Patent Publication Number: US-2023160727-A1

Title: Self-cleaning sensor window devices for mine site equipment and associated systems and methods

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Pat. Application No. 63,281,929, filed Nov. 22, 2021, and titled “SELF-CLEANING SENSOR WINDOW AND ASSOCIATED SYSTEMS AND METHODS,” which is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure generally relates to enclosures for electronics used at the mine site and, in particular embodiments, to self-cleaning sensor windows for mine site equipment and associated methods and systems. 
     BACKGROUND 
     Sensors used at mining sites are exposed to significant amounts of dust, dirt, and other debris. The harsh mining environment can occlude transmissivity of the sensor and cause diminished performance, rendering the sensor inoperable until the sensor transmissibility has been corrected. Often, the harsh environment can cause the sensor to break, requiring full sensor replacement. Thus, sensors are typically considered of limited use at mining sites, in particular when attached to the mining equipment itself (e.g., mining shovel buckets) that are most exposed to the harsh conditions. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Many aspects of the present disclosure can be better understood with reference to the following drawings. The components in the drawings are not necessarily to scale. Instead, emphasis is placed on clearly illustrating the principles of the present disclosure. 
         FIG.  1 A  is an exploded, partially transparent perspective view of a self-cleaning sensor system configured in accordance with embodiments of the present technology. 
         FIG.  1 B  is an assembled, partially transparent perspective view of the sensor enclosure assembly of  FIG.  1 A . 
         FIG.  2    is an isometric view of a self-cleaning sensor window system configured in accordance with embodiments of the present technology. 
         FIG.  3    is an isometric view of a self-cleaning sensor window system configured in accordance with embodiments of the present technology. 
         FIG.  4    is an isometric view of a self-cleaning sensor window system positioned on a mining shovel bucket in accordance with embodiments of the present technology. 
         FIG.  5    is a block diagram of a suitable computer that may employ aspects of the various embodiments of the present technology. 
         FIG.  6    is a block diagram illustrating a suitable system in which aspects of the various embodiments described herein may operate in a networked computer environment. 
     
    
    
     DETAILED DESCRIPTION 
     Aspects of the present disclosure are directed generally to self-cleaning sensor window devices and systems for mine site equipment, such as mining shovel buckets, and associated systems and methods. Self-cleaning sensor window devices configured in accordance with embodiments of the present technology can be stand-alone systems capable of removal from and attachment to sensor assemblies, or can be integrated into a sensor enclosure and/or the sensor itself. Various configurations of such self-cleaning sensor window devices are possible in accordance with the present technology. For example, the self-cleaning sensor window device can be positioned at a suitable location of an enclosure, with respect to one or more sensors, and/or at any suitable angle with respect to a mounting surface. Further, one configuration of the self-cleaning sensor window device may be suitable for use with more than one type or size of sensor and/or can be used for multiple sensors at once. 
     Specific details of several embodiments of the present technology are described herein with reference to  FIG.  1 A -6. The present technology, however, can be practiced without some of these specific details. In some instances, well-known structures and techniques often associated with sensor systems and mining equipment have not been shown in detail so as not to obscure the present technology. The terminology used in the description presented below is intended to be interpreted in its broadest reasonable manner, even though it is being used in conjunction with a detailed description of certain specific embodiments of the disclosure. Certain terms can even be emphasized below; however, any terminology intended to be interpreted in any restricted manner will be overtly and specifically defined as such in this Detailed Description section. 
     The accompanying Figures depict embodiments of the present technology and are not intended to be limiting of its scope. The sizes of various depicted elements are not necessarily drawn to scale, and these various elements can be arbitrarily enlarged to improve legibility. Component details can be abstracted in the Figures to exclude details such as position of components and certain precise connections between such components when such details are unnecessary for a complete understanding of how to make and use the present technology. Many of the details, dimensions, angles, and other features shown in the Figures are merely illustrative of particular embodiments of the disclosure. Accordingly, other embodiments can have other details, dimensions, angles, and features without departing from the spirit or scope of the present technology. 
