Underwater spherical detector attachment cleaning device

Abstract

The invention discloses an underwater spherical detector attachment cleaning device, and relates to the field of detectors, the underwater spherical detector attachment cleaning device comprises a full cleaning mechanism, a local cleaning mechanism, an installation driving mechanism and a control module, the full cleaning mechanism and the local cleaning mechanism are assembled below a spherical detector through the installation driving mechanism; the control module is used for judging the cleaning requirement according to the shielding condition of the spherical detector and then issuing a cleaning control command according to the cleaning requirement, and the full cleaning mechanism and the local cleaning mechanism both have two working states, namely a standby state: the cleaning sides of the full cleaning mechanism and the local cleaning mechanism are far away from the surface of the spherical detector; in the cleaning state, the cleaning sides of the full cleaning mechanism and the local cleaning mechanism are in contact and half cover the surface of the spherical detector. The cleaning device has two cleaning modes, namely the comprehensive cleaning mode and the local cleaning mode, the two modes can be switched according to actual cleaning requirements under the control of the control module, the cleaning effect is excellent, energy is saved, and the cleaning device can adapt to and cope with different cleaning requirements.

Description

Technical Field

[0001] The present invention relates to the field of detectors, and particularly to a cleaning device for attachments of an underwater spherical detector. Background Art

[0002] As is well known, a detector refers to a device or instrument that can detect, inspect, or measure a certain substance, phenomenon, or signal. It is often used in fields such as scientific research, exploration, industrial production, medical diagnosis, etc. Common detectors include radar, X-ray detectors, thermal imagers, gas sensors, etc.;

[0003] During the use of the detector, there is a situation where dirt adheres to the surface. Therefore, it is necessary to clean it regularly to ensure the detection effect. For example, the authorized announcement number is CN109454039A, the authorized announcement date is March 12, 2019, and the name is an automatic cleaning structure for a highway monitoring camera. It includes a spherical transparent cover. A servo motor is connected to the middle of the upper end of the spherical transparent cover. One end of the servo motor away from the spherical transparent cover is connected to a rotating shaft. One end of the rotating shaft away from the servo motor is connected to a load-bearing cross plate. By setting a water storage tank and a nozzle, before cleaning the camera, water can be sprayed on the outer surface of the spherical transparent cover to achieve the purpose of wetting the outer surface of the spherical transparent cover. At the same time, a first movable plate and a second movable plate are driven by a biaxial motor to approach the spherical transparent cover to wrap the spherical transparent cover. The servo motor is turned on, and the load-bearing cross plate is driven to rotate through the rotating shaft. A first brush and a second brush will rotate and clean the wet outer surface of the spherical transparent cover to achieve the purpose of cleaning the outer surface of the spherical transparent cover..., and another example is the application publication number CN114630025A, with the name of a spherical camera automatic cleaning device.

[0004] Similar to the above applications, most of the existing cleaning devices install one or more cleaning structures on the surface of the detector that can rotate around the surface of the detector. During use, by controlling these cleaning mechanisms to continuously rotate around the detector, cleaning is achieved. However, this cleaning has a poor cleaning effect. For example, in many cases, only a very small part of its surface is attached with attachments with strong adhesion. Such rotation not only has a relatively average cleaning effect but also is difficult to thoroughly clean the attachments. At the same time, there may be a situation where other parts are contaminated due to cleaning during the cleaning process. Summary of the Invention

[0005] (I) Object of the Invention

[0006] In view of this, the object of the present invention is to provide a cleaning device for attachments of an underwater spherical detector, which has two cleaning modes, namely a full cleaning mode and a partial cleaning mode. The two modes can be switched according to the actual cleaning needs under the control of a control module, not only having excellent cleaning effects but also being relatively energy-saving, and being able to adapt to and cope with different cleaning requirements.

[0007] (2) Technical Solution

[0008] To achieve the above technical purpose, the present invention provides an underwater spherical detector attachment cleaning device, which is installed outside the spherical detector and is used to clean the detection area below the spherical detector. It includes a full cleaning mechanism, a local cleaning mechanism, an installation rotation mechanism, and a control module. The full cleaning mechanism and the local cleaning mechanism are both assembled below the spherical detector through the installation rotation mechanism. The control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector, and then issue a cleaning control command according to the cleaning requirement. Both the full cleaning mechanism and the local cleaning mechanism have two working states, namely: standby state: the cleaning sides of the full cleaning mechanism and the local cleaning mechanism are away from the surface of the spherical detector; cleaning state: the cleaning sides of the full cleaning mechanism and the local cleaning mechanism contact and semi-wrap the surface of the spherical detector. The cleaning side is defined as: the side that contacts the surface of the spherical detector when cleaning the spherical detector. Among them, the installation rotation mechanism can control the full cleaning mechanism and the local cleaning mechanism to rotate and clean around the spherical detector when they are in the cleaning state.

