Underwater spherical probe attachment cleaning device

Abstract

The application discloses an underwater spherical detector attachment cleaning device and relates to the field of detectors.The device comprises a full-washing mechanism, a local-washing mechanism, a mounting driving mechanism and a control module.The full-washing mechanism and the local-washing mechanism are both assembled below the spherical detector through the mounting driving mechanism.The control module is used for determining the cleaning demand according to the shielding condition of the spherical detector, and then issuing a cleaning control command according to the cleaning demand.The full-washing mechanism and the local-washing mechanism both have two working states, which are standby state and cleaning state.The cleaning side of the full-washing mechanism and the local-washing mechanism is away from the surface of the spherical detector in the standby state, and the cleaning side of the full-washing mechanism and the local-washing mechanism contacts and half-wraps the surface of the spherical detector in the cleaning state.The application has two cleaning modes, which are full cleaning mode and local cleaning mode.The two modes can be converted according to the actual cleaning needs under the control of the control module.The cleaning effect is excellent, and the device is relatively energy-saving, and can be suitable for and cope with different cleaning needs.

Description

Technical Field

[0001] This invention relates to the field of detectors, and more particularly to a device for cleaning deposits on underwater spherical detectors. Background Technology

[0002] As is generally known, a detector is a device or instrument that can detect, examine, or measure a substance, phenomenon, or signal. It is commonly used in scientific research, exploration, industrial production, and medical diagnosis. Common detectors include radar, X-ray detectors, thermal imagers, and gas sensors.

[0003] However, detectors can accumulate dirt on their surfaces during use, necessitating regular cleaning to maintain detection effectiveness. For example, authorization announcement number CN109454039A, authorization announcement date March 12, 2019, entitled "An Automatic Cleaning Structure for Highway Monitoring Cameras," includes a spherical transparent cover. A servo motor is connected to the upper center of the spherical transparent cover. A rotating shaft is connected to the end of the servo motor away from the spherical transparent cover. A load-bearing horizontal plate is connected to the end of the rotating shaft away from the servo motor. A water tank and spray nozzles are also included. Before cleaning the camera, water can be sprayed onto the outer surface of the spherical transparent cover to moisten it. At the same time, a dual-axis motor drives the first and second movable plates to approach the spherical transparent cover and wrap it. The servo motor is activated to drive the load-bearing horizontal plate to rotate through the rotating shaft. The first and second brushes will rotate and clean the moistened outer surface of the spherical transparent cover, thus achieving the purpose of cleaning the outer surface of the spherical transparent cover... For example, the application publication number is CN114630025A, named Automatic Cleaning Device for Spherical Cameras.

[0004] As with the aforementioned applications, most existing cleaning devices involve installing one or more cleaning structures that can rotate around the surface of the detector. During use, these cleaning mechanisms are controlled to rotate continuously around the detector to achieve cleaning. However, this type of cleaning has poor cleaning effect. For example, often only a small part of the surface is covered with strongly adhering substances. Such rotation not only results in a mediocre cleaning effect but also makes it difficult to thoroughly clean the adhering substances. In addition, other parts may become contaminated during the cleaning process. Summary of the Invention

[0005] (I) Purpose of the Invention

[0006] In view of this, the purpose of this invention is to propose an underwater spherical detector attachment cleaning device, which has two cleaning modes: 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 the control module. It not only has excellent cleaning effect, but is also energy-efficient and can be adapted to and cope with different cleaning needs.

[0007] (II) Technical Solution

[0008] To achieve the above-mentioned technical objectives, the present invention provides an underwater spherical detector attachment cleaning device, which is installed on the outside of the spherical detector for cleaning the detection area below the spherical detector. It includes a full-wash mechanism, a partial-wash mechanism, a mounting and rotating mechanism, and a control module. Both the full-wash mechanism and the partial-wash mechanism are mounted below the spherical detector via the mounting and rotating mechanism. The control module determines the cleaning requirements based on the obstruction status of the spherical detector and then issues cleaning control commands accordingly. Both the full-wash mechanism and the partial-wash mechanism have two operating states: standby state: the cleaning side of the full-wash mechanism and the partial-wash mechanism is away from the surface of the spherical detector; cleaning state: the cleaning side of the full-wash mechanism and the partial-wash mechanism contacts and partially covers the surface of the spherical detector. The cleaning side is defined as the side in contact with the surface of the spherical detector during cleaning. The mounting and rotating mechanism can control the full-wash mechanism and the partial-wash mechanism to rotate around the spherical detector for cleaning when they are in the cleaning state.