       FIGS.  1 A and  1 B  are partially schematic perspective views showing a partially exploded view and an assembled view, respectively, of a self-cleaning sensor system  100  (“system 100”) configured in accordance with embodiments of the present technology. The system  100  can be any suitable shape and/or size to accommodate various mounting configurations to mining equipment and/or one or more sensors housed therein. The system  100  includes a sensor housing  110  (also referred to as a “sensor enclosure”) that at least partially encases and/or carries a sensor  130 . The sensor housing  110  can have an opening  112  in which a self-cleaning sensor window device  120  (“device  120 ”) can be installed (compare  FIGS.  1 A and  1 B ). For example, the device  120  can be positioned fully or partially within the opening  112 . In some embodiments, the device  120  is attached to another portion of the sensor housing  110  and/or the sensor  130  itself. In some embodiments, the self-cleaning sensor window device  120  can be integrally formed with the housing  110  itself. The self-cleaning sensor window device  120  includes a window  122  having a front surface  124   a  (also referred to as a “first surface” and an “exterior surface”) facing external to the sensor housing  110  and a back surface  124   b  (also referred to as a “second surface” and an “interior surface”) opposite the front surface  124   a  facing inward toward the sensor  130 . The window  122  is positioned along the signal path of the sensor  130  (e.g., forward of the sensor) such that the sensor  130  can transmit and/or receive signals through the window  122  external to the sensor housing  110 . The device  120  further includes a cleaning assembly  126  (“assembly  126 ”) operably coupled to a controller  130  (also referred to as a “control unit” or a “processing unit”) that causes the cleaning assembly  126  to initiate a self-cleaning function to remove debris from the front surface  124   a , the back surface  124   b , and/or surrounding areas of the window  122 . 
     The sensor  130  can be one or more sensing devices, including cameras that can detect properties of mining material, distance, and/or other parameters that may be useful in a mining environment. For example, the sensor  130  may include one or more of the following: X-Ray Fluorescence (XRF) emitters, XRF detectors, laser distance sensors, ultrasonic distance sensors, lidar distance sensors, multi-spectral imaging cameras, flash tubes, hyperspectral imaging cameras, stereoscopic cameras, other cameras, radiation detectors, electromagnetic detectors, gamma-ray source sensors, optical sensors, and/or other sensor devices. In some embodiments, the sensor  130  can include a multispectral or hyperspectral imaging head as described in U.S. Patent Application No. (Attorney Docket No. 80883-8009.WO00), entitled COMPOSITIONAL MULTISPECTRAL AND HYPERSPECTRAL IMAGING SYSTEMS FOR MINING SHOVELS AND ASSOCIATED METHODS, filed Nov. 22, 2022, and which is incorporated by reference in its entirety. 
     The self-cleaning sensor window device  120  can have dimensions and/or other features that are compatible with one or more types of sensors to allow for the transmission of signals to and from the sensor  130 . For example, the sensor window  122  can have dimensions based, in part, on the sensor(s)  130  with which it is associated, the features of the assembly  120 , the housing  110  to which it is attached, and/or the equipment (e.g., a mining shovel bucket) with which the senor(s)  130  is/are correlated. In some embodiments, the window  122  has a minimum width of 60 mm, a minimum height of 90 mm. In some embodiments, the self-cleaning sensor window device  120  has an overall width of about 150 mm, an overall height of 150 mm or less, and a depth adjacent to the window of no more than 30 mm. The window  122  can have a specified transmittance level suitable for the sensor  130 . For example, the window  122  can be made from a material having a transmittance of at least 0.5 (e.g., 0.6, 0.7, 0.8, 0.9, 1) at any wavelength within a predetermined spectral range. 
     In some embodiments, the window  122  can be made from a material, include a coating, and/or have a geometry that provides a predefined wavelength dispersion, acceptance angle, spectral range and/or other properties. For example, the wavelength dispersion is characterized by the V-Number, V = (n center  - 1)/(n short  - n long ), where n center , n short , and n long  are the refractive indices of the window at three different wavelengths, e.g., n short  is the shortest wavelength and can be in a range from 400 nm to 450 nm, n center  is an intermediate wavelength and can be in a range from 550 nm to 650 nm, and n long  is the longest wavelength and can be in a range from 800 nm to 1000 nm. In some embodiments, the window  122  can be made from a material having a specified V-number and/or wedge angle between the front and back surfaces  124   a ,  124   b  suitable for the sensor  130 . For example, the window  122  can have a V-number of 35 or greater, 45 or greater, and/or other suitable V-number. When the window material has a V-number greater than or equal to 45, the window  122  may also have a wedge angle less than 5 arcmin, and when the window material has a V-number between 35 and 45, the window wedge angle can be less than 1 arcmin. In other embodiments, the window  122  may be made from materials with different optical properties and/or the window can have different wedge angles and/or other dimensions. 
