阅读说明：本技术 传感器除尘除雾处理方法及系统 (Sensor dedusting and demisting treatment method and system ) 是由 赵德力 傅志刚 彭登 陶永康 于 2021-07-02 设计创作，主要内容包括：本申请是关于一种传感器除尘除雾处理方法及系统。该方法包括：获取飞行器的传感器拍摄的图像；如果所述图像的图像质量小于设定阈值,输出除尘除雾信号控制气源设备输出气体；将所述气体进行加热处理；将处理后的气体冲击所述传感器透光层进行除尘除雾。本申请提供的方案,能够更简单实现对传感器透光层进行除尘除雾,实现良好的除尘除雾效果。(The application relates to a sensor dedusting and demisting treatment method and system. The method comprises the following steps: acquiring an image shot by a sensor of the aircraft; if the image quality of the image is less than a set threshold value, outputting a dedusting and demisting signal to control the gas source equipment to output gas; subjecting the gas to a heat treatment; and impacting the processed gas on the sensor euphotic layer to remove dust and mist. The utility model provides a scheme can more simply realize carrying out the dust removal defogging to the sensor euphotic layer, realizes good dust removal defogging effect.)

1. A dust removal and demisting treatment method for a sensor is characterized by comprising the following steps:

acquiring an image shot by a sensor of the aircraft;

if the image quality of the image is less than a set threshold value, outputting a dedusting and demisting signal to control the gas source equipment to output gas;

subjecting the gas to a heat treatment;

and impacting the processed gas on the sensor euphotic layer to remove dust and mist.

2. The method of claim 1, wherein outputting the dust removal defogging signal controls an air source device to output an air including:

outputting a dedusting and demisting signal;

after the protective cover of the sensor is judged to be opened, controlling gas source equipment to output gas; or the like, or, alternatively,

and after the protective cover of the sensor is disconnected and is not opened, the protective cover is opened, and then the gas source equipment is controlled to output gas.

3. The method of claim 1, wherein the controlling the gas source device to output gas comprises:

and after the activated carbon material is arranged in the gas source equipment to dehumidify and remove dust of the gas, the gas is output by the gas source equipment.

4. The method according to any one of claims 1 to 3, wherein said subjecting said gas to a heat treatment comprises:

the gas is heated by a heating module to become hot dry gas.

5. The method of claim 1, wherein after the subjecting the gas to the heat treatment, further comprises: and carrying out speed increasing treatment on the gas.

6. The method of claim 5, wherein said accelerating said gas comprises:

the gas is blown out by a spray head or an air knife to form high-speed airflow.

7. The method of claim 1, further comprising:

and if the image quality of the newly-shot image acquired again is greater than or equal to the set threshold value, outputting a signal for stopping dust removal and defogging.

8. The method of claim 1 or 7, further comprising:

closing a protective cover of the sensor when the sensor enters an inoperative state, wherein the sensor entering the inoperative state includes the aircraft being stationary or the aircraft traveling on land.

9. A sensor dust removal defogging processing system which characterized in that includes:

the automatic driving controller is used for acquiring an image shot by a sensor of the aircraft, and outputting a dedusting and demisting signal to the embedded controller if the image quality of the image is less than a set threshold value;

the embedded controller is used for receiving the dust removal demisting signal output by the automatic driving controller and controlling gas source equipment to output gas according to the dust removal demisting signal;

the gas source equipment is used for outputting gas under the control of the embedded controller;

the heating module is used for heating the gas output by the gas source equipment;

and the injection module is used for impacting the sensor euphotic layer with the gas treated by the heating module to remove dust and mist.

10. The system of claim 9, wherein:

the spraying module comprises a spray head or an air knife, and the spray head or the air knife blows the gas out to form high-speed airflow.

11. The system of claim 10, wherein:

the nozzle is an annular nozzle which comprises a plurality of air outlet holes, and the air outlet holes are circumferentially arranged on the inner side of the annular nozzle.

12. The system according to any one of claims 9 to 11, wherein:

the system also comprises a protection device, wherein the protection device comprises a protection cover, a protection cover driving motor, a transmission mechanism and a limit inductor;

the protective cover is used for protecting the sensor euphotic layer;

the protective cover driving motor is used for driving the transmission mechanism to transmit;

the transmission mechanism is used for connecting the protective cover and the protective cover driving motor and driving the protective cover to be opened or closed according to the rotation of the protective cover driving motor;

the limiting sensor is arranged on the protective cover and used for feeding back a state signal to the embedded controller when the protective cover moves to a limiting position, so that the embedded controller controls the protective cover to drive the motor to rotate according to the state signal.

Technical Field

The application relates to the technical field of aircrafts, in particular to a dust removal and demisting treatment method and system for a sensor.

Background

The hovercar combines the functions of the automobile and the airplane, can run on the land and in the air, and is one of the development directions of future vehicles. The intelligent hovercar needs to have functions of automatic driving, automatic taking off and landing, automatic cruising and the like, senses the surrounding environment by depending on sensors such as a camera, a laser radar and the like, and completes tasks such as positioning, mapping, obstacle detection and the like through an intelligent algorithm.