[0009] As a further description of the above technical solution: the installation and driving mechanism includes a fixed ring, a connecting ring, and a rotating ring. 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 on the lower part of the connecting ring. The rotating ring is rotatably assembled below the bearing ring. A fixing plate is welded to the edge of the fixed ring. A driving motor is installed on the upper part of the fixing plate. A first gear is installed on the output shaft of the driving motor. A toothed ring is sleeved on the edge of the rotating ring. The first gear meshes with the toothed ring.

[0010] As a further description of the above technical solution: the full washing mechanism includes a first mounting base, a first support arm, and a brush holder. The first mounting base is fixedly installed at the bottom of the rotating ring. The first support arm adopts an arc-shaped structure. One end of the first support arm is rotatably mounted on the first mounting base via a rotating shaft. A first motor is installed on the first mounting base. The first motor can drive the first support arm to rotate, so that it can switch between two working states. The brush holder is installed on the washing side of the first support arm, and the surface of the brush holder is provided with brush strips.

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

[0012] As a further description of the above technical solution: the full washing mechanism also includes a limiting baffle, one end of which is installed on the first mounting base and 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 limiting baffle contacts and actuates with the top surface of the first support arm. At least one metal block is installed at the bottom of the limiting baffle.

[0013] The top of the first arm has an opening at the corresponding position of the metal block, the opening extends into the first sliding cavity, and a magnetic sheet is embedded in the surface of the brush holder at the corresponding position of the opening, the magnetic sheet being able to attract the metal block;

[0014] A cleaning baffle is installed circumferentially on the cleaning side of the first arm. The brush bar passes through the cleaning baffle. When the full washing mechanism is switched to standby mode, the brush seat can be moved by the attraction force between the magnetic sheet and the metal block, and the adhering material on the brush bar is scraped off on the cleaning baffle.

[0015] As a further description of the above technical solution: the partial washing mechanism includes a second mounting base and a second arm. The second mounting base is fixedly installed at the bottom of the rotating ring. The second arm adopts an arc-shaped structure. One end of the second arm is rotatably mounted on the second mounting base via a rotating shaft. A second motor is installed on the second mounting base. The second motor can drive the second arm to rotate, allowing it to switch between two working states. The second arm has a second sliding cavity circumferentially opened inside. A slide block that can move circumferentially along the second sliding cavity is slidably installed inside the second sliding cavity. A brush plate is installed on the washing side of the second arm. The brush plate is connected to the slide block, allowing the brush plate to move under the drive of the slide block.

[0016] As a further description of the above technical solution: the local washing mechanism also includes a walking component for controlling the movement of the slide block within the second slide cavity. The walking component includes a rack and a second gear, wherein the rack is embedded in the inner wall of the second slide cavity along the circumference of the second slide cavity, the second gear is assembled in the slide block and meshes with the rack, and a fourth motor for driving the second gear to rotate is installed in the slide block.

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

[0018] As a further description of the above technical solution: the control module is used to determine the cleaning requirement based on the occlusion status 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. 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 assign a location label to each cleaning region. The location label includes the location of the cleaning region and a region sequence number marking the location. The attachment detection unit scans the detection surface using the spherical detector to check for the presence of attachments obstructing the surface. Furthermore, if the scan detects obstruction by attached objects, the location data of the obstructed areas is obtained. This location data includes location tags for the obstructed areas. Based on the obtained location data, the number of obstructed areas and the correlation between their locations are analyzed. If one or more area sequence numbers are connected in the location data, it is determined that the locations of the obstructed areas are correlated. Based on the analysis of the number of obstructed areas and the correlation between their locations, the control execution unit selects to control either the full washing mechanism or the partial washing mechanism to clean the obstructed areas until the attached objects are removed.

[0019] As a further description of the above technical solution: Methods for controlling the full-wash or partial-wash mechanism based on analyzing the number of obstructed areas by attached substances and whether there is a correlation between the location of these obstructed areas and the overall structure, include:

[0020] The preset threshold for the number of occluded areas is (Q1, Q2), and the threshold for the number of connected areas within the occluded area is Q3.