[0009] As a further description of the above technical solution: The installation rotation mechanism includes a fixed ring, a connecting ring, and a rotating ring. Among them, the fixed ring is fixedly sleeved on the waist position of the spherical detector. The connecting ring is fixedly connected to the fixed ring by bolts. A bearing ring is sleeved and installed below the connecting ring. The rotating ring is rotatably assembled below the bearing ring. Among them, a fixing plate is welded to the edge of the fixed ring, a driving rotation motor is installed above the fixing plate, a first gear is installed on the output shaft of the driving rotation motor, a toothed ring is sleeved and installed on the edge of the rotating ring, and the first gear is meshed and connected with the toothed ring.

[0010] As a further description of the above technical solution: The full cleaning mechanism includes a first mounting seat, a first support arm, and a brush seat. The first mounting seat is fixedly installed at the bottom of the rotating ring. The first support arm has an arc-shaped structure. One end of the first support arm is rotatably installed on the first mounting seat through a rotating shaft. A first motor is installed on the first mounting seat. The first motor can drive the first support arm to rotate, so that it can be converted between the two working states. The brush seat is installed on the cleaning side of the first support arm, and brush strips are arranged on the surface of the brush seat.

[0011] As a further description of the above technical solution: A first sliding cavity is circumferentially formed inside the first support arm. The brush seat is movably assembled in the first sliding cavity, and a first elastic member is provided between the inner wall of the first sliding cavity and the brush seat. When the full cleaning mechanism is in the cleaning state through the elastic force of the first elastic member, the brush strips can be pressed against the surface of the spherical detector.

[0012] As a further description of the above technical solution: the full-washing mechanism further includes a limit baffle, one end of which is mounted on the first mounting seat and is used to limit the full-washing mechanism when it is switched to the standby state. When the full-washing mechanism is switched to the standby state, the bottom surface of the limit baffle contacts and engages with the top surface of the first arm, and at least one metal block is mounted on the bottom of the limit baffle;

[0013] The top of the first arm is provided with an opening at a position corresponding to the metal block, the opening extending into the first sliding cavity, and a magnetic sheet is embedded and installed at a position corresponding to the opening on the surface of the brush holder, the magnetic sheet being able to be attracted to the metal block;

[0014] A dirt-cleaning baffle is circumferentially installed on the cleaning side of the first arm, and the brush strip passes through the dirt-cleaning baffle. When the full-wash mechanism is switched to a standby state, the brush holder can be moved by the suction force between the magnetic sheet and the metal block to scrape off the attachment of the brush strip on the dirt-cleaning baffle.

[0015] As a further description of the above technical solution: the local washing mechanism includes a second mounting seat and a second support arm, the second mounting seat is fixedly mounted on the bottom of the swivel, the second support arm adopts an arc-shaped structure, one end of the second support arm is rotatably mounted on the second mounting seat through a rotating shaft, a second motor is installed on the second mounting seat, the second motor can drive the second support arm to rotate so that it can convert between two working states, wherein a second sliding cavity is opened circumferentially inside the second support arm, a sliding seat that can move circumferentially along the second sliding cavity is slidably installed in the second sliding cavity, a brush disc is installed on the cleaning side of the second support arm, the brush disc is connected to the sliding seat, so that the brush disc can move driven by the sliding seat.

[0016] As a further description of the above technical solution: the local washing mechanism also includes a walking assembly, which is used to control the movement of the slide in the second slide cavity, and the walking assembly includes a rack and a second gear, wherein the rack is embedded and installed on the inner wall of the second slide cavity along the circumference of the second slide cavity, the second gear is assembled in the slide, and the second gear is meshed with the rack, and a fourth motor for driving the second gear to rotate is installed in the slide.

[0017] As a further description of the above technical solution: a movable plate is arranged between the brush plate and the slide seat, the brush plate is rotatably installed below the movable plate through a rotating shaft and a bearing, the top of the brush plate is movably connected to the slide seat through a second elastic component, a U-shaped assembly plate is also installed at the upper center position of the movable plate, a third motor is installed on the top of the U-shaped assembly plate, and the third motor is connected to the rotating shaft above the brush plate.

[0018] As a further description of the above technical solution: the control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector, and then issue a cleaning control command according to the cleaning requirement. The control module includes a region construction unit, an attachment detection unit, and a control execution unit. Among them, the region construction unit is used to construct a spherical cleaning model on the surface of the spherical detector, divide the cleaning model into several cleaning regions, and set a position label for each cleaning region. The position label includes the cleaning region position and the region serial number marking the cleaning region position. The attachment detection unit scans the surface through the spherical detector to check whether there is an attachment occlusion condition. If an attachment occlusion condition is found during the scan, the position data information of the occlusion region is obtained. The position data information includes the position label of the occlusion region, and based on the obtained position data information of the occlusion region, the number of attachment occlusion regions and whether there is a correlation in the positions of the occlusion regions are analyzed. Among them, when there are two or more connected region serial numbers in the position data information of the occlusion region, it is determined that there is a correlation in the positions of the occlusion regions. The control execution unit selects to control the operation of the full-cleaning mechanism or the partial-cleaning mechanism based on the analysis of the number of attachment occlusion regions and whether there is a correlation in the positions of the occlusion regions, and cleans the occlusion region until the attachment is removed.