     In some embodiments, the window  122  can be made from a material and/or include a coating that has an angle of incidence between 0° and 20° of the optical surface coating for which the coating is specified, e.g., the transmission properties of the coating is specified for all angles +/- 20° relative the optical axis, or surface normal, of the element to which the coating has been applied. 
     In various embodiments, the window  122  can include one or more permanent or removable coatings on the back surface  124   b  and/or the front surface  124   a . For example, the back surface  124   b  can include an anti-reflective coating, such as a broadband anti-reflective coating with a spectral range having a reflectivity of less than 1.25% in the spectral range of 400 nm to 1000 nm on the surface. 
     The housing  110  can include one or more components made from a rigid and/or robust material (e.g., steal) that can carry the sensor  130  and the device  120 , and can be mounted to any suitable mining equipment, such as mining shovel buckets of mining loading machines, e.g., wire rope shovels, hydraulic shovels, front-end loaders, and the like. The housing  110  can completely or partially enclose the sensor  130 . In some embodiments, the housing  130  may be a fixture does not enclose the sensor  130 , but is instead a fixture to which the sensor  130  and the device  120  can be mounted, and the fixture can then me either positioned in a separate enclosure or directly mounted to the mining equipment. Because the housing  110  is mounted to mining equipment (e.g., the mining shovel bucket that scoops the mining material at the mining site), the housing  110  and the components therein are robust so as to withstand significant shock and vibration. 
     Although the embodiment illustrated in  FIGS.  1 A and  1 B  includes a single sensor  130  and a single self-cleaning sensor device  120 , systems arranged in accordance with the present technology can include multiple sensors positioned within the housing  110 . In such multi-sensor systems, each sensor may have a dedicated self-cleaning sensor window device associated therewith, the self-cleaning sensor window device may include multiple windows corresponding to the multiple sensors, and/or more than one sensor can transmit/receive signals through a single window. 
     The cleaning assembly  126  can include features that increase the transmissivity of a partially or fully occluded window  122 . For example, the assembly  126  may include features (e.g., wipers, blades, sponges, mechanical arms) that wipe debris from the front surface  124   a  of the window  122 , one or more nozzles that spray fluid or gas to remove debris from the front surface  124   a  of the window  122 , a movable film that collects and transports the debris away from the front surface of the window  122  and replaces it with new or renewed film, or any combination thereof. For example, the front surface  124   a  of the window  122  can be covered by a film that, once it collects debris, can be moved away from the front surface  124   a  by rotating spindles that remove the dirty portion of the film and positioning a clean portion of the film in front of the window  122 . In some embodiments, the film can be washed away from the front surface  124   a  (e.g., via liquid or gas nozzles directed at the front surface  124   a ) and a new film can be sprayed onto the window  122 . 
     The self-cleaning sensor window device  120  can receive electrical power from a power unit (not shown) within the housing  110  (e.g., a battery), from a power source on the mining equipment to which it is mounted (e.g., via a wired or wireless connection), and/or the self-cleaning sensor window device  120  can include an on-board power source (e.g., a battery, a solar panel). In various embodiments, the device  120  is compatible with power supplies having 24 VDC, 48 VDC, 120 VAC, and/or any other suitable power supply voltage; 
     The self-cleaning sensor window device  120  can be programmed to automatically clean the window  122  (or multiple windows) based on a predefined protocol and/or on command based on instructions implemented by the controller 140. The controller  140  can be configured to receive and/or transmit digital inputs and outputs for control monitoring, and/or the components of the cleaning assembly  126  itself can receive/ transmit digital signals. In some embodiments, the device  120  can clean the window at user-defined time intervals. In some embodiments, the device  120  can be communicatively coupled (e.g., via a wired or wireless connection with the controller  140 ) to a measurement device of the mining equipment (odometer, run hour counter, etc.) to which it is mounted. In this embodiment, the device  120  can determine, via the controller  140 , when a predefined threshold parameter associated with the measurement device is met (e.g., distance traveled since install or last clean, duration of mining equipment use, time since last use), and the controller  140  can send instructions to trigger a cleaning action via the assembly  126 . In some embodiments, the device  120  can be configured to determine a degree of occlusion of the sensor signal (e.g., X-Ray, laser, ultrasonic, lidar, flash, etc.) and/or the transmissivity of the window  122  using information received from the sensor  130  itself, signals received from a separate sensor operably coupled to the device  120 , and/or signals received from a sensor of the device  120 . Based on the received information, the device  120  can clean the window at a predetermined (user- or supplier-defined) transmissivity level. In some embodiments, the sensor window device  120  may be in communication with external devices, such as portions of the mining equipment and/or user devices (e.g., smart phones, tablets, computers) via a wired or wireless connection (e.g., BLUETOOTH®, Wi-Fi, radio, etc.). 