[0021] Obtain the number of occluded areas and their location information, and determine whether there is a correlation between the occluded areas based on the connection of their location labels.

[0022] If there is no correlation between all the obscured areas and the number of obscured areas Q≤Q2, then a first control command is generated, and the control execution unit controls the local washing mechanism to clean the obscured areas according to the first control command.

[0023] If there is no correlation between all the obscured areas and the number of obscured areas Q > Q2, then a second control command is generated, and the control execution unit controls the full washing mechanism to clean the obscured areas according to the second control command.

[0024] If there is a correlation between the obscured areas and the number of obscured areas Q≤Q1, then a first control command is generated, and the control execution unit controls the local washing mechanism to clean the obscured areas according to the third control command.

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

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

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

[0028] In the above technical solution, the underwater spherical detector attachment cleaning device provided by the present invention has two cleaning modes: a comprehensive cleaning mode and a partial cleaning mode. The comprehensive cleaning mode is a sweeping wash, which involves multiple comprehensive brushing washes on the surface of the spherical detector. It is suitable for situations where the attachment area is large and the adhesion force is small. The partial cleaning mode is a fixed-point brushing wash, which is suitable for situations where the attachment area 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. It not only has excellent cleaning effect but is also energy-efficient. It can adapt to and cope with different cleaning needs. Furthermore, the comprehensive washing mechanism has an automatic dirt removal effect, 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. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0030] Figure 1 This is 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 drive mechanism installed in the underwater spherical detector attachment cleaning device provided by the present invention;

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

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

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

[0035] Figure 6 A schematic diagram of the brush holder installation structure in the underwater spherical detector attachment cleaning device provided by the present invention;

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

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

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

[0039] Figure 10 A schematic diagram of the brush plate installation structure in the underwater spherical detector attachment cleaning device provided by the present invention;

[0040] Figure 11 A schematic diagram of the internal structure of the slide block in the underwater spherical detector attachment cleaning device provided by the present invention.

[0041] Figure 12 The control program flowchart of the underwater spherical detector attachment cleaning device D provided by the present invention is shown.

[0042] Figure Descriptions: 1. Spherical detector; 2. Mounting and driving mechanism; 20. Fixing ring; 200. Driving motor; 201. Fixing plate; 202. First gear; 21. Connecting ring; 210. Bearing ring; 22. Rotating ring; 220. Gear ring; 3. Full washing mechanism; 30. First mounting base; 31. First motor; 32. Limiting baffle; 320. Metal block; 33. First support arm; 330. Opening; 331. First sliding cavity; 332. Brush holder 333. Cleaning baffle; 334. Brush strip; 335. Magnetic sheet; 336. First elastic component; 4. Partial washing mechanism; 40. Second mounting base; 41. Second motor; 42. Second support arm; 420. Second sliding cavity; 421. Slide seat; 422. Brush disc; 423. Rack; 424. Second elastic component; 425. Third motor; 426. U-shaped assembly plate; 427. Movable plate; 428. Second gear; 429. Fourth motor. Detailed Implementation

[0043] The following description is exemplary in nature and is not intended to limit the scope, application, or use of this disclosure. It should be understood that in all these figures, the same or similar reference numerals indicate the same or similar parts and features. The figures are merely schematic representations of the concept and principles of embodiments of this disclosure and do not necessarily show the specific dimensions and scale of the various embodiments of this disclosure. Certain details or structures of embodiments of this disclosure may be exaggerated in particular portions of certain figures.