[0019] As a further description of the above technical solution: the method for controlling the full-cleaning mechanism or the partial-cleaning mechanism based on the analysis of the number of attachment occlusion regions and whether there is a correlation in the positions of the occlusion regions includes:

[0020] Preset the occlusion region number threshold as (Q1, Q2), and the connected number threshold in the occlusion region as Q3;

[0021] Obtain the number of occlusion regions and the position information of the occlusion regions, and judge whether there is a correlation between the occlusion regions according to the connection situation of the position labels of the occlusion region position information;

[0022] If there is no correlation between all the occlusion regions and the number of occlusion regions Q ≤ Q2, then generate a first control command, and the control execution unit controls the partial-cleaning mechanism to clean the occlusion region according to the first control command;

[0023] If there is no correlation between all the occlusion regions and the number of occlusion regions Q > Q2, then generate a second control command, and the control execution unit controls the full-cleaning mechanism to clean the occlusion region according to the second control command;

[0024] If there is a correlation between the occlusion regions and the number of occlusion regions Q ≤ Q1, then generate a third control command, and the control execution unit controls the partial-cleaning mechanism to clean the occlusion region according to the third control command;

[0025] If there is a correlation between the occluded areas, and the number of occluded areas is Q1<Q≤Q2, the number of connected areas in the occluded area is Q L ≤Q3, a fourth control command is generated, and the control execution unit controls the local washing mechanism to clean the blocked area according to the first control command;

[0026] If there is a correlation between the occluded areas, and the number of occluded areas is Q1<Q≤Q2, the number of connected areas in the occluded area is Q L >Q3, a fifth control command is generated, and the control execution unit controls the full-washing mechanism to clean the blocked area according to the first control command;

[0027] If there is a correlation between the occluded areas, and the number of occluded areas Q>Q2, a sixth control command is generated, and the control execution unit controls the full washing mechanism to clean the occluded areas according to the sixth control command, where Q is the number of occluded areas detected on the surface of the spherical detector, and Q L The number of connected areas in the occluded area on the surface of the spherical detector is detected, Q1>Q2, Q, Q1, Q2, Q3, Q L All are integers greater than 0.

[0028] In the above technical scheme, the underwater spherical detector attachment cleaning device provided by the present invention has two cleaning modes, namely, a comprehensive cleaning mode and a local cleaning mode. The comprehensive cleaning mode is a sweeping mode, that is, the surface of the spherical detector is fully brushed for multiple times, which is suitable for the situation where the attachment range is large and the adhesion force is small, while the local cleaning mode is a fixed-point brushing mode, which is suitable for the situation where the attachment range is small and the adhesion force is large. The two modes can be switched according to actual cleaning needs under the control of the control module. Not only does it have excellent cleaning effect, but it is also more energy-saving, can be applied to and respond to different cleaning needs, and has an automatic dirt cleaning effect in the full washing mechanism, which solves the problem that after the cleaning operation is completed, the attachments adhere to the surface of the cleaning structure and affect subsequent cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0030] Figure 1 A schematic diagram of the overall structure of the underwater spherical detector attachment cleaning device provided by the present invention;

[0031] Figure 2 A schematic diagram of the installation of a driving mechanism in the underwater spherical detector attachment cleaning device provided by the present invention;

[0032] Figure 3 Schematic diagram of the structure of the full - washing mechanism of the underwater spherical detector attachment cleaning device provided by the present invention when it is in working state;

[0033] Figure 4 Overall structure schematic diagram of the full - washing mechanism of the underwater spherical detector attachment cleaning device provided by the present invention;

[0034] Figure 5 Schematic diagram of the structure when the first arm of the underwater spherical detector attachment cleaning device provided by the present invention is separated from the limit baffle;

[0035] Figure 6 Schematic diagram of the brush base installation structure of the underwater spherical detector attachment cleaning device provided by the present invention;

[0036] Figure 7 Internal structure schematic diagram of the first arm of the underwater spherical detector attachment cleaning device provided by the present invention;

[0037] Figure 8 Overall structure schematic diagram of the partial - washing mechanism of the underwater spherical detector attachment cleaning device provided by the present invention;

[0038] Figure 9 Bottom - surface structure schematic diagram of the partial - washing mechanism of the underwater spherical detector attachment cleaning device provided by the present invention;

[0039] Figure 10 Schematic diagram of the brush disc installation structure of the underwater spherical detector attachment cleaning device provided by the present invention;

[0040] Figure 11 Internal structure schematic diagram of the sliding seat of the underwater spherical detector attachment cleaning device provided by the present invention.

[0041] Figure 12 Control program block diagram of the underwater spherical detector attachment cleaning device D provided by the present invention.

