC chip 312 is sealed by a sealant 315.

[0029] It should be noted that the outside of the above-mentioned PTC chip is connected to the cleaning system controller through wires, and instructions are sent through the cleaning system controller to control the connection or disconnection of this circuit. When the circuit is connected, the PTC chip generates heat, thereby heating the cleaning fluid flowing through it. When the circuit is disconnected, the PTC chip stops heating.

[0030] In another embodiment of the present invention, a method for automatically cleaning a laser radar on an intelligent mining truck is disclosed, referring to Figure 6-7 As shown, the cleaning method includes the above-mentioned cleaning system and performs the following steps: The intelligent driving domain controller obtains the point cloud data obtained by the on-board laser radar scanning. The point cloud data includes the reflected light intensity and position information. The point cloud data of the on-board laser radar is a set of three-dimensional space coordinate points obtained by laser radar scanning. These points contain the position information of the surface of the object. Each point has three coordinate values ​​of X, Y, and Z, which represent the position in the three-dimensional space. In addition, the point cloud data may also contain some additional attributes, such as reflection intensity, color information, etc.

[0031] Identify obstacles in the point cloud data. Analyze the currently collected point cloud data through the intelligent driving domain controller; input the current frame point cloud data into the target detection model based on the pre-trained deep learning model, and run the deep learning model to obtain at least one obstacle corresponding to the current frame point cloud data. Obstacles can be dynamic obstacles such as pedestrians, vehicles, animals on the road, static obstacles such as street lights, signs, trash cans on the road, or occluders on the surface of the vehicle-mounted laser radar FOV, which are dirt.

[0032] Obstacles located within the preset distance range of the vehicle-mounted laser radar surface position are determined as suspicious obstructions. Through point cloud data, different distances of each obstacle are obtained, and the distance of the obstacle is compared with the preset distance of the vehicle-mounted laser radar surface position. The distance of the obstacle is located within the preset distance range as a suspicious obstruction. Specifically, through point cloud data, each obstacle has a different distance. The distance here refers to the distance between the obstacle and the center point of the vehicle-mounted laser radar (the origin of the laser radar coordinate system). The FOV surface of the vehicle-mounted laser radar is fixed at the position of the laser radar, so the distance of its surface relative to the center point of the laser radar is known. Therefore, by judging whether the distance of the obstacle is the same or close to the surface distance, it can be roughly determined whether the obstacle is located on the laser radar surface or is an environmental obstacle independent of the surface. When the distance of the obstacle is within the preset distance range of the surface, it can also be preliminarily judged as a suspicious obstruction, thereby avoiding the problem of missed detection due to measurement error and improving the accuracy of detection. There are many ways to obtain the distance of the obstacle, and any one of them can be selected, which is not limited in this embodiment.

[0033] The reflected light intensity of the suspected obstruction can be used to determine the obstructions on the surface of the vehicle-mounted laser radar. For the part of the vehicle-mounted laser radar window that is not blocked by the obstruction, the laser beam emitted by the vehicle-mounted laser radar can be emitted through the window, and the light intensity reflected back by the window is relatively small; for the part of the radar window that is blocked by the obstruction, the laser beam emitted by the vehicle-mounted laser radar is reflected back by the window with a relatively large light intensity. If the reflected light intensity of a suspected obstruction is greater than the first preset light intensity, it is determined that there is an obstruction on the laser radar window. The first preset light intensity can be set according to the reflected light intensity formed when there is no obstruction on the window. The reflected light intensity can be obtained by testing in advance.

[0034] When the area of ​​the obstruction on the surface of the vehicle-mounted laser radar is larger than the preset value, a cleaning instruction demand is generated and given to the cleaning system controller. Specifically, the size of the obstruction and its position in the window are determined according to the data points of the obstruction. When the area of ​​the obstruction is larger than the preset value, a cleaning instruction demand can be generated and given to the cleaning system controller to complete the cleaning demand of the vehicle-mounted laser radar.