     In various embodiments, the self-cleaning sensor window device can have different performance modes and forming cleaning and/or relay other information based on the mode. For example, during a startup mode, power is first applied to the device  120 , and the device  120  may self-clean the window  124   a  to a base level of cleanliness (e.g., a predefined transmissivity level, a specific startup cleaning protocol). In startup mode, the device  120  can be capable of removing compacted snow or ice which is directly bonded to the viewing window  122  within a predefined time interval (e.g., 5-15 minutes, less than 5 minutes, more than 15 minutes) and/or capable of removing compacted mud which is directly bonded to the viewing window  122  within a predefined time interval (e.g., 5-15 minutes, less than 5 minutes, more than 15 minutes). 
     The device  120  can also be capable of providing the status of components of the device  120  (e.g., motor life and/or duty cycle, thermal readings, etc.) via the controller  140  to remote devices (e.g., smart phones, computers, tablets, mining management systems) communicatively coupled thereto via a wired or wireless connection. In some embodiments, the device itself can include indicator elements (e.g., LED lights, a screen, audible signals) that indicate the status of the device. In some embodiments, the device can provide a readiness status within a predetermined time after power on (e.g., less than 1 second, 2 seconds, 3 , seconds, 4 seconds, 5 seconds, 30 seconds, 1 minute, any time therebetween). 
     In an operation mode, the self-cleaning sensor window device  120  is either performing a cleaning cycle, within a predefined time period from the last cleaning cycle (e.g., 5 minutes prior, 15 minutes prior, 30 minutes prior), and/or before a predefined threshold operation parameter has been met (e.g., distance since last clean, transmissivity threshold, run time of mining equipment). When the device  120  is in the operation mode, the device allows the sensor  130  to collect data through the window  122  and/or illuminate targets (e.g., via a lighting unit) external to the window  122  for optical devices. The self-cleaning window device  120  can enter a standby mode when the last cleaning cycle was performed greater than a predefined time period (e.g., 30 minutes prior, 1 hour prior). 
     The self-cleaning sensor window device  120  can be sufficiently ruggedized to operate cleaning cycles in the extreme conditions of a mining site, in particular when positioned on mining equipment components used directly in the mine site for removing ore (e.g., on a mining shovel bucket. For example, the device  120  can be operable coupled to and/or ruggedized electrical connectors, can operate in extreme environmental temperature ranges (e.g., -40° C. to +50° C., at or below -40° C., at or above +50° C.), and/or can have an altitude rating suitable for the applicable mining environment. Further, the device  120  can operate during vibration of a predetermined frequency (e.g., 10,000 Hz to 30,000 Hz) for a predetermined time interval (e.g., 2 minutes, 5 minutes, 10 minutes, 30 minutes). In some embodiments, the device  120  can perform functional requirements during a random vibration of 20 Hz to 2,000 Hz. 
     In use, the device  120  can be installed on the buckets of mining loading machines, such as wire rope shoves, hydraulic shovels and front-end loaders, withstand the extreme operating environment (e.g., extreme dirt and dust), and undergo significant shock and vibration, all while automatically cleaning a viewing window so that sensors used in such environments can continue to be used without human intervention. That is, when dirt and dust built up on the sensor window  122 , it can cause the sensor to suffer a loss in performance or render it inoperable. However, the device  120  can clean itself when this occurs to provide a clean viewing window  122  for the sensor  130  without the need for manual cleaning or replacement. This is especially useful as the sensors used on mine site equipment are positioned in locations that are difficult to reach for service and it avoids delays in cleaning that reduce the performance of the sensors. 