[0042] Description of the Drawings: 1. Spherical detector; 2. Installation and rotation drive mechanism; 20. Fixed ring; 200. Rotation drive motor; 201. Fixed plate; 202. First gear; 21. Connecting ring; 210. Bearing ring; 22. Rotating ring; 220. Toothed ring; 3. Full-washing mechanism; 30. First mounting seat; 31. First motor; 32. Limit baffle; 320. Metal block; 33. First support arm; 330. Opening; 331. First sliding cavity; 332. Brush seat; 333. Dirt-cleaning baffle; 334. Brush strip; 335. Magnetic sheet; 336. First elastic member; 4. Local-washing mechanism; 40. Second mounting seat; 41. Second motor; 42. Second support arm; 420. Second sliding cavity; 421. Slide block; 422. Brush disc; 423. Rack; 424. Second elastic member; 425. Third motor; 426. U-shaped mounting plate; 427. Movable plate; 428. Second gear; 429. Fourth motor. Detailed Implementation Modes

[0043] The following description is merely exemplary in nature and is not intended to limit the present disclosure, its application, and uses. It should be understood that in all these drawings, the same or similar reference numerals indicate the same or similar parts and features. Each drawing only schematically shows the concept and principle of the embodiments of the present disclosure, and does not necessarily show the specific dimensions and their ratios of the embodiments of the present disclosure. In a specific part of a specific drawing, the relevant details or structures of the embodiments of the present disclosure may be illustrated in an exaggerated manner.

[0044] Refer to Figures 1-12: This embodiment provides a technical solution: an underwater spherical detector attachment cleaning device, which is installed outside the spherical detector 1 and is used to clean the detection area below the spherical detector 1. It includes a full-cleaning mechanism 3, a local-cleaning mechanism 4, an installation rotation mechanism 2, and a control module. Both the full-cleaning mechanism 3 and the local-cleaning mechanism 4 are assembled below the spherical detector 1 through the installation rotation mechanism 2. The control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector 1, and then issue a cleaning control command according to the cleaning requirement. The full-cleaning mechanism 3 and the local-cleaning mechanism 4 perform cleaning operations according to the cleaning control command issued by the control module. Both the full-cleaning mechanism 3 and the local-cleaning mechanism 4 have two working states, namely: standby state: the cleaning side of the full-cleaning mechanism 3 and the local-cleaning mechanism 4 is away from the surface of the spherical detector 1; cleaning state: the cleaning side of the full-cleaning mechanism 3 and the local-cleaning mechanism 4 contacts and semi-covers the surface of the spherical detector 1. This can ensure that the cleaning range of the full-cleaning mechanism 3 and the local-cleaning mechanism 4 can cover the entire surface of the detector. The cleaning side is defined as: the side that contacts the surface of the spherical detector 1 when cleaning the spherical detector 1. Among them, the installation rotation mechanism 2 can control the full-cleaning mechanism 3 and the local-cleaning mechanism 4 to rotate and clean around the spherical detector 1 when they are in the cleaning state. This cleaning device has two cleaning modes, namely the full cleaning mode and the local cleaning mode. The full cleaning mode is sweeping cleaning, that is, the surface of the spherical detector 1 is brushed comprehensively multiple times, which is suitable for the case where the attachment range of the attachments is large and the adhesion force is small. The local cleaning mode is fixed-point brushing, which is suitable for the case where the attachment range of the attachments is small and the adhesion force is large. The two modes can be switched according to the actual cleaning needs under the control of the control module, achieving the effects of thorough cleaning and high efficiency, and ensuring the use effect of the spherical detector 1.

[0045] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, the installation rotation mechanism 2 includes a fixed ring 20, a connecting ring 21, and a rotating ring 22. Among them, the fixed ring 20 is fixedly sleeved on the waist position of the spherical detector 1. The connecting ring 21 is fixedly connected to the fixed ring 20 by bolts. A bearing ring 210 is sleeved and installed below the connecting ring 21. The rotating ring 22 is rotatably assembled below the bearing ring 210. Among them, a fixing plate 201 is welded to the edge of the fixed ring 20. A driving rotation motor 200 is installed above the fixing plate 201. A first gear 202 is installed on the output shaft of the driving rotation motor 200. A toothed ring 220 is sleeved and installed on the edge of the rotating ring 22. The first gear 202 is meshed with the toothed ring 220. When the driving rotation motor 200 is running, the first gear 202 runs, and the toothed ring 220 is meshed with the first gear 202. Therefore, the toothed ring 220 rotates synchronously, realizing the effect of the rotating ring 22 and the full-cleaning mechanism 3 and the local-cleaning mechanism 4 installed below the installation rotation mechanism 2 rotating and cleaning.