[0035] The cleaning system controller receives the cleaning request sent by the intelligent driving domain controller through the CAN signal, detects and determines whether the cleaning liquid pot module and the gas tank module have reached the preset threshold, controls the cleaning liquid pot module, the gas tank module and the nozzle module, and cleans the surface of the vehicle-mounted laser radar. Specifically, the above-mentioned cleaning system controller detects whether the temperature sensor in the cleaning pot, the first liquid level sensor, and the pressure sensor in the gas tank have reached the preset threshold; The cleaning system controller collects data information values ​​provided by the temperature sensor, the first liquid level sensor, and the pressure sensor in real time, compares the data value with the preset threshold, and determines whether the current cleaning system status meets the conditions for starting cleaning. If all of the above reach the preset threshold, the current cleaning system status meets the conditions for starting cleaning, and the cleaning system controller sends control information.

[0036] If the information value provided by the temperature sensor does not reach the threshold, it means that the current temperature is relatively low, and there may be an ice problem at the water outlet, which will cause the liquid path to be blocked and the cleaning function cannot be realized. The cleaning system controller turns on the PTC chip heating inside the nozzle and sets the duration (usually 5 minutes, which can heat from minus 25° to above 0°). When the temperature rises above 0°, the heating is stopped; if the information value provided by the first liquid level sensor does not reach the threshold, it means that the current cleaning liquid capacity is relatively small. The cleaning system controller will send an alarm signal through CAN to remind the operator to add cleaning liquid until the preset threshold is met; if the information value provided by the pressure sensor does not reach the threshold, the cleaning system controller sends a control signal to start the air pump to pressurize the air tank. The pressure sensor detects the pressure information in the air tank in real time until the air compression threshold H is met, and then the air pump is controlled to stop working.

[0037] According to the control information, the electronic water pump and the liquid circuit solenoid valve are turned on for a preset time, and the cleaning fluid cleans the surface of the vehicle-mounted laser radar through the liquid circuit nozzle. Specifically, when the cleaning system controller detects that each sensor meets the preset threshold, that is, the precondition for starting the cleaning is met, the electronic water pump and the liquid circuit solenoid valve start working according to the preset working time according to the control information. After the liquid circuit solenoid valve is opened, the entire liquid circuit from the electronic water pump to the liquid circuit nozzle is fully connected, and the cleaning fluid is sprayed on the surface of the vehicle-mounted laser radar for cleaning; when the electronic water pump and the liquid circuit solenoid valve work for the preset time of the cleaning system controller, the cleaning system controller controls the electronic water pump and the liquid circuit solenoid valve to close. At this time, the entire liquid circuit is in a closed state, and the liquid circuit nozzle stops spraying liquid.

[0038] According to the control information, the gas circuit solenoid valve is opened for a preset time, and the compressed gas is cleaned through the gas circuit nozzle by the liquid and stains remaining on the surface of the vehicle-mounted laser radar. Specifically, according to the preset working time, the gas circuit solenoid valve starts to start after the liquid circuit cleaning stops, and the gas circuit solenoid valve changes from a closed state to a connected state, and the entire gas circuit from the gas tank to the gas circuit nozzle is fully connected; the compressed gas starts to clean the liquid and stains remaining on the surface of the vehicle-mounted laser radar FOV through the gas circuit nozzle, so that the surface of the vehicle-mounted laser radar becomes dry and clean as soon as possible. In this process, the air pump works synchronously to increase the air pressure in the gas tank so that there is enough compressed air to clean the surface of the vehicle-mounted laser radar; after the gas circuit solenoid valve works for a preset time, the cleaning system controller controls the gas circuit solenoid valve to close, the gas circuit is closed, and the gas circuit nozzle stops spraying; the pressure in the gas tank also increases with time, and the cleaning system controller stops working after the pressure in the gas tank reaches the threshold according to the information of the pressure sensor.