Due to the existence of atmospheric humidity and dust, the flying height of the aerocar in a short period changes, or after the aerocar is used for a long time, dust or fog is attached to the surface of the sensor, the light transmittance of the sensor euphotic layer is seriously influenced, and the sensing function of the sensor is influenced. In the related technology, in the processing process of the euphotic layer, a layer of heating wires which are arranged at intervals are added in the euphotic layer, and the heating wires are controlled to generate heat by a temperature closed-loop control method, so that the heating and defogging functions of the euphotic layer are realized.

However, in the related art, the light-transmitting layer of the sensor needs to be customized and has high manufacturing cost, but only the surface of the light-transmitting layer can be demisted, and dust removal cannot be realized.

Disclosure of Invention

In order to solve or partially solve the problems existing in the related art, the application provides a dust removal and demisting treatment method and system for a sensor, which can more simply realize dust removal and demisting on a sensor euphotic layer and realize good dust removal and demisting effects.

The application provides a sensor dust removal defogging processing method in a first aspect, includes:

acquiring an image shot by a sensor of the aircraft;

if the image quality of the image is less than a set threshold value, outputting a dedusting and demisting signal to control the gas source equipment to output gas;

subjecting the gas to a heat treatment;

and impacting the processed gas on the sensor euphotic layer to remove dust and mist.

In one embodiment, the outputting the dust removal defogging signal controls the gas source device to output the gas, including:

outputting a dedusting and demisting signal;

after the protective cover of the sensor is judged to be opened, controlling gas source equipment to output gas; or the like, or, alternatively,

and after the protective cover of the sensor is disconnected and is not opened, the protective cover is opened, and then the gas source equipment is controlled to output gas.

In one embodiment, the controlling the gas supply device to output gas comprises:

and after the activated carbon material is arranged in the gas source equipment to dehumidify and remove dust of the gas, the gas is output by the gas source equipment.

In one embodiment, the subjecting the gas to a heat treatment comprises:

the gas is heated by a heating module to become hot dry gas.

In one embodiment, after the heating the gas, the method further includes: and carrying out speed increasing treatment on the gas.

In one embodiment, the accelerating the gas comprises:

the gas is blown out by a spray head or an air knife to form high-speed airflow.

In one embodiment, the method further comprises:

and if the image quality of the newly-shot image acquired again is greater than or equal to the set threshold value, outputting a signal for stopping dust removal and defogging.

In one embodiment, the method further comprises:

closing a protective cover of the sensor when the sensor enters an inoperative state, wherein the sensor entering the inoperative state includes the aircraft being stationary or the aircraft traveling on land.

The application second aspect provides a sensor dust removal defogging processing system, includes:

the automatic driving controller is used for acquiring an image shot by a sensor of the aircraft, and outputting a dedusting and demisting signal to the embedded controller if the image quality of the image is less than a set threshold value;

the embedded controller is used for receiving the dust removal demisting signal output by the automatic driving controller and controlling gas source equipment to output gas according to the dust removal demisting signal;

the gas source equipment is used for outputting gas under the control of the embedded controller;

the heating module is used for heating the gas output by the gas source equipment;

and the injection module is used for impacting the sensor euphotic layer with the gas treated by the heating module to remove dust and mist.

In one embodiment, the spray module comprises a spray head or a gas knife that blows the gas out to form a high velocity gas stream.

In one embodiment, the nozzle head is an annular nozzle head comprising a plurality of gas outlet holes arranged circumferentially inside the annular nozzle head.

In one embodiment, the system further comprises a protective device comprising a protective cover, a protective cover drive motor, a transmission mechanism, a limit sensor;

the protective cover is used for protecting the sensor euphotic layer;

the protective cover driving motor is used for driving the transmission mechanism to transmit;

the transmission mechanism is used for connecting the protective cover and the protective cover driving motor and driving the protective cover to be opened or closed according to the rotation of the protective cover driving motor;

the limiting sensor is arranged on the protective cover and used for feeding back a state signal to the embedded controller when the protective cover moves to a limiting position, so that the embedded controller controls the protective cover to drive the motor to rotate according to the state signal.

A third aspect of the present application provides an electronic device comprising:

a processor; and

a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.

A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method as described above.

The technical scheme provided by the application can comprise the following beneficial effects:

according to the technical scheme, whether dust and mist removal is needed or not can be determined according to the image quality of the image shot by the sensor, and if the image quality of the image is smaller than a set threshold value, a dust and mist removal signal is output to control the gas source equipment to output gas; and heat treating the gas; and (4) carrying out dust removal and demisting on the euphotic layer of the processed gas impact sensor. Like this, need not to add the heater strip that the interval was arranged inside the euphotic layer, can reduce the cost to sensor euphotic layer dust removal defogging, carry out non-contact's dust removal defogging to the sensor euphotic layer through heating gas, the sensor is not sheltered from to the clean process, can be when the aircraft travel synchronous clean sensor euphotic layer, realize good dust removal defogging effect for the sensor can continuously obtain the good image of image quality, more helps the safety of traveling.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application, as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic flow chart illustrating a sensor de-dusting and de-misting treatment method according to an embodiment of the present disclosure;