[0046] This embodiment provides a cleaning device for attachments of an underwater spherical detector. Specifically, in order not to affect the use of the spherical detector 1 when the full cleaning mechanism 3 is in the standby state, the full cleaning mechanism 3 includes a first mounting seat 30, a first arm 33 and a brush seat 332. The first mounting seat 30 is fixedly installed at the bottom of the rotating ring 22. One end of the first arm 33 is rotatably installed on the first mounting seat 30 through a rotating shaft. A first motor 31 is installed on the first mounting seat 30. The first motor 31 can drive the first arm 33 to rotate, enabling it to switch between two working states. The brush seat 332 is installed on the cleaning side of the first arm 33. Brush strips 334 are arranged on the surface of the brush seat 332. When the full cleaning mechanism 3 is in the standby state, the first arm 33 is far away from the surface of the spherical detector 1 and will not block the operation of the spherical detector 1. When the full cleaning mechanism 3 is in the cleaning state, first, the first motor 31 rotates, driving the first arm 33 to rotate until the cleaning side of the first arm 33 comes into contact with and presses tightly against the surface of the spherical detector 1. At this time, the driving and rotating mechanism 2 is installed to rotate, and the first arm 33 rotates around the surface of the spherical detector 1, enabling the brush strips 334 on the first arm 33 to comprehensively clean the surface of the spherical detector 1. In order to ensure that the brush strips 334 can fully fit the surface of the spherical detector 1 in the cleaning state, preferably, the first arm 33 adopts an arc-shaped structure.

[0047] This embodiment provides a cleaning device for attachments of an underwater spherical detector. Specifically, in order to ensure that in the cleaning state, the brush strips 334 can be pressed tightly against the surface of the spherical detector 1 to achieve a better cleaning effect, a first sliding cavity 331 is circumferentially formed inside the first arm 33. The brush seat 332 is movably assembled in the first sliding cavity 331, and a first elastic member 336 is provided between the inner wall of the first sliding cavity 331 and the brush seat 332. Through the elastic force of the first elastic member 336, when the full cleaning mechanism 3 is in the cleaning state, the brush strips 334 can be pressed tightly against the surface of the spherical detector 1. Specifically, the first elastic member 336 adopts a spring or a spring sheet.

[0048] This embodiment provides a cleaning device for attachments of an underwater spherical detector. Specifically, to solve the problem that after the full cleaning mechanism 3 completes the cleaning operation, the attachments adhere to the surface of the brush strip 334 and affect subsequent cleaning, the full cleaning mechanism 3 further includes a limit baffle 32. One end of the limit baffle 32 is installed on the first mounting seat 30 and is used to limit the full cleaning mechanism 3 when it is converted to the standby state. When the full cleaning mechanism 3 is converted to the standby state, the bottom surface of the limit baffle 32 contacts and adheres to the top surface of the first arm 33. At least one metal block 320 is installed at the bottom of the limit baffle 32. An opening 330 is provided at the corresponding position of the top of the first arm 33 for the metal block 320. The opening 330 extends into the first sliding cavity 331. A magnetic sheet 335 is embedded and installed at the corresponding position of the surface of the brush seat 332 and the opening 330. The magnetic sheet 335 can be attracted to the metal block 320. A dirt cleaning baffle 333 is installed circumferentially along the cleaning side of the first arm 33. The brush strip 334 passes through the dirt cleaning baffle 333. With such a structural arrangement, when the full cleaning mechanism 3 is converted to the standby state, the first elastic member 336 can be compressed by the attractive force between the magnetic sheet 335 and the metal block 320. At this time, the brush seat 332 moves, and the brush strip 334 on the brush seat 332 moves backward. The attachments adhering to the brush strip 334 are scraped off on the dirt cleaning baffle 333, achieving the effect of dirt cleaning. When the full cleaning mechanism 3 is converted to the cleaning state, the magnetic sheet 335 is separated from the metal block 320. The brush seat 332 is not affected by the magnetic force and can still maintain close contact with the surface of the spherical detector 1 under the elastic force of the first elastic member 336.

[0049] This embodiment provides a cleaning device for attachments of an underwater spherical detector. Specifically, the local cleaning mechanism 4 includes a second mounting seat 40 and a second arm 42. The second mounting seat 40 is fixedly installed at the bottom of the rotating ring 22. Specifically, the second arm 42 has an arc-shaped structure. One end of the second arm 42 is rotatably installed on the second mounting seat 40 through a rotating shaft. A second motor 41 is installed on the second mounting seat 40. Among them, a second sliding cavity 420 is provided circumferentially inside the second arm 42. A sliding seat 421 that can move circumferentially along the second sliding cavity 420 is slidably installed in the second sliding cavity 420. A brush disc 422 is installed on the cleaning side of the second arm 42. The brush disc 422 is connected to the sliding seat 421, so that the brush disc 422 can move driven by the sliding seat 421. When the second motor 41 operates, it can drive the second arm 42 to rotate, realizing mutual conversion between two working states;

[0050] The local cleaning mechanism 4 further includes a traveling assembly for controlling the movement of the sliding seat 421 within the second sliding cavity 420. The traveling assembly includes a rack 423 and a second gear 428. Among them, the rack 423 is embedded and installed along the circumferential direction of the second sliding cavity 420 on the inner wall of the second sliding cavity 420. The second gear 428 is assembled within the sliding seat 421, and the second gear 428 is meshed and connected to the rack 423. A fourth motor 429 for driving the second gear 428 to rotate is installed within the sliding seat 421. On the brush disc 422, when the fourth motor 429 operates, it can drive the second gear 428 to rotate. Under the meshing action with the rack 423, the sliding seat 421 slides within the second sliding cavity 420, and in cooperation with the driving and rotating mechanism 2, the brush disc 422 installed on the sliding seat 421 can reach any position of the spherical detector 1, achieving the effect of local fixed-point cleaning.