[0044] Reference Figure 1-12This embodiment provides a technical solution: an underwater spherical detector attachment cleaning device, which is installed on the outside of the spherical detector 1 and used to clean the detection area below the spherical detector 1. It includes a full-wash mechanism 3, a partial-wash mechanism 4, a mounting and driving mechanism 2, and a control module. Both the full-wash mechanism 3 and the partial-wash mechanism 4 are mounted below the spherical detector 1 via the mounting and driving mechanism 2. The control module determines the cleaning requirements based on the obstruction status of the spherical detector 1 and then issues cleaning control commands accordingly. The full-wash mechanism 3 and the partial-wash mechanism 4 perform cleaning operations according to the cleaning control commands issued by the control module. Both the full-wash mechanism 3 and the partial-wash mechanism 4 have two working states: standby state: the cleaning side of the full-wash mechanism 3 and the partial-wash mechanism 4 is away from the surface of the spherical detector 1; cleaning state: the cleaning side of the full-wash mechanism 3 and the partial-wash mechanism 4 contacts and partially covers the surface of the spherical detector 1, thus... The cleaning range of the full-cleaning mechanism 3 and the partial-cleaning mechanism 4 is ensured to cover the entire surface of the detector. The cleaning side is defined as the side in contact with the surface of the spherical detector 1 during cleaning. The drive mechanism 2 is installed to control the full-cleaning mechanism 3 and the partial-cleaning mechanism 4 to rotate around the spherical detector 1 for cleaning when they are in the cleaning state. The cleaning device has two cleaning modes: a full-cleaning mode and a partial-cleaning mode. The full-cleaning mode is a sweeping wash, which performs multiple full-surface brushing washes on the surface of the spherical detector 1. It is suitable for situations where the attachment area is large and the adhesion force is small. The partial-cleaning mode is a fixed-point brushing wash, which is suitable for situations where the attachment area 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 a thorough and efficient cleaning effect and ensuring the performance of the spherical detector 1.

[0045] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, the installation drive mechanism 2 includes a fixed ring 20, a connecting ring 21, and a rotating ring 22. The fixed ring 20 is fixedly sleeved on the waist 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 on the lower part of the connecting ring 21. The rotating ring 22 is rotatably assembled below the bearing ring 210. A fixed plate 201 is welded to the edge of the fixed ring 20. A drive motor 200 is installed on the upper part of the fixed plate 201. A first gear 202 is installed on the output shaft of the drive motor 200. A toothed ring 220 is sleeved on the edge of the rotating ring 22. The first gear 202 meshes with the toothed ring 220. When the drive motor 200 is running, the first gear 202 runs, and the toothed ring 220 meshes with the first gear 202. Therefore, the toothed ring 220 rotates synchronously, realizing the effect of rotation cleaning of the rotating ring 22 and the full cleaning mechanism 3 and partial cleaning mechanism 4 installed below the installation drive mechanism 2.

[0046] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, to ensure that the use of the spherical detector 1 is not affected when the full washing mechanism 3 is in standby mode, the full washing mechanism 3 includes a first mounting base 30, a first support arm 33, and a brush holder 332. The first mounting base 30 is fixedly installed at the bottom of the rotating ring 22. One end of the first support arm 33 is rotatably mounted on the first mounting base 30 via a rotating shaft. A first motor 31 is installed on the first mounting base 30, which can drive the first support arm 33 to rotate, allowing it to switch between two working states. The brush holder 332 is installed on the cleaning side of the first support arm 33, and a brush strip 334 is provided on the surface of the brush holder 332. When the full washing... When mechanism 3 is in standby mode, the first arm 33 is away from the surface of the spherical detector 1 and will not obstruct the operation of the spherical detector 1. When the full washing mechanism 3 is in the washing state, the first motor 31 first rotates, driving the first arm 33 to rotate until the washing side of the first arm 33 is in close contact with the surface of the spherical detector 1. At this time, the drive mechanism 2 is installed and rotates, and the first arm 33 rotates around the surface of the spherical detector 1, so that the brush strip 334 on the first arm 33 can achieve full cleaning of the surface of the spherical detector 1. In order to ensure that the brush strip 334 can fully fit with the surface of the spherical detector 1 in the washing state, preferably, the first arm 33 adopts an arc-shaped structure.

[0047] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, in order to ensure that the brush strip 334 can be pressed against the surface of the spherical detector 1 during the cleaning process, so as to improve the cleaning effect, a first sliding cavity 331 is provided circumferentially 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. When the full washing mechanism 3 is in the cleaning state, the brush strip 334 can be pressed against the surface of the spherical detector 1 by the elastic force of the first elastic member 336. Specifically, the first elastic member 336 is a spring or a spring sheet.