FIG. 2 is another schematic flow chart of a sensor dedusting and demisting treatment method according to an embodiment of the present disclosure;

FIG. 3 is another schematic flow chart of a sensor de-dusting and de-misting treatment method according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a sensor dedusting and demisting treatment system according to an embodiment of the present application;

FIG. 5 is a schematic view of another embodiment of a sensor de-dusting and de-misting treatment system according to the present disclosure;

FIG. 6 is a schematic structural diagram of a guard of the sensor dust and mist removal processing system according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of an annular nozzle of a sensor dedusting and demisting treatment system according to an embodiment of the present application;

FIG. 8 is a schematic gas flow diagram of an annular showerhead of a sensor de-dusting and de-misting treatment system according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of the installation of the annular nozzle of the dedusting and defogging device according to the embodiment of the present application;

FIG. 10 is a schematic view of an installation structure of an annular nozzle of the dedusting and defogging device according to the embodiment of the present application;

fig. 11 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The embodiment of the application provides a sensor dust removal defogging processing method, can more simply realize carrying out the dust removal defogging to the sensor euphotic layer, realizes good dust removal defogging effect.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a sensor dust removal and defogging treatment method according to an embodiment of the present application.

Referring to fig. 1, a dust removal and defogging treatment method for a sensor includes:

in step S101, an image captured by a sensor of the aircraft is acquired.

An aircraft such as a flying automobile acquires surrounding environment data according to a camera, a laser radar and other sensors, and intelligent driving is completed according to the environment data. The aircraft may capture images via a sensor and an autopilot controller of the aircraft obtains images captured by the sensor, such as a camera.

In step S102, if the image quality of the image is less than the set threshold, a dust removal and defogging signal is output to control the air source device to output air.

An autopilot controller of the aircraft determines whether dust and mist removal is required based on the image quality of the images captured by the sensors. And if the automatic driving controller judges that the image quality of the acquired image is less than a set threshold value, the automatic driving controller outputs a dedusting and demisting signal to control the gas source equipment to be started and output gas.

In this step, the activated carbon material may be disposed in the gas source device to dehumidify and remove dust from the gas, and then the gas source device outputs the gas. The activated carbon material can be a dust removal and dehumidification rod core, and impurities such as dust, water vapor and the like in the entering gas are removed, so that the gas entering the heating module is dry and dustless, and the dust removal and defogging effects of the dust removal and defogging device are improved.

In step S103, the gas is subjected to a heating process.

The gas source equipment can input the output gas into the heating module, and the heating module is used for heating the gas.

In step S104, the processed gas impacts the light-transmitting layer of the sensor to remove dust and mist.

After the gas is heated, the gas with set pressure and set temperature enters the injection module, so that the injection module can inject hot high-speed airflow to the sensor euphotic layer, and the hot high-speed airflow impacts the sensor euphotic layer to remove dust and mist.

In the embodiment of the application, whether dust removal and demisting are needed or not can be determined according to the image quality of the image shot by the sensor, and if the image quality of the image is less than a set threshold value, a dust removal and demisting signal is output to control the gas source equipment to output gas; and heat treating the gas; and (4) carrying out dust removal and demisting on the euphotic layer of the processed gas impact sensor. Like this, need not to add the heater strip that the interval was arranged inside the euphotic layer, can reduce the cost to sensor euphotic layer dust removal defogging, carry out non-contact's dust removal defogging to the sensor euphotic layer through heating gas, the sensor is not sheltered from to the clean process, can be when the aircraft travel synchronous clean sensor euphotic layer, realize good dust removal defogging effect for the sensor can continuously obtain the good image of image quality, more helps the safety of traveling.

Fig. 2 is another schematic flow chart of a sensor dust removal and defogging treatment method according to an embodiment of the present application. Fig. 2 describes the solution of the present application in more detail with respect to fig. 1.

Referring to fig. 2, a dust removal and defogging treatment method for a sensor includes:

in step S201, the autopilot controller acquires an image captured by a sensor of the aircraft.

An aircraft such as an aerocar can select different driving modes to realize different driving states. For example, the flying mode is selected, so that the flying automobile can realize the flying state; and the land navigation mode is selected, so that the aerocar can realize a land driving state. When the hovercar is in a flying state, the automatic driving controller can acquire surrounding environment data according to images shot by sensors such as a camera and a laser radar, and intelligent driving is completed according to the environment data. The flying automobile in the flying state can acquire images shot by a sensor such as a camera in real time through an automatic driving controller.

In step S202, the automatic driving controller determines whether the image quality of the image is less than a set threshold, performs step S203 if the image quality of the image is less than the set threshold, and returns to step S201 if the image quality of the image is greater than or equal to the set threshold.

The automatic driving controller may detect the image quality of the image in real time, determine whether the image quality of the image is less than a set threshold, execute step S203 if the image quality of the image is less than the set threshold, and return to step S201 if the image quality of the image is greater than or equal to the set threshold, indicating that dust removal and defogging are not required.