[0051] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, in order to ensure the sufficient fitting effect between the brush disc 422 and the spherical detector 1 during cleaning, a movable plate 427 is provided between the brush disc 422 and the sliding seat 421. The brush disc 422 is rotatably installed below the movable plate 427 through a rotating shaft and a bearing. The upper part of the brush disc 422 is movably connected to the sliding seat 421 through a second elastic member 424. At the central position above the movable plate 427, a U-shaped mounting plate 426 is further installed. A third motor 425 is installed at the top of the U-shaped mounting plate 426, and the third motor 425 is connected to the rotating shaft above the brush disc 422. Specifically, the second elastic member 424 is a spring or a spring piece. When the third motor 425 rotates, it can drive the brush disc 422 to rotate to perform the cleaning operation, and the second elastic member 424 can push the brush disc 422 to press against the surface of the spherical detector 1.

[0052] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, the control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector 1, and then issue a cleaning control command according to the cleaning requirement. The control module includes a region construction unit, an attachment detection unit, and a control execution unit, among which,

[0053] The region construction unit is used to construct a spherical cleaning model on the surface of the spherical detector 1, divide the cleaning model into several cleaning regions, and set position labels for each cleaning region. The position labels include the cleaning region position and the region serial number marking the cleaning region position;

[0054] The attachment detection unit scans and detects the surface through the spherical detector 1 to check whether there is an attachment occlusion condition. If an attachment occlusion condition is found during the scan, it obtains the position data information of the occlusion area. The position data information includes the position label of the occlusion area, and based on the obtained position data information of the occlusion area, it analyzes and obtains the number of occlusion areas of the attachment and whether there is a correlation in the positions of the occlusion areas. Among them, when there are two or more connected area serial numbers in the position data information of the occlusion area, it is determined that there is a correlation in the positions of the occlusion areas.

[0055] Based on the analysis of the number of occlusion areas of the attachment and whether there is a correlation in the positions of the occlusion areas, the control execution unit selects to control the operation of the full-wash mechanism 3 or the partial-wash mechanism 4 to clean the occlusion area until the attachment is removed.

[0056] It should be noted that the control principle of the partial-wash mechanism 4 is as follows: The initial position of the brush disk 422 is fixed, that is, the position before the control command is issued is always located at a fixed point. When the partial-wash mechanism 4 obtains the cleaning control command, according to the cleaning position information included in the cleaning control command, it controls the operation of the fourth motor 429 in the partial-wash mechanism 4 to make the brush disk 422 reach the same horizontal position as the cleaning position, and then controls the rotation of the drive motor 200 in the installation drive mechanism 2 to make it reach the position of the cleaning area, that is, to achieve fixed-point cleaning.

[0057] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, the method for controlling the full-wash mechanism 3 or the partial-wash mechanism 4 based on the analysis of the number of occlusion areas of the attachment and whether there is a correlation in the positions of the occlusion areas includes:

[0058] Preset the occlusion area number threshold as (Q1, Q2), and the connected number threshold in the occlusion area as Q3;

[0059] Obtain the number of occlusion areas and the position information of the occlusion areas, and judge whether there is a correlation between the occlusion areas according to the connection situation of the position labels of the occlusion area position information;

[0060] If there is no correlation between all the occlusion areas and the number of occlusion areas Q ≤ Q2, generate a first control command, and the control execution unit controls the partial-wash mechanism 4 to clean the occlusion area according to the first control command;

[0061] If there is no correlation between all the occlusion areas and the number of occlusion areas Q > Q2, generate a second control command, and the control execution unit controls the full-wash mechanism 3 to clean the occlusion area according to the second control command;

[0062] If there is a correlation between the occlusion areas and the number of occlusion areas Q ≤ Q1, generate a first control command, and the control execution unit controls the partial-wash mechanism 4 to clean the occlusion area according to the third control command;

[0063] If there is a correlation between the occlusion regions, and the number of occlusion regions Q1 < Q ≤ Q2, and the number of connected regions Q in the occlusion regions L ≤ Q3, then a fourth control command is generated to control the execution unit to control the local cleaning mechanism 4 to clean the occlusion regions according to the first control command;

[0064] If there is a correlation between the occlusion regions, and the number of occlusion regions Q1 < Q ≤ Q2, and the number of connected regions Q in the occlusion regions L > Q3, then a fifth control command is generated to control the execution unit to control the full cleaning mechanism 3 to clean the occlusion regions according to the first control command;

[0065] If there is a correlation between the occlusion regions, and the number of occlusion regions Q > Q2, then a sixth control command is generated to control the execution unit to control the full cleaning mechanism 3 to clean the occlusion regions according to the sixth control command, where Q is the number of occlusion regions detected on the surface of the spherical detector 1, and Q L is the number of connected regions in the occlusion regions detected on the surface of the spherical detector 1, Q1 > Q2, and Q, Q1, Q2, Q3, Q L are all integers greater than 0.