[0048] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, to solve the problem that after the full washing mechanism 3 completes the cleaning operation, the attachments adhere to the surface of the brush strip 334, affecting subsequent cleaning, the full washing mechanism 3 also includes a limiting baffle 32. One end of the limiting baffle 32 is installed on the first mounting base 30, and is used to limit the full washing mechanism 3 when it is switched to the standby state. When the full washing mechanism 3 is switched to the standby state, the bottom surface of the limiting baffle 32 contacts and actuates with the top surface of the first support arm 33. At least one metal block 320 is installed at the bottom of the limiting baffle 32. The top of the first support arm 33 has an opening 330 at the corresponding position of the metal block 320. The opening 330 extends into the first sliding cavity 331. The surface of the brush holder 332 is embedded at the corresponding position of the opening 330. A magnetic sheet 335 is installed, which can be attracted to the metal block 320. A cleaning baffle 333 is installed circumferentially on the cleaning side of the first arm 33. The brush strip 334 passes through the cleaning baffle 333. This structure allows the first elastic component 336 to be compressed by the attraction force between the magnetic sheet 335 and the metal block 320 when the full washing mechanism 3 is switched to the standby state. At this time, the brush holder 332 moves, and the brush strip 334 on the brush holder 332 moves backward. The deposits on the brush strip 334 are scraped off by the cleaning baffle 333, achieving the cleaning effect. When the full washing mechanism 3 is switched to the cleaning state, the magnetic sheet 335 separates from the metal block 320, and the brush holder 332 is not affected by the magnetic force. Under the elastic force of the first elastic component 336, it can still maintain close contact with the surface of the spherical detector 1.

[0049] This embodiment provides an underwater spherical detector attachment cleaning device. Specifically, the cleaning mechanism 4 includes a second mounting base 40 and a second arm 42. The second mounting base 40 is fixedly installed at the bottom of the rotating ring 22. Specifically, the second arm 42 adopts an arc-shaped structure. One end of the second arm 42 is rotatably mounted on the second mounting base 40 via a rotating shaft. A second motor 41 is installed on the second mounting base 40. The second arm 42 has a second sliding cavity 420 circumferentially opened inside. A slide seat 421 that can move circumferentially along the second sliding cavity 420 is slidably installed inside the second sliding cavity 420. A brush plate 422 is installed on the cleaning side of the second arm 42. The brush plate 422 is connected to the slide seat 421, so that the brush plate 422 can move under the drive of the slide seat 421. When the second motor 41 is running, it can drive the second arm 42 to rotate, realizing the switching between two working states.

[0050] The local cleaning mechanism 4 also includes a walking assembly for controlling the movement of the slide block 421 within the second sliding cavity 420. The walking assembly includes a rack 423 and a second gear 428. The rack 423 is embedded in the inner wall of the second sliding cavity 420 along its circumference. The second gear 428 is assembled in the slide block 421 and meshes with the rack 423. A fourth motor 429 for driving the second gear 428 to rotate is installed in the slide block 421. When the fourth motor 429 is running, it can drive the second gear 428 to rotate. Under the meshing action with the rack 423, the slide block 421 slides within the second sliding cavity 420. With the help of the drive mechanism 2, the brush disc 422 installed on the slide block 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, to ensure that the brush 422 can fully adhere to the spherical detector 1 during cleaning, a movable plate 427 is provided between the brush 422 and the slide 421. The brush 422 is rotatably mounted below the movable plate 427 through a rotating shaft and bearing. The brush 422 is movably connected to the slide 421 above the slide through a second elastic component 424. A U-shaped mounting plate 426 is also installed at the center of the upper part of the movable plate 427. A third motor 425 is installed on the top of the U-shaped mounting plate 426. The third motor 425 is connected to the rotating shaft above the brush 422. Specifically, the second elastic component 424 is a spring or a sheet spring. When the third motor 425 rotates, it can drive the brush 422 to rotate, realizing the cleaning operation. The second elastic component 424 can push the brush 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 determines the cleaning requirement based on the obstruction status of the spherical detector 1, and then issues 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.

[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 a location label for each cleaning region. The location label includes the location of the cleaning region and the region sequence number that marks the location of the cleaning region.