The automatic driving controller may detect the image quality of the image based on an image processing algorithm. The image processing algorithm may be in an online manner or an offline manner, etc. The image processing algorithm may adopt an algorithm used in the related art, such as an image binarization algorithm, a histogram processing algorithm, and the like, and the embodiments of the present application are not limited.

In step S203, the automatic driving controller outputs a dust removal defogging signal to the embedded controller, and step S204 is performed.

The automatic driving controller in the embodiment of the application can judge whether to send out a dedusting and demisting signal based on an image processing algorithm according to the image quality shot by the camera, starts a dedusting and demisting program when judging that the image quality is less than a set threshold value, and outputs the dedusting and demisting signal to the embedded controller. The automatic driving controller and the embedded controller can carry out information bidirectional transmission, and the automatic driving controller can inquire and write in relevant information such as start and stop states of the protective cover, the heating module and the air source equipment (air pump) from the embedded controller.

In step S204, the autopilot controller determines whether the protective hood is open, and if not, executes step S205, and if open, executes step S206.

The automatic driving controller can simultaneously inquire and judge the opening and closing state of the protective cover in parallel when sending a dedusting and demisting signal to the embedded controller.

The sensor euphotic layer is provided with a protective cover for protecting the sensor euphotic layer. And when the protective cover is opened or closed and moves to a limited position, the limit inductor feeds back a state signal to the embedded controller. The automatic driving controller can obtain the state information whether the protective cover is opened or not through the state signal fed back by the embedded controller. And the automatic driving controller judges whether the protective cover is opened or not according to the acquired state information of the protective cover, if the protective cover is not opened, the step S205 is executed, and if the protective cover is opened, the step S206 is executed.

In step S205, the autopilot controller notifies the embedded controller to open the shield.

In the step, the automatic driving controller outputs a protective cover opening signal to the embedded controller; the embedded controller receives a protective cover opening signal and inputs the protective cover opening signal to the driver; the driver drives the protective cover driving motor to rotate according to the input protective cover opening signal, drives the transmission mechanism to transmit, and drives the protective cover to be opened through the transmission mechanism.

In step S206, the embedded controller controls the gas source device to output gas according to the received dust removal and defogging signals.

The embedded controller receives the dust removal and demisting signals output by the automatic driving controller and outputs the dust removal and demisting signals to the driver; the driver starts the air source device to output air with set pressure according to the dedusting and demisting signal.

The air supply device may be a pressurized air pump. After the pressurization air pump is started by the driver, the air is pumped into the pressurization air pump to be pressurized, and the air with the set pressure is output through the air outlet pipeline. It should be noted that, a dust removal and dehumidification rod core made of but not limited to activated carbon may be disposed in the air inlet pipe of the pressurized air pump to remove impurities such as dust, water vapor and the like in the air entering the pressurized air pump, so that the air entering the pressurized air pump is dry and dustless, thereby improving the dust removal and mist removal effects of the dust removal and mist removal device and prolonging the service life of the pressurized air pump.

The air source device can also be a compressed air tank which outputs air with set pressure after being started by the driver. It should be noted that, a dust removal and dehumidification rod core made of but not limited to activated carbon can be arranged in the pipeline to remove impurities such as dust and water vapor in the inlet gas, so that the inlet gas into the heating module is dry and dustless, thereby improving the dust removal and defogging effects of the dust removal and defogging device.

In step S207, the embedded controller controls the heating module to heat the gas output from the gas source device to a hot dry gas.

The embodiment of the application can further provide a heating module for heating the gas. The embedded controller receives the dust removal defogging signal output by the automatic driving controller, and then controls the heating module to start, and the heating module heats the gas output from the gas source equipment and entering the heating module, so that the gas becomes hot dry gas with a set temperature.

In step S208, the injection module performs speed increasing processing on the gas heated by the heating module, then performs dust removal and defogging on the light-transmitting layer of the gas impact sensor, and then returns to step S201.

And the dry and dust-free gas treated by the heating module and having the set temperature and the set pressure enters the injection module. The spraying module can be a spray head or an air knife, air is blown out through the spray head or the air knife to form high-speed air flow, and the high-speed air flow impacts a sensor euphotic layer to remove dust and mist from the sensor euphotic layer.

Wherein the spray head may be an annular spray head. The annular nozzle comprises a plurality of air outlets, the air outlets are circumferentially arranged on the inner side of the annular nozzle, the annular nozzle is installed in the front of the sensor euphotic layer, and the annular nozzle sprays gas to the sensor euphotic layer through the air outlets to form a high-speed airflow impact sensor euphotic layer to remove dust and mist to the sensor euphotic layer.

The annular shower nozzle is equipped with inlet port and venthole, and a plurality of ventholes of annular shower nozzle inboard can be a plurality of flat ventholes, and a plurality of flat ventholes can increase gaseous outflow speed at the inboard circumference align to grid of annular shower nozzle, make a plurality of flat ventholes spout and be conical annular air current to the gas of sensor euphotic layer, form the impact to the sensor euphotic layer, are favorable to the dust and the fog of clean euphotic layer.