[0066] In the foregoing, the exemplary embodiments of the solution proposed by the present disclosure have been described in detail with reference to the preferred embodiments. However, those skilled in the art can understand that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above specific embodiments, and various combinations of the technical features and structures proposed by the present disclosure can be made, without exceeding the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. An underwater spherical detector attachment cleaning device, which is installed outside the spherical detector (1) and is used to clean the detection area below the spherical detector (1), and is characterized in that, It includes a full-washing mechanism (3), a partial-washing mechanism (4), an installation and rotation drive mechanism (2) and a control module. The full-washing mechanism (3) and the partial-washing mechanism (4) are both assembled below the spherical detector (1) through the installation and rotation drive mechanism (2). The control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector (1), and then issue a cleaning control command according to the cleaning requirement. Both the full-washing mechanism (3) and the partial-washing mechanism (4) have two working states, which are respectively: Standby state: The cleaning sides of the full-washing mechanism (3) and the partial-washing mechanism (4) are away from the surface of the spherical detector (1). Cleaning state: The cleaning sides of the full-washing mechanism (3) and the partial-washing mechanism (4) contact and semi-wrap the surface of the spherical detector (1). Among them, when the full-washing mechanism (3) and the partial-washing mechanism (4) are in the cleaning state, the installation and rotation drive mechanism (2) can control the full-washing mechanism (3) and the partial-washing mechanism (4) to rotate around the spherical detector (1) for cleaning.

2. The underwater spherical detector attachment cleaning device according to claim 1, wherein The installation and rotation drive mechanism (2) includes: A fixed ring (20), which is fixedly sleeved on the waist position of the spherical detector (1). A connecting ring (21), which is fixedly connected to the fixed ring (20) by bolts. A bearing ring (210) is sleeved and installed below the connecting ring (21). A rotating ring (22), which is rotatably assembled below the bearing ring (210). Among them, a fixing plate (201) is welded to the edge of the fixed ring (20). A drive motor (200) is installed above the fixing plate (201). A first gear (202) is installed on the output shaft of the drive motor (200). A toothed ring (220) is sleeved and installed on the edge of the rotating ring (22). The first gear (202) is meshed and connected with the toothed ring (220).

3. The underwater spherical detector attachment cleaning device according to claim 2, characterized in that, The full-washing mechanism (3) includes: A first mounting seat (30), which is fixedly installed at the bottom of the rotating ring (22). A first arm (33), which has an arc-shaped structure. One end of the first arm (33) is rotatably installed on the first mounting seat (30) through a rotating shaft. A first motor (31) is installed on the first mounting seat (30). The first motor (31) can drive the first arm (33) to rotate, so that it can be converted between the two working states. A brush seat (332), which is installed on the cleaning side of the first arm (33). Brush strips (334) are arranged on the surface of the brush seat (332).

4. The underwater spherical detector attachment cleaning device according to claim 3, characterized in that, A first sliding cavity (331) is circumferentially formed inside the first arm (33). The brush seat (332) is movably assembled in the first sliding cavity (331). And a first elastic member (336) is arranged between the inner wall of the first sliding cavity (331) and the brush seat (332). When the full-washing mechanism (3) is in the cleaning state through the elastic force of the first elastic member (336), the brush strips (334) can be pressed against the surface of the spherical detector (1).

5. The underwater spherical detector attachment cleaning device according to claim 4, characterized in that, The full-washing mechanism (3) further comprises a limit baffle (32), one end of which is mounted on the first mounting seat (30) and is used to limit the full-washing mechanism (3) when it is switched to a standby state. When the full-washing mechanism (3) is switched to a standby state, the bottom surface of the limit baffle (32) contacts and engages with the top surface of the first support arm (33), and at least one metal block (320) is mounted on the bottom of the limit baffle (32); The top of the first support arm (33) is located at a position corresponding to the metal block (320) and has an opening (330), the opening (330) extends into the first sliding cavity (331), and a magnetic sheet (335) is embedded and installed at a position corresponding to the opening (330) on the surface of the brush holder (332), and the magnetic sheet (335) can be attracted to the metal block (320); A dirt-cleaning stopper (333) is circumferentially mounted on the cleaning side of the first arm (33), and the brush strip (334) passes through the dirt-cleaning stopper (333). When the full-washing mechanism (3) is switched to a standby state, the brush holder (332) can be moved by the suction force of the magnetic sheet (335) and the metal block (320), so that the attached matter of the brush strip (334) is scraped off the dirt-cleaning stopper (333).

6. The underwater spherical detector attachment cleaning device according to claim 1, wherein, The local washing mechanism (4) comprises: A second mounting seat (40) fixedly mounted on the bottom of the rotating ring (22); A second support arm (42) adopts an arc-shaped structure, one end of the second support arm (42) is rotatably mounted on the second mounting seat (40) via a rotating shaft, a second motor (41) is mounted on the second mounting seat (40), and the second motor (41) can drive the second support arm (42) to rotate so that the second support arm (42) can be switched between two working states; A second sliding cavity (420) is circumferentially provided inside the second support arm (42), a sliding seat (421) is slidably installed in the second sliding cavity (420) and can move circumferentially of the second sliding cavity (420), a brush plate (422) is installed on the cleaning side of the second support arm (42), and the brush plate (422) is connected to the sliding seat (421) so that the brush plate (422) can move driven by the sliding seat (421).