[0054] The attachment detection unit scans the detection surface using a spherical detector 1 to check for any attachment obstructions. If obstruction is detected, the unit acquires the location data of the obstructed area, including its location label. Based on this data, the unit analyzes the number of obstructed areas and whether their locations are correlated. If two or more area serial numbers are consecutive in the location data, the units are considered correlated.

[0055] Based on the analysis of the number of areas obstructed by the deposits and whether there is a correlation between the locations of the obstructed areas, the control execution unit selects to control the operation of the full washing mechanism 3 or the partial washing mechanism 4 to clean the obstructed areas until the deposits are removed.

[0056] It should be noted that the control principle of the local cleaning mechanism 4 is as follows: The initial position of the brush plate 422 is fixed, that is, the position is always at a fixed point before the control command is issued. When the local cleaning mechanism 4 obtains the cleaning control command, it controls the operation of the fourth motor 429 in the local cleaning mechanism 4 according to the cleaning position information contained in the cleaning control command, so that the brush plate 422 reaches the same horizontal position as the cleaning position, and then controls the drive motor 200 in the drive mechanism 2 to rotate, so that it reaches 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 cleaning mechanism 3 or the partial cleaning mechanism 4 based on analyzing the number of obstructed areas by the attachments and whether there is a correlation between the locations of the obstructed areas and the total number of obstructed areas includes:

[0058] The preset threshold for the number of occluded areas is (Q1, Q2), and the threshold for the number of connected areas within the occluded area is Q3.

[0059] Obtain the number of occluded areas and their location information, and determine whether there is a correlation between the occluded areas based on the connection of their location labels.

[0060] If there is no correlation between all the obscured areas and the number of obscured areas Q≤Q2, then a first control command is generated, and the control execution unit controls the local washing mechanism 4 to clean the obscured areas according to the first control command.

[0061] If there is no correlation between all the obscured areas and the number of obscured areas Q > Q2, then a second control command is generated, and the control execution unit controls the full washing mechanism 3 to clean the obscured areas according to the second control command.

[0062] If there is a correlation between the obscured areas and the number of obscured areas Q≤Q1, then a first control command is generated, and the control execution unit controls the local washing mechanism 4 to clean the obscured areas according to the third control command.

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

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

[0065] If there is a correlation between the obstructed areas, and the number of obstructed areas Q > Q2, then a sixth control command is generated. The control execution unit controls the full-washing mechanism 3 to clean the obstructed areas according to the sixth control command, where Q is the number of obstructed areas detected on the surface of the spherical detector 1. L To detect the number of connected regions in the obstructed area on the surface of spherical detector 1, Q1 > Q2, Q, Q1, Q2, Q3, Q L All are integers greater than 0.

[0066] The exemplary implementation of the solution proposed in this disclosure has been described in detail above with reference to preferred embodiments. However, those skilled in the art will understand that various modifications and alterations can be made to the above specific embodiments without departing from the spirit of this disclosure, and various combinations can be made to the various technical features and structures proposed in this disclosure without exceeding the protection scope of this disclosure, which is determined by the appended claims.