The annular spray head can be round or rectangular, wherein the shape of the annular spray head can be designed according to the shape of the light transmission layer of the sensor.

The annular nozzle can also be replaced by other nozzles, for example, a plurality of industrial air knives are used for replacing the annular nozzle, the industrial air knives are uniformly distributed around the light transmitting layer of the sensor, the air sprayed to the light transmitting layer of the sensor by the industrial air knives is conical annular air flow, impact is formed on the light transmitting layer of the sensor, and dust and mist removal is performed on the light transmitting layer of the sensor. Or, the pipeline that also can adopt many to have flat export replaces the shower nozzle with the pipeline that will have flat export, with the flat export evenly distributed of many pipelines around the sensor euphotic layer, makes many pipelines pass through flat export and jets gas to the sensor euphotic layer simultaneously, forms conical annular air current, forms the impact to the sensor euphotic layer, removes dust and defogging to the sensor euphotic layer.

It should be further noted that, in the process of performing dust removal and defogging on the light-transmitting layer of the sensor, the automatic driving controller of the hovercar can continuously obtain the newly-captured image which is obtained again, can continuously judge the image quality of the newly-captured image which is obtained again, and can send a signal for stopping dust removal and defogging to the embedded controller if the image quality of the newly-captured image which is obtained again is judged to be greater than or equal to the set threshold value; the embedded controller receives the signal for stopping dust removal and demisting and outputs the signal for stopping dust removal and demisting to the driver; and the driver controls the air source equipment to be closed according to the signal for stopping dust removal and demisting.

Fig. 3 is another schematic flow chart of a sensor dust removal and defogging treatment method according to an embodiment of the present application. Fig. 3 describes the solution of the present application in more detail with respect to fig. 2.

Referring to fig. 3, a dust and mist removing treatment method for a sensor includes:

in step S301, the autopilot controller acquires an image captured by a sensor of the aircraft.

This step can be referred to the description of step S201, and is not described herein again.

In step S302, the automatic driving controller determines whether the image quality of the image is less than a set threshold, performs step S303 if the image quality of the image is less than the set threshold, and returns to step S301 if the image quality of the image is greater than or equal to the set threshold.

This step can be referred to the description of step S202, and is not described herein again.

In step S303, the automatic driving controller outputs a dust removal defogging signal to the embedded controller, and then performs step S304.

This step can be referred to the description of step S203, and is not described herein.

In step S304, the automatic driving controller determines whether the protection cover is opened, and if not, performs step S305, and if so, performs step S306.

This step can be referred to the description of step S204, and is not described herein again.

In step S305, the autopilot controller notifies the embedded controller to open the shield.

This step can be referred to the description of step S205, and is not described herein again.

In step S306, the embedded controller controls the gas source device to output gas according to the received dust removal and defogging signals.

This step can be referred to the description of step S206, and is not described herein again.

In step S307, the embedded controller controls the heating module to heat the gas output from the gas source device to a hot dry gas.

This step can be referred to the description of step S207, and is not described herein again.

In step S308, the injection module performs acceleration processing on the gas heated by the heating module, then performs dust removal and defogging on the light-transmitting layer of the gas impact sensor, and then returns to step S301.

This step can be referred to the description of step S208, and is not described herein.

In step S309, the autopilot controller determines whether the aircraft state is still in flight, and if not, performs step S310, and if in flight, performs step S311.

Generally speaking, if the aircraft is not in flight, the sensor enters a non-working state, and the protective cover of the sensor needs to be closed; wherein the sensor entering an inoperative state comprises the aircraft being stationary or the aircraft traveling on land. That is, the aircraft's sensors will be in an inoperative state when the aircraft is in a stopped state or a land-based driving state.

In the step, the automatic pilot controller can obtain the working state of the aircraft through the embedded controller, and judges whether the aircraft is in the flying state or not according to the working state.

In step S310, the autopilot controller notifies the embedded controller to close the shield.

The automatic driving controller can output a protective cover closing signal to the embedded controller; the embedded controller receives the protective cover closing signal and outputs the protective cover closing signal to the driver; the driver drives the protective cover driving motor to rotate according to the protective cover closing signal, drives the transmission mechanism to transmit, and drives the protective cover to close through the transmission mechanism. The closed protective cover can effectively protect the euphotic layer of the sensor in the non-working state of the sensor.

And the protective cover for protecting the euphotic layer of the sensor is arranged in front of the annular spray head. The protective cover can be in a shell shape or a plate shape, the protective cover is provided with a sliding guide rail, and the protective cover can slide under the action of the sliding guide rail under the driving of the transmission mechanism, so that the protective cover can be opened or closed.

In step S311, the automatic driving controller acquires the image newly captured by the sensor again while maintaining the open state of the protection cover, and returns to step S302.