       FIG.  2    is an isometric view of a self-cleaning sensor window system  200  (“system 200”) configured in accordance with embodiments of the present technology. The system  200  includes several features generally similar to the system  100  described above with respect to  FIGS.  1 A and  1 B . For example, the system  200  includes a housing  210  carrying a sensor  230  and a self-cleaning sensor window device  220  (“device  220 ”). The device  220  includes a body  221  that couples to the housing  210  and/or the sensor  230  itself, and carries a sensor window (not shown, the sensor  230  being positioned thereon) and a cleaning assembly  226 . The cleaning assembly  226  can include or be operably coupled t a controller (not shown) that is configured to provide instructions for automatically performing a cleaning cycle to remove dirt and debris from the window as described above with respect to  FIGS.  1 A and  1 B . In the illustrated embodiment, the sensor  230  is a distance measuring device (e.g., a laser distance measuring device), though other sensors can be used in conjunction with the device  220 . 
       FIG.  3    is an isometric view of a self-cleaning sensor window system  300  (“system 300”) configured in accordance with embodiments of the present technology. The system  300  includes several features generally similar to the systems  100  and  200  described above with respect to  FIG.  1 A -2. For example, the system  300  includes a housing  310  carrying a sensor  330  and a self-cleaning sensor window device  320  (“device 320”). The device  320  includes a body  321  that couples to the housing  310  and/or the sensor  330  itself, and carries a sensor window  322  and a cleaning assembly  326 . The cleaning assembly  326  can include or be operably coupled t a controller (not shown) that is configured to provide instructions for automatically performing a cleaning cycle to remove dirt and debris from the window as described above with respect to  FIGS.  1 A and  1 B . In the illustrated embodiment, the sensor  330  is a multispectral imaging (“MSI”) camera, though other sensors can be used in conjunction with the device  320 . 
     As shown in  FIGS.  2  and  3   , the housings  210 ,  310  are fixtures, rather than complete enclosures, and can be mounted to a portion of mine site equipment, such as at or near an inlet of a mining shovel bucket, within the cheek of a mining shovel bucket (e.g., for in-cheek sensing). The system  200 ,  300  can also be positioned within an opening of a separate enclosure that partially or fully surrounds the device  210 ,  310  and the sensor  230 ,  330 . 
       FIG.  4    is an isometric view of a self-cleaning sensor window system  400  (“system 400”) positioned on a mining shovel bucket  401  in accordance with embodiments of the present technology. The system  400  can include any of the features of the systems  100 ,  200 ,  300  described above with respect to  FIG.  1 A -3. As shown in  FIG.  4   , the system  400  can be positioned at an upper portion of a mining shovel bucket near the inlet to detect properties of materials and/or other parameters associated with material entering or in the mining shovel bucket. The system  400  can be positioned within the bucket itself (e.g., along the side walls, at the bottom) and/or along other portions associated with the mining shovel bucket. 
       FIG.  5    and the following discussion provide a brief, general description of a suitable computing environment in which aspects of the disclosed system can be implemented. Although not required, aspects and embodiments of the disclosed system will be described in the general context of computer-executable instructions, such as routines executed by a general-purpose computer, e.g., a server or personal computer. Those skilled in the relevant art will appreciate that the various embodiments can be practiced with other computer system configurations, including Internet appliances, hand-held devices, wearable computers, cellular or mobile phones, multi-processor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, mini-computers, mainframe computers and the like. The embodiments described herein can be embodied in a special purpose computer or data processor that is specifically programmed, configured or constructed to perform one or more of the computer-executable instructions explained in detail below. Indeed, the term “computer” (and like terms), as used generally herein, refers to any of the above devices, as well as any data processor or any device capable of communicating with a network, including consumer electronic goods such as game devices, cameras, or other electronic devices having a processor and other components, e.g., network communication circuitry. 
     The embodiments described herein can also be practiced in distributed computing environments, where tasks or modules are performed by remote processing devices, which are linked through a communications network, such as a Local Area Network (“LAN”), Wide Area Network (“WAN”) or the Internet. In a distributed computing environment, program modules or sub-routines may be located in both local and remote memory storage devices. Aspects of the system described below may be stored or distributed on computer-readable media, including magnetic and optically readable and removable computer discs, stored as in chips (e.g., EEPROM or flash memory chips). Alternatively, aspects of the system disclosed herein may be distributed electronically over the Internet or over other networks (including wireless networks). Those skilled in the relevant art will recognize that portions of the embodiments described herein may reside on a server computer, while corresponding portions reside on a client computer. Data structures and transmission of data particular to aspects of the system described herein are also encompassed within the scope of this application. 