[0039] After the cleaning is completed, the cleaning system controller feeds back to the intelligent driving domain controller, and the cleaning request is completed. Specifically, after the gas path cleaning is closed, the cleaning system controller feeds back information to the intelligent driving domain controller through CAN, and the intelligent driving domain controller receives the feedback request completion information.

[0040] The intelligent driving domain controller obtains the point cloud data of the vehicle-mounted laser radar to determine whether the cleaning requirements are met. Specifically, after receiving the cleaning requirements fed back by the cleaning system controller, the intelligent driving domain controller re-acquires the point cloud data of the current vehicle-mounted laser radar, completes the analysis of the vehicle-mounted laser radar point cloud data, and detects whether the cleaning requirements are met. If the requirements are met, the cleaning request requirement is completed and no cleaning requirement is issued. If it is detected that the requirements are not met, the cleaning system controller is re-issued with a cleaning instruction to start cleaning until the requirements are met after cleaning.

[0041] Through the above content, the technical solution of the present invention is disclosed. Compared with the prior art, the present invention has the following advantages: 1. The system of the present invention includes a vehicle-mounted laser radar, a smart driving domain controller, a cleaning system controller, a washer liquid pot module, an air tank module, an air pump, a liquid circuit solenoid valve, a gas circuit solenoid valve, a nozzle module and other cleaning units, forming a vehicle-mounted laser radar cleaning gas circuit and a laser radar cleaning liquid circuit, with high integration; 2. In the system of the present invention, the radar cleaning liquid circuit is used to clean the laser radar through the liquid circuit, and the radar cleaning gas circuit is used to clean the laser radar through the gas circuit. Each module is connected to form the whole system through a wiring harness. The gas circuit and the liquid circuit cooperate with each other, and the cleaning force is strong; 3. In the system of the present invention, the air circuit is kept unobstructed by means of an air pump, an air circuit solenoid valve and a pressure sensor, and the liquid circuit nozzle is heated in a low temperature environment by means of an electronic water pump, a temperature sensor and a liquid circuit solenoid valve, so that the liquid circuit nozzle is not frozen and the liquid circuit is kept unobstructed; 4. The cleaning method of the present invention includes a cleaning request, a cleaning process, and a post-cleaning detection. A set of processes ensures the cleaning effect, and during the cleaning process, the gas circuit and the liquid circuit are cyclically switched to meet the cleaning requirements.

[0042] The above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. An automatic cleaning system for laser radar on an intelligent mining truck, characterized in that: The cleaning system includes an on-board laser radar, an intelligent driving domain controller, a cleaning system controller, a washer fluid pot module, a nozzle module, an air tank module, an air pump, a liquid circuit solenoid valve, and a gas circuit solenoid valve; The intelligent driving domain controller is connected to the vehicle-mounted laser radar through ETH to detect the point cloud data of the vehicle-mounted laser radar, and through the analysis and algorithm processing of the point cloud data, determines that there are obstructions on the window FOV of the vehicle-mounted laser radar, and sends a cleaning request to the cleaning system controller; The cleaning system controller is connected to the intelligent driving domain controller via CAN, for receiving a cleaning request from the intelligent driving domain controller, and feeding back the cleaning process to the intelligent driving domain controller via CAN; The washing liquid pot module and the gas storage tank module are connected to the cleaning system controller via a hard line, and the cleaning system controller receives data information from the washing liquid pot module and the gas storage tank module to determine the current state of the cleaning system; The cleaning system controller is connected to the air pump through a hard line, and the air pump is connected to the air storage tank module through an air pipe. The washing liquid pot module includes an electronic water pump, and the electronic water pump is connected to the cleaning system controller through a hard line. The cleaning system controller sends a signal through the hard line to control the opening and closing of the electronic water pump and the air pump; The liquid circuit solenoid valve and the gas circuit solenoid valve are connected to the cleaning system controller through hard wires, and the opening and closing of the liquid circuit solenoid valve and the gas circuit solenoid valve are controlled by the cleaning system controller; the liquid circuit solenoid valve is connected to the electronic water pump and the nozzle module of the washing liquid pot module through a water pipe to form a cleaning liquid circuit, and is opened and closed under the control of the cleaning system controller; the gas circuit solenoid valve is connected to the gas storage tank module and the nozzle module through an air pipe to form a cleaning gas circuit, and is opened and closed under the control of the cleaning system controller; The nozzle module is fixed on the surface of the vehicle-mounted laser radar, connected to the cleaning gas circuit through a cleaning liquid circuit, and connected to the cleaning system controller through a hard line. The nozzle module is controlled to work by the cleaning system controller.