After the newly shot image of the sensor is obtained again, the image quality of the newly shot image obtained again can be continuously judged, and if the image quality of the newly shot image obtained again is judged to be larger than or equal to the set threshold value, a signal for stopping dust removal and demisting can be sent to the embedded controller; the embedded controller receives the signal for stopping dust removal and demisting and outputs the signal for stopping dust removal and demisting to the driver; and the driver controls the air source equipment to be closed according to the signal for stopping dust removal and demisting.

In summary, in the embodiment of the application, whether dust and fog removal is needed or not may be determined according to the image quality of an image captured by a sensor of an aircraft, and if the image quality of the image is less than a set threshold, a dust and fog removal signal is output to control an air source device to output air; drying and dedusting the gas, and starting a heating module to heat the gas to obtain dust-free dry gas with set pressure and set temperature; and then the gas is blown out by the spray head or the air knife to form high-speed annular airflow to impact the sensor euphotic layer, so that non-contact dust removal and demisting are realized. Like this, need not to add the heater strip that the interval was arranged inside the euphotic layer, reduced the cost to the dust removal defogging of sensor euphotic layer, clean process does not shelter from the sensor moreover, can be when the aircraft travel clean the sensor euphotic layer in step, realizes good dust removal defogging effect for the sensor can continuously obtain the good image of image quality, more helps the safety of traveling.

Furthermore, in the embodiment of the application, if the image quality of the newly-shot image obtained again is greater than or equal to the set threshold value, the dedusting and demisting stopping signal is output, so that the air source equipment is closed, the gas is stopped being heated, the consumption of energy sources can be reduced, and unnecessary energy consumption is avoided.

The sensor dedusting and demisting processing method in the embodiment of the application is described in detail above, and correspondingly, the embodiment of the application also provides a sensor dedusting and demisting processing system.

Fig. 4 is a schematic structural diagram of a sensor dust and mist removal processing system according to an embodiment of the present application.

Referring to fig. 4, the sensor dedusting and demisting processing system comprises an automatic driving controller 300, an embedded controller 400, an air supply device 500, a heating module 600 and an injection module 700.

And the automatic driving controller 300 is used for acquiring the image shot by the sensor of the aircraft, and outputting a dedusting and demisting signal to the embedded controller 400 if the image quality of the image is less than a set threshold value.

And the embedded controller 400 is used for receiving the dust removal and demisting signals output by the automatic driving controller 300 and controlling the gas source equipment 500 to output gas.

And a gas source device 500 for outputting gas under the control of the embedded controller 400.

And the heating module 600 is used for heating the gas output by the gas source equipment 500.

And the injection module 700 is used for performing dust removal and demisting on the gas impact sensor euphotic layer processed by the heating module 600.

The autopilot controller 300, the embedded controller 400, the air supply device 500, the heating module 600, and the injection module 700 may be connected by wire or wirelessly. In the flying and driving process of the aircraft, the automatic driving controller 300 acquires an image shot by a camera; judging whether the image quality of the image is less than a set threshold value, if so, outputting a dedusting and demisting signal to the embedded controller 400 by the automatic driving controller 300; the embedded controller 400 controls the air supply device 500 to output air with a set pressure, and the autopilot controller 300 also controls the heating module 600 to heat the air output by the air supply device 500 to make the air have a set temperature before entering the injection module 700. The gas with the set pressure and the set temperature enters the injection module 700, so that the injection module 700 can inject hot high-speed airflow to the sensor light-transmitting layer, and the hot high-speed airflow impacts the sensor light-transmitting layer to remove dust and mist.

As can be seen from this example, in the embodiment of the present application, whether dust removal and defogging are needed may be determined according to the image quality of an image captured by a sensor of an aircraft, and if the image quality of the image is less than a set threshold, a dust removal and defogging signal is output to control an air source device to output air; and heat treating the gas; and (4) carrying out dust removal and demisting on the euphotic layer of the processed gas impact sensor. Like this, need not to add the heater strip that the interval was arranged inside the euphotic layer, can reduce the cost to sensor euphotic layer dust removal defogging, carry out non-contact's dust removal defogging to the sensor euphotic layer through heating gas, the sensor is not sheltered from to the clean process, can be when the aircraft travel synchronous clean sensor euphotic layer, realize good dust removal defogging effect for the sensor can continuously obtain the good image of image quality, more helps the safety of traveling.

Fig. 5 is another schematic structural diagram of a sensor dust and mist removal processing system according to an embodiment of the present disclosure.

Referring to fig. 5, the sensor dedusting and demisting processing system comprises an automatic driving controller 300, an embedded controller 400, an air supply device 500, a heating module 600, a spraying module 700, a driver 800 and a protection device 900.

The functions of the autopilot controller 300, the embedded controller 400, the air supply device 500, the heating module 600, and the injection module 700 can be referred to the description in fig. 4, and are not described in detail here.

And a driver 800 for starting the air supply device 500 and controlling the opening and closing of the protection cover according to the dust removal and defogging signals transmitted by the embedded controller 400.

The embedded controller 400 receives the dust removal and defogging signal output by the driving controller 300 and outputs the dust removal and defogging signal to the driver 800; the driver 800 starts the air source device 500 to output the air with the set pressure according to the dust removal and defogging signal.