     Referring to  FIG.  5   , one embodiment of the system described herein employs a computer  1000 , such as a personal computer or workstation, having one or more processors  1010  coupled to one or more user input devices  1020  and data storage devices  1040 . The computer is also coupled to at least one output device such as a display device  1060  and one or more optional additional output devices  1080  (e.g., printer, plotter, speakers, tactile or olfactory output devices, etc.). The computer may be coupled to external computers, such as via an optional network connection  1100 , a wireless transceiver  1120 , or both. 
     The input devices  1020  may include a keyboard and/or a pointing device such as a mouse. Other input devices are possible such as a microphone, joystick, pen, game pad, scanner, digital camera, video camera, and the like. The data storage devices  1040  may include any type of computer-readable media that can store data accessible by the computer  1000 , such as magnetic hard and floppy disk drives, optical disk drives, magnetic cassettes, tape drives, flash memory cards, digital video disks (DVDs), Bernoulli cartridges, RAMs, ROMs, smart cards, etc. Indeed, any medium for storing or transmitting computer-readable instructions and data may be employed, including a connection port to or node on a network such as a local area network (LAN), wide area network (WAN) or the Internet (not shown in  FIG.  5   ). 
     Aspects of the system described herein may be practiced in a variety of other computing environments. For example, referring to  FIG.  6   , a distributed computing environment with a web interface includes one or more user computers  2020  in a system  2000  are shown, each of which includes a browser program module  2040  that permits the computer to access and exchange data with the Internet  2060 , including web sites within the World Wide Web portion of the Internet. The user computers may be substantially similar to the computer described above with respect to  FIG.  6   . User computers may include other program modules such as an operating system, one or more application programs (e.g., word processing or spread sheet applications), and the like. The computers may be general-purpose devices that can be programmed to run various types of applications, or they may be single-purpose devices optimized or limited to a particular function or class of functions. More importantly, while shown with web browsers, any application program for providing a graphical user interface to users may be employed, as described in detail below; the use of a web browser and web interface are only used as a familiar example. 
     At least one server computer  2080 , coupled to the Internet or World Wide Web (“Web”)  2060 , performs much or all of the functions for receiving, routing and storing of electronic messages, such as web pages, audio signals, and electronic images. While the Internet is shown, a private network, such as an intranet may indeed be preferred in some applications. The network may have a client-server architecture, in which a computer is dedicated to serving other client computers, or it may have other architectures such as a peer-to-peer, in which one or more computers serve simultaneously as servers and clients. A database  2100  or databases, coupled to the server computer(s), stores much of the web pages and content exchanged between the user computers. The server computer(s), including the database(s), may employ security measures to inhibit malicious attacks on the system, and to preserve integrity of the messages and data stored therein (e.g., firewall systems, secure socket layers (SSL), password protection schemes, encryption, and the like). 
     The server computer  2080  may include a server engine  2120 , a web page management component  2140 , a content management component  2160  and a database management component 2180. The server engine performs basic processing and operating system level tasks. The web page management component handles creation and display or routing of web pages. Users may access the server computer by means of a URL associated therewith. The content management component handles most of the functions in the embodiments described herein. The database management component includes storage and retrieval tasks with respect to the database, queries to the database, and storage of data. 
     Further Examples 
     The following examples are illustrative of several embodiments of the present technology:
     1. A self-cleaning sensor system for use on mine site equipment, the self-cleaning sensor system comprising:
   a sensor enclosure having an opening;   a sensor carried by the sensor enclosure; and   a self-cleaning window device coupled to the sensor enclosure and positioned at least partially 
   within the opening, wherein the self-cleaning window device comprises-   a window having a front surface facing external to the sensor enclosure and a back surface facing internal to the sensor enclosure, wherein the window is positioned forward of the sensor to allow the sensor to transmit and/or receive signals through the window; and   a cleaning assembly directed toward the window and configured to clean debris from the front surface of the window; and   a controller operably coupled to the cleaning assembly, wherein the controller is configured to transmit control signals to the cleaning assembly to initiate cleaning of the front surface.   