7. The underwater spherical detector attachment cleaning device according to claim 6, characterized in that, The local washing mechanism (4) also includes a walking assembly, which is used to control the movement of the slide (421) in the second slide cavity (420), and the walking assembly includes a rack (423) and a second gear (428), wherein the rack (423) is embedded and installed on the inner wall of the second slide cavity (420) along the circumference of the second slide cavity (420), the second gear (428) is assembled in the slide (421), and the second gear (428) is meshed with the rack (423), and a fourth motor (429) is installed in the slide (421) for driving the second gear (428) to rotate.

8. The underwater spherical detector attachment cleaning device according to claim 6, wherein, An active plate (427) is provided between the brush disc (422) and the slide base (421). The brush disc (422) is rotationally mounted below the active plate (427) through the cooperation of a rotating shaft and a bearing. The upper part of the brush disc (422) is movably connected to the slide base (421) through a second elastic member (424). At the central position above the active plate (427), a U-shaped mounting plate (426) is further installed. At the top of the U-shaped mounting plate (426), a third motor (425) is installed. The third motor (425) is connected to the rotating shaft above the brush disc (422).

9. The underwater spherical detector attachment cleaning device according to claim 1, characterized in that, The control module is used to determine the cleaning requirement according to the occlusion condition of the spherical detector (1), and then issue a cleaning control command according to the cleaning requirement. The control module includes a region construction unit, an attachment detection unit, and a control execution unit, where:[[]] The region construction unit is used to construct a spherical cleaning model on the surface of the spherical detector (1), divide the cleaning model into several cleaning regions, and set position tags for each cleaning region. The position tags include the cleaning region position and the region serial number marking the cleaning region position.[[]] The attachment detection unit scans and detects the surface through the spherical detector (1) to check whether there is an attachment occlusion condition. If it is scanned and found that there is an attachment occlusion condition, it obtains the position data information of the occlusion region. The position data information includes the position tag of the occlusion region, and based on the obtained position data information of the occlusion region, it analyzes and obtains the number of occlusion regions of the attachment and whether there is a correlation between the positions of the occlusion regions. Among them, when there are 2 or more connected region serial numbers in the position data information of the occlusion region, it is determined that there is a correlation between the positions of the occlusion regions.[[]] The control execution unit, based on analyzing the number of occlusion regions of the attachment and whether there is a correlation between the positions of the occlusion regions, selects to control the operation of the full cleaning mechanism (3) or the local cleaning mechanism (4) to clean the occlusion region until the attachment is removed.[[]] 10. The underwater spherical detector attachment cleaning device according to claim 9, wherein, The method for controlling the full cleaning mechanism (3) or the local cleaning mechanism (4) based on analyzing the number of occlusion regions of the attachment and whether there is a correlation between the positions of the occlusion regions includes:[[]] Presetting the occlusion region number threshold as (Q1, Q2), and the connected number threshold in the occlusion region as Q3;[[]] Obtaining the number of occlusion regions and the position information of the occlusion regions, and judging whether there is a correlation between the occlusion regions according to the connection situation of the position tags of the occlusion region position information;[[]] If there is no correlation between all the occlusion regions and the number of occlusion regions Q ≤ Q2, a first control command is generated, and the control execution unit controls the local cleaning mechanism (4) to clean the occlusion region according to the first control command;[[]] If there is no correlation between all the occlusion regions and the number of occlusion regions Q > Q2, a second control command is generated, and the control execution unit controls the full cleaning mechanism (3) to clean the occlusion region according to the second control command;[[]] If there is a correlation between the occlusion regions and the number of occlusion regions Q ≤ Q1, a first control command is generated, and the control execution unit controls the local cleaning mechanism (4) to clean the occlusion region according to the third control command;[[]] If there is a correlation between the occluded areas, and the number Q1 of occluded areas < Q ≤ Q2, and the number Q of connected areas in the occluded areas L ≤ Q3, then a fourth control command is generated to control the execution unit to control the local washing mechanism (4) to clean the occluded area according to the first control command; If there is a correlation between the occlusion regions, and the number of occlusion regions Q1 < Q ≤ Q2, and the number of connected regions Q in the occlusion regions L > Q3, then a fifth control command is generated to control the execution unit to control the full-washing mechanism (3) to clean the occlusion regions according to the first control command; If there is a correlation between the occlusion areas and the number of occlusion areas Q > Q2, a sixth control command is generated to control the execution unit to control the full-washing mechanism (3) to clean the occlusion areas, where Q is the number of occlusion areas detected on the surface of the spherical detector (1), Q L is the number of connected areas in the occlusion areas detected on the surface of the spherical detector (1), Q1 > Q2, Q, Q1, Q2, Q3, Q L are all integers greater than 0.

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