If the automatic driving controller 300 judges that the image quality of the newly-shot image acquired again is greater than or equal to the set threshold value, outputting a dust-removal-stopping defogging signal to the embedded controller 400, receiving the dust-removal-stopping defogging signal output by the driving controller 300 by the embedded controller 400, and outputting the dust-removal-stopping defogging signal to the driver 800; the driver 800 controls the air source device 500 to stop outputting the air according to the signal for stopping dedusting and demisting.

If the automatic driving controller 300 determines that the shield is not opened, it outputs a shield opening signal to the embedded controller 400 while outputting a dust removal defogging signal to the embedded controller 400; the embedded controller 400 receives the shield opening signal and inputs the shield opening signal to the driver 800; the driver 800 drives the shield driving motor to rotate according to the shield opening signal, drives the transmission mechanism to transmit, and drives the shield to be opened through the transmission mechanism.

If the autopilot controller 300 determines that the aircraft is not in flight, the sensor is not in operation, and the autopilot controller 300 may output a shield closure signal to the embedded controller 400 at this time; the embedded controller 400 receives the shield closing signal and outputs the shield closing signal to the driver 800; the driver 800 drives the shield to rotate according to the shield closing signal, drives the transmission mechanism to transmit, and drives the shield to close through the transmission mechanism.

In one embodiment, the air supply 500 may be a pressurized air pump 5001. Dust-removing and dehumidifying rod core 5002 may also be added to pressurized air pump 5001. The embedded controller 400 receives the dust removal and defogging signal output by the driving controller 300 and outputs the dust removal and defogging signal to the driver 800; the driver 800 starts the pressurized air pump 5001 according to the dedusting and demisting signals; the pressurization air pump 5001 pumps air into the pressurization air pump 5001 to pressurize the air, and outputs the air having a set pressure to the heating module 600 through the air outlet pipe. In addition, a dust-removing and moisture-removing rod core 5002 made of activated carbon can be arranged in the air inlet pipeline of the pressurized air pump 5001, so that impurities such as dust, water vapor and the like in the air entering the pressurized air pump can be removed, the air entering the pressurized air pump 5001 is dry and dustless, the dust-removing and mist-removing effects of the dust-removing and mist-removing device can be improved, and the service life of the pressurized air pump can be prolonged. The pressurization air pump 5001 pressurizes the gas to make the gas have a set pressure, and the gas having the set pressure enters the heating module 600, and the heating module 600 heats the gas to make the gas have a set temperature.

The protection device 900 includes a protection cover 901, a protection cover driving motor 902, a transmission mechanism 903, and a limit sensor 904 (shown in fig. 6). The structure of the guard 900 can be seen in fig. 6, and fig. 6 is a schematic structural diagram of the guard of the sensor dust and mist removal processing system according to the embodiment of the present application.

And the protective cover 901 is used for protecting the light transmission layer of the sensor.

And the protective cover driving motor 902 is used for rotating under the driving of the driver 800 to drive the transmission mechanism 903 to transmit.

And the transmission mechanism 903 is used for connecting the protective cover 901 with the protective cover driving motor 902, and driving the protective cover 901 to open or close according to the rotation of the protective cover driving motor 902.

The limit sensor 904 is mounted on the shield 901, and configured to feed back a status signal to the embedded controller 400 when the shield 901 is opened or closed and moves to a limit position, so that the embedded controller 400 controls the shield driving motor 902 through the driver 800 according to the status signal.

A shield 901 protecting the transparent layer of the sensor may be installed in front of the spray head or the air knife. The protective cover 901 may be in a shell shape or a plate shape, the protective cover 901 is provided with a sliding guide rail 9011, and under the driving of the transmission mechanism 903, the protective cover 901 may slide under the action of the sliding guide rail 9011, so as to realize the opening or closing of the protective cover 901. When the sensor stops working, the closed protective cover 901 can be closed, so that the light transmission layer of the sensor is effectively protected, and unnecessary energy consumption is avoided.

The shield drive motor 902 may be a counter-rotating motor. The protective cover driving motor 902 can rotate in the forward direction according to the protective cover opening signal of the driver 800 to drive the transmission mechanism 903, and the protective cover 901 is opened through the transmission mechanism 903; the shield driving motor 902 can rotate reversely according to the shield closing signal of the driver 800, drive the transmission mechanism 903, and close the shield 901 through the transmission mechanism 903.

The shield 901 and the shield driving motor 902 are driven by a transmission mechanism 903. The transmission mechanism 903 includes, but is not limited to, a rope transmission mechanism using a steel wire rope, and the rope transmission mechanism includes a transmission rope 9031, a transmission rope pulley 9032, and a transmission rope support point 9033; drive line 9031 is supported by drive line support point 9033. When the protective cover driving motor 902 rotates, the transmission rope pulley 9032 rotates to tighten or loosen the transmission rope 9031; the transmission rope 9031 drives the protection cover 901 to open or close. The rope transmission trajectory of the rope transmission mechanism can be designed as required to reduce the space required by the transmission mechanism 903 and to achieve a compact installation of the transmission mechanism 903. For example, the rope transmission trajectory can be designed according to the remaining space of the nacelle, so that a narrow gap in the nacelle is fully utilized, and the space requirement required by the transmission mechanism 903 is reduced.