   
   2. The self-cleaning sensor system of any one of the examples herein wherein the self-cleaning window device is removably attached to the sensor enclosure.   3. The self-cleaning sensor system of any one of the examples herein wherein the self-cleaning window device is integrally formed with the sensor enclosure.   4. The self-cleaning sensor system of any one of the examples herein wherein the cleaning assembly comprises a wiper configured to wipe debris from the front surface of the window.   5. The self-cleaning sensor system of any one of the examples herein wherein the cleaning assembly comprises a nozzle configured to spray fluid to remove debris from the front surface of the window.   6. The self-cleaning sensor system of any one of the examples herein wherein the cleaning assembly comprises a movable film positioned along the front surface of the window, wherein the movable film is configured to collect and transport debris away from a front surface of the window.   7. The self-cleaning sensor system of any one of the examples herein wherein the controller is configured to activate the cleaning assembly at predetermined time intervals.   8. The self-cleaning sensor system of any one of the examples herein wherein the cleaning assembly is operably coupled to a mining equipment device on a mining shovel bucket, and wherein the cleaning assembly is configured to clean the window when a parameter measured by the mining equipment device reaches a parameter threshold.   9. The self-cleaning sensor system of example 8 wherein the mining equipment device comprises an odometer.   10. The self-cleaning sensor system of any one of the examples herein wherein the window has a V-number of at least 35, a wedge angle less than 5 arcmin, and a transmittance of at least 0.5.   11. The self-cleaning sensor system of any one of the examples herein wherein the window comprises a broadband anti-reflection coating on the back surface, and wherein the broadband anti-reflection coating has a reflectivity less than 1.25% in a spectral range between 400 nm and 1000 nm.   12. The self-cleaning sensor system of any one of the examples herein wherein the self-cleaning window device is configured to operate at a vibration frequency between of 30 kHz for 30 minutes.   13. The self-cleaning sensor system of any one of the examples herein wherein the sensor is a multi-spectral imaging camera.   14. The self-cleaning sensor system of any one of the examples herein wherein the sensor is a proximity sensor.   15. A self-cleaning sensor window device, comprising:
   a housing configured to be coupled to a sensor enclosure of a mining shovel bucket;   a window coupled to the housing, the window having an exterior surface and an interior surface, wherein the window is configured to be positioned along a signal path of a sensor to allow the sensor to transmit and/or receive signals therethrough;   a cleaning assembly carried by the housing, wherein the cleaning assembly configured to clean debris from the exterior surface of the window; and   a controller operably coupled to the cleaning assembly, wherein the controller is configured to transmit control signals to the cleaning assembly to initiate cleaning of the exterior surface.   
   16. The self-cleaning sensor window device of any one of the examples herein wherein the controller is configured to compare a transmissivity level of the window to a transmissivity threshold value, and wherein the controller is configured to send instructions to cause the cleaning assembly to clean the exterior surface of the window when the transmissivity level of the window is above the transmissivity threshold value.   17. The self-cleaning sensor window device of any one of the examples herein wherein the controller is configured to second instructions to cause the cleaning assembly to enter a startup mode in which the cleaning assembly is configured to clean the exterior surface of the window to a predefined base cleanliness level, and wherein the startup mode lasts less than 15 minutes.   18. The self-cleaning sensor window device of any one of the examples herein wherein the controller is configured to receive signals related to window cleanliness, and wherein the controller is configured to send instructions to indicate to a user a readiness status of the self-cleaning sensor window device based on the window cleanliness within one minute of powering on.   19. The self-cleaning sensor window device of any one of the examples herein wherein the window comprises a broadband anti-reflection coating on the interior surface, and wherein the broadband anti-reflection coating has a reflectivity less than 1.25% in a spectral range between 400 nm and 1000 nm.   20. The self-cleaning sensor window device of any one of the examples herein wherein the cleaning assembly comprises a light configured to illuminate a region proximate to the exterior surface of the window.   21. The self-cleaning sensor window device of any one of the examples herein wherein the cleaning assembly is configured to operate at a temperature of -40° C.   22. The self-cleaning sensor window device of any one of the examples herein wherein the cleaning assembly is configured to operate at a temperature of 50° C.   23. The self-cleaning sensor window device of any one of the examples herein wherein the cleaning assembly is configured to operate when at a vibration frequency between 10 kHz and 30 kHz for a predetermined time interval of at least 2 minutes.   24. A method of operating a self-cleaning window device positioned on a mining shovel bucket, the method comprising:
   in response to at least one control signal provided by at least one or more controllers: 
   causing a cleaning assembly to clean a front surface of a window to a base cleanliness level during a startup mode, wherein the window is positioned to allow a sensor positioned behind a back surface of the window to receive signals through the window;   in response to receiving a parameter value above a predetermined threshold value, causing the cleaning assembly to clean the front surface of the window.   