2. According to claim 1, the automatic cleaning system of the laser radar on the intelligent mining truck is characterized by: The washing liquid kettle module includes a temperature sensor and a first liquid level sensor, and the gas storage tank module includes a pressure sensor, a second liquid level sensor, and a drain solenoid valve; The temperature sensor, the first liquid level sensor, the pressure sensor, the second liquid level sensor, and the drain solenoid valve are all connected to the cleaning system controller through hard wires.

3. The automatic cleaning system for laser radar on a smart mining truck according to claim 2 is characterized in that: The washing liquid pot module also includes a washing pot for containing washing liquid, and a liquid filling port arranged on one side of the washing pot, and the liquid filling port is closed by a pot cover; The electronic water pump is installed above the washing pot and is sealed with the washing pot through an electronic pump sealing gasket. The lower part of the electronic water pump is inserted into the cleaning liquid. The upper part of the electronic water pump is a circuit connection interface. The water outlet of the electronic water pump is connected to the water pipe through a water pipe joint and is connected to the liquid circuit solenoid valve to form a conveying channel for the cleaning liquid circuit. The temperature sensor is installed above the washing pot and is sealed with the washing pot through a temperature sensor sealing gasket, the lower part of the temperature sensor is inserted into the cleaning liquid, and the upper part of the temperature sensor is a circuit connection interface; The first liquid level sensor is installed above the washing pot and is sealed with the washing pot through a first liquid level sensor sealing gasket. The lower part of the first liquid level sensor is inserted into the cleaning liquid, and the upper part of the first liquid level sensor is a circuit connection interface.

4. The automatic cleaning system for laser radar on a smart mining truck according to claim 2 is characterized in that: The gas storage tank module also includes a gas storage tank, the gas inlet of the gas storage tank is connected to the air pump through an air pipe, and the gas outlet of the gas storage tank is connected to the gas circuit solenoid valve through an air pipe to form a gas circuit delivery channel; The pressure sensor and the second liquid level sensor are installed above the gas storage tank, with the upper part being the circuit connection interface and the lower part being embedded in the gas storage tank; The drain solenoid valve is installed at the lower part of the gas storage tank and is sealed with the gas storage tank through a drain solenoid valve sealing ring.

5. The automatic cleaning system for laser radar on a smart mining truck according to claim 1 is characterized in that: The nozzle module includes three liquid nozzles, two gas nozzles, and a nozzle bracket; The nozzle bracket is fixed above the vehicle-mounted laser radar, and the liquid path nozzle is fixed on the nozzle bracket. The three liquid path nozzles are evenly distributed above the surface of the vehicle-mounted laser radar according to their coverage range of about 50°; the water inlets of the three liquid path nozzles are connected to the water pipe through the liquid path nozzle four-way joint, and are connected to the liquid path solenoid valve to form a liquid path; The gas path nozzles are fixed on the nozzle bracket and evenly distributed above the surface of the vehicle-mounted laser radar; the two gas path nozzles are connected to the air pipe through the gas path nozzle three-way joints and connected to the gas path solenoid valve to form a gas path.

6. The automatic cleaning system for laser radar on a smart mining truck according to claim 5 is characterized by: The liquid path nozzle is composed of a PTC chip, a nozzle body, and a nozzle ball; A slot is provided on one side of the nozzle body, the nozzle ball is located on the other side of the nozzle body, and the lower part of the nozzle body is a water pipe channel, which is connected to the nozzle ball; The liquid path nozzle is fixed on the nozzle bracket through a slot, the PTC chip is embedded and fixed in the nozzle body and located at the water pipe channel, the PTC chip heats the liquid path nozzle by receiving a heating instruction issued by the cleaning system controller, and the PTC chip is sealed by a sealant.