It should be noted that the transmission 903 may be a gear transmission or a worm gear transmission.

The two ends of the protective cover 901 can be respectively provided with a limit sensor 904, when the protective cover driving motor 902 rotates and drives the protective cover 901 to open or close through the transmission mechanism 903, and the protective cover 901 moves to a limit position, the limit sensor 904 feeds back a state signal to the embedded controller 400; the embedded controller 400 receives the state signal fed back by the limit sensor 904, controls the shield driving motor 902 to stop through the driver 800, and stops moving the shield 901 to complete the opening or closing of the shield 901.

FIG. 7 is a schematic structural diagram of an annular nozzle of a sensor dedusting and demisting treatment system according to an embodiment of the present application; FIG. 8 is a schematic gas flow diagram of an annular showerhead of a sensor de-dusting and de-misting treatment system according to an embodiment of the present disclosure.

Referring to fig. 7 and 8, in one embodiment, the spray module 700 blows gas through a spray head or a gas knife to form a high velocity gas stream. The spray module 700 includes an annular spray head 701; the annular nozzle 701 comprises an air inlet 7011, a plurality of air outlet 7012 and an annular air passage 7013, wherein the air outlet is circumferentially arranged on the inner side of the annular nozzle 701.

The annular nozzle 701 may be circular or rectangular, and the shape of the annular nozzle 701 may be designed according to the shape of the light-transmitting layer of the sensor. The dust-free dry gas with set pressure and set temperature enters the annular air passage 7013 through the air inlet 7011, the gas in the annular air passage 7013 is sprayed out to the sensor euphotic layer through the plurality of flat air outlet 7012 which are uniformly arranged on the inner side of the annular spray head 701 in the circumferential direction, the outflow speed of the gas can be increased, the gas sprayed to the sensor euphotic layer through the plurality of flat air outlet 7012 is conical annular airflow 7014, impact is formed on the sensor euphotic layer, and dust and mist of the euphotic layer are favorably cleaned.

FIG. 9 is a schematic view of the installation of the annular nozzle of the dedusting and defogging device according to the embodiment of the present application;

fig. 10 is a schematic view of an installation structure of an annular nozzle of the dust and mist removing device according to the embodiment of the application.

Referring to fig. 9 and 10, the annular nozzle 701 is attached to the sensor housing 1001 by a fastener 1003, and the annular nozzle 701 and the fastener 1003 are connected by a connector 1004. The fastener 1003 can be an open-close type annular fastener 1003, the shape of the open-close type annular fastener 1003 is matched with that of the sensor housing 1001, the open-close type annular fastener 1003 is provided with a hinge 1005 and a close switch 1006, the close switch 1006 is opened, the open-close type annular fastener 1003 is sleeved on the sensor housing 1001 through the hinge 1005, the annular spray head 701 is arranged in front of the sensor light-transmitting layer 1002, the axis of the annular spray head 701 is overlapped with that of the sensor light-transmitting layer 1002, the close switch 1006 is closed, and the open-close type annular fastener 1003 is fixed on the sensor housing 1001. Fastener 1003 is equipped with rubber pad 1007 with the one side of sensor housing 1001 contact, and rubber pad 1007 can play the cushioning effect, avoids fastener 1003 to damage the sensor, increases fastener 1003 and sensor housing 1001's frictional force simultaneously, improves the installation stability of fastener 1003 and sensor. The annular spray head 701 is installed in front of the sensor light transmitting layer 1002 through the open-close type annular fastener 1003, so that the annular spray head 701 can be installed quickly, and the installation structure is simple and compact.

The annular shaped spray head 701 may be mounted in front of the radar transparency and the camera transparency, respectively. When the driving controller 300 judges that the image quality of the image shot by the camera is smaller than the set threshold value, the annular spray heads 701 are respectively installed in front of the radar euphotic layer and the camera euphotic layer, can spray dry and dustless gas with set pressure and set temperature to the radar euphotic layer and the camera euphotic layer, and can remove dust and mist to the radar euphotic layer and the camera euphotic layer.

With regard to the system in the above embodiment, the specific manner in which each unit and module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated herein.

Fig. 11 is a schematic structural diagram of an electronic device shown in an embodiment of the present application. The electronic device may be, for example, an autopilot controller or an embedded control of the aircraft, or the like.

Referring to fig. 11, an electronic device 1100 includes a memory 1101 and a processor 1102.

The Processor 1102 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 1101 may include various types of storage units, such as system memory, Read Only Memory (ROM), and permanent storage. The ROM may store, among other things, static data or instructions for the processor 1102 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1101 may comprise any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read only memory), magnetic and/or optical disks, may also be employed. In some embodiments, memory 1101 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

The memory 1101 has stored thereon executable code that, when processed by the processor 1102, may cause the processor 1102 to perform some or all of the methods described above.

Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.

Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the various steps of the above-described methods in accordance with the present application.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.