   
   25. The method of claim 24, further comprising: 
   determining, via the one or more controllers, a transmissivity level of the window using signals received from the sensor, and   wherein the parameter value is the transmissivity level and the predetermined threshold value is a predetermined transmissivity value.   
   26. The method of claim 24, further comprising causing the cleaning assembly to illuminate a region proximate to the front surface of the window.   27. The method of claim 24, further comprising operating the cleaning assembly at a vibration frequency between 10 kHz and 30 kHz.   28. The method of claim 24 wherein the sensor is a multispectral imaging camera, and wherein the method further comprises imaging a region positioned beyond the front surface of the window with the multispectral imaging camera.   29. The method of claim 24 wherein the sensor is a proximity sensor, and wherein the method further comprises detecting proximity of mining material beyond the front surface of the window with the proximity sensor.   30. The method of claim 24, further comprising:
   mounting the self-cleaning window device on the mining shovel bucket; and   detecting, via the sensor, parameters associated with mining material entering and/or positioned within the mining shovel bucket.   
   

     Conclusion 
     In general, the detailed description of embodiments of the present technology is not intended to be exhaustive or to limit the invention to the precise form disclosed above. While specific embodiments of, and examples for, the present technology are described above for illustrative purposes, various equivalent modifications are possible within the scope of the present technology, as those skilled in the relevant art will recognize. For example, while processes or blocks are presented in a given order, alternative embodiments may perform routines having steps, or employ systems having blocks, in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and/or modified. Each of these processes or blocks may be implemented in a variety of different ways. Also, while processes or blocks are at times shown as being performed in series, these processes or blocks may instead be performed in parallel, or may be performed at different times. 
     Aspects of the present technology may be stored or distributed on computer-readable media, including magnetically or optically readable computer discs, hard-wired or preprogrammed chips (e.g., EEPROM semiconductor chips), nanotechnology memory, biological memory, or other data storage media. Alternatively, computer implemented instructions, data structures, screen displays, and other data under aspects of the present technology may be distributed over the Internet or over other networks (including wireless networks), on a propagated signal on a propagation medium (e.g., an electromagnetic wave(s), a sound wave, etc.) over a period of time, or they may be provided on any analog or digital network (packet switched, circuit switched, or other scheme). Those skilled in the relevant art will recognize that portions of the present technology reside on a server computer, while corresponding portions reside on a client computer such as a mobile or portable device, and thus, while certain hardware platforms are described herein, aspects of the present technology are equally applicable to nodes on a network. 
     The teachings of the present technology provided herein can be applied to other systems, not necessarily the system described herein. The elements and acts of the various embodiments described herein can be combined to provide further embodiments. 
     Any patents, applications and other references, including any that may be listed in accompanying filing papers, are incorporated herein by reference. Aspects of the present technology can be modified, if necessary, to employ the systems, functions, and concepts of the various references described above to provide yet further embodiments of the present technology. 
     These and other changes can be made to the present technology in light of the above Detailed Description. While the above description details certain embodiments of the present technology and describes the best mode contemplated, no matter how detailed the above appears in text, the present technology can be practiced in many ways. Details of the present technology may vary considerably in its implementation details, while still being encompassed by the present technology disclosed herein. As noted above, particular terminology used when describing certain features or aspects of the present technology should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the present technology with which that terminology is associated. In general, the terms used in the following claims should not be construed to limit the present technology to the specific embodiments disclosed in the specification, unless the above Detailed Description section explicitly defines such terms. Accordingly, the actual scope of the invention encompasses not only the disclosed embodiments, but also all equivalent ways of practicing or implementing the present technology.