7. A method for automatically cleaning a laser radar on an intelligent mining truck according to the system of any one of claims 1 to 6, characterized in that: The steps include: The intelligent driving domain controller obtains the point cloud data scanned by the on-board laser radar, identifies the point cloud data to determine obstacles, and determines obstacles within a preset distance range from the surface of the on-board laser radar as suspicious obstructions; Determine the obstruction on the surface of the vehicle-mounted laser radar by the intensity of the reflected light of the suspected obstruction; When the area of ​​the obstruction on the surface of the vehicle-mounted laser radar is larger than the preset value, a cleaning instruction demand is generated and given to the cleaning system controller; The cleaning system controller receives the cleaning request sent by the intelligent driving domain controller, detects and determines whether the cleaning liquid pot module and the gas tank module have reached the preset threshold, controls the cleaning liquid pot module, the gas tank module and the nozzle module, and cleans the surface of the vehicle-mounted laser radar; After cleaning is completed, the cleaning system controller feeds back to the intelligent driving domain controller. The intelligent driving domain controller obtains the point cloud data of the on-board laser radar, analyzes the point cloud data to determine whether the cleaning requirements are met. If the requirements are not met, the cleaning instructions are resent to the cleaning system controller until the requirements are met after cleaning.

8. The automatic cleaning method of the laser radar on the intelligent mining truck according to claim 7 is characterized in that: The above-mentioned point cloud data includes reflected light intensity and position information. The intelligent driving domain controller analyzes the currently collected point cloud data; based on the pre-trained deep learning model as the target detection model, the current frame point cloud data is input into the target detection model, and the deep learning model is run to obtain at least one obstacle corresponding to the current frame point cloud data; Through the point cloud data, the different distances of various obstacles are obtained, and the distance of the obstacle is compared with the preset distance of the surface position of the vehicle-mounted laser radar. The obstacle within the preset distance range is located as a suspicious obstruction; If the reflected light intensity of at least one of the suspected obstructions is greater than the first preset light intensity, it is determined that there is an obstruction on the surface of the vehicle-mounted laser radar.

9. The automatic cleaning method of the laser radar on the intelligent mining truck according to claim 7 is characterized in that: The above-mentioned cleaning system controller detects whether the temperature sensor in the washing pot, the first liquid level sensor, and the pressure sensor in the gas storage tank have reached a preset threshold; If the temperature sensor does not reach the threshold, the cleaning system controller turns on the PTC chip inside the nozzle for heating; if the first liquid level sensor does not reach the threshold, the cleaning system controller sends a liquid adding alarm signal to add liquid; if the pressure sensor does not reach the threshold, the cleaning system controller starts the air pump to pressurize the air tank; When the above-mentioned temperature sensor, first liquid level sensor, and pressure sensor reach the preset thresholds, the current cleaning system state meets the conditions for starting cleaning, and the cleaning system controller sends control information. According to the control information, the electronic water pump and the liquid circuit solenoid valve are turned on for a preset time, and the cleaning fluid cleans the surface of the vehicle-mounted laser radar through the liquid circuit nozzle. The electronic water pump and the liquid circuit solenoid valve are closed after reaching the preset time, and the liquid circuit nozzle stops spraying liquid.

10. The automatic cleaning method of the laser radar on the intelligent mining truck according to claim 9 is characterized in that: According to the control information, the air circuit solenoid valve is opened after a preset time, and compressed gas is passed through the air circuit nozzle to clean the liquid and stains remaining on the surface of the vehicle-mounted laser radar. The air pump works synchronously. The air circuit solenoid valve is closed after the preset time is reached, and the air circuit nozzle stops spraying. After the pressure in the air tank reaches the threshold, the air pump stops working.

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