Claims

1. An underwater spherical detector attachment cleaning device, which is installed on the outside of the spherical detector and used to clean the detection area below the spherical detector, characterized in that, It includes a full-wash mechanism, a partial-wash mechanism, a mounting and driving mechanism, and a control module. Both the full-wash and partial-wash mechanisms are mounted below the spherical detector via the mounting and driving mechanism. The control module determines the cleaning requirements based on the spherical detector's obstruction status and then issues cleaning control commands accordingly. Both the full-wash and partial-wash mechanisms have two operating states: Standby state: The cleaning sides of the full wash mechanism and the partial wash mechanism are away from the surface of the spherical detector; Cleaning status: The cleaning sides of the full cleaning mechanism and the partial cleaning mechanism are in contact with and partially cover the surface of the spherical detector; Among them, the installation of the drive mechanism can control the full washing mechanism and the partial washing mechanism to rotate around the spherical detector for cleaning when the full washing mechanism and the partial washing mechanism are in the cleaning state; The installation of the drive mechanism includes: A fixing ring is fixedly fitted onto the waist of the spherical detector; A connecting ring is fixedly connected to a fixed ring by bolts, and a bearing ring is fitted and installed below the connecting ring; The swivel ring is mounted below the bearing ring. The fixed ring has a fixed plate welded to its edge, a drive motor is mounted above the fixed plate, a first gear is mounted on the output shaft of the drive motor, and a geared ring is fitted onto the edge of the rotating ring, with the first gear meshing with the geared ring; the full washing mechanism includes: The first mounting base is fixedly installed at the bottom of the rotating ring; The first arm has an arc-shaped structure. One end of the first arm is rotatably mounted on the first mounting base via a rotating shaft. The first mounting base is equipped with a first motor, which can drive the first arm to rotate, allowing it to switch between two working states. A brush holder is installed on the cleaning side of the first arm, and a brush strip is provided on the surface of the brush holder; a first sliding cavity is opened in the circumferential direction inside the first arm, the brush holder is movably assembled in the first sliding cavity, and a first elastic component is provided between the inner wall of the first sliding cavity and the brush holder. When the full washing mechanism is in the cleaning state by the elastic force of the first elastic component, the brush strip can be pressed against the surface of the spherical detector. The full washing mechanism also includes a limit baffle. One end of the limit baffle is installed on the first mounting base 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 actuates with the top surface of the first support arm. At least one metal block is installed at the bottom of the limit baffle. The top of the first arm has an opening at the corresponding position of the metal block, which extends into the first sliding cavity. A magnetic sheet is embedded in the surface of the brush holder at the corresponding position of the opening, and the magnetic sheet can attract the metal block. The first arm has a cleaning baffle installed circumferentially along the cleaning side. When the brush bar passes through the cleaning baffle and the full washing mechanism is switched to standby mode, the brush seat can be moved by the attraction force between the magnetic sheet and the metal block, scraping off the dirt attached to the brush bar on the cleaning baffle.

2. The underwater spherical detector attachment cleaning device according to claim 1, characterized in that, Local cleaning services include: The second mounting base is fixedly installed at the bottom of the rotating ring; The second arm has an arc-shaped structure. One end of the second arm is rotatably mounted on the second mounting base via a rotating shaft. The second mounting base is equipped with a second motor, which can drive the second arm to rotate, allowing it to switch between two working states. The second arm has a second sliding cavity circumferentially opened inside, and a sliding seat that can move circumferentially along the second sliding cavity is slidably installed inside the second sliding cavity. A brush plate is installed on the cleaning side of the second arm, and the brush plate is connected to the sliding seat so that the brush plate can move under the drive of the sliding seat.

3. The underwater spherical detector attachment cleaning device according to claim 2, characterized in that, The partial washing mechanism also includes a traveling assembly for controlling the movement of the slide within the second slide cavity. The traveling assembly includes a rack and a second gear. The rack is embedded in the inner wall of the second slide cavity along its circumference. The second gear is assembled inside the slide and meshes with the rack. A fourth motor for driving the second gear to rotate is installed inside the slide.

4. The underwater spherical detector attachment cleaning device according to claim 2, characterized in that, A movable plate is provided between the brush plate and the slide. The brush plate is rotatably mounted under the movable plate through a rotating shaft and bearing. The brush plate is movably connected to the slide via a second elastic component. A U-shaped assembly plate is installed at the center of the upper part of the active plate, and a third motor is installed on the top of the U-shaped assembly plate. The third motor is connected to the rotating shaft above the brush plate.

5. The underwater spherical detector attachment cleaning device according to claim 1, characterized in that, The control module determines the cleaning requirement based on the occlusion status of the spherical detector and then issues cleaning control commands accordingly. The control module includes a region construction unit, a deposit detection unit, and a control execution unit. 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 assign a location label to each cleaning region. The location label includes the location of the cleaning region and the region sequence number that marks the location of the cleaning region. The attachment detection unit scans the detection surface with a spherical detector to check for attachment obstruction. If attachment obstruction is detected, it acquires the location data of the obstructed area, which includes the location label of the obstructed area. Based on the acquired location data, it analyzes the number of obstructed areas and whether there is a correlation between the locations of the obstructed areas. If two or more area serial numbers are connected in the location data of the obstructed areas, it is determined that the locations of the obstructed areas are correlated. The control execution unit, based on the analysis of the number of areas obstructed by the deposits and whether there is a correlation between the locations of the obstructed areas, selects to control the operation of the full washing mechanism or the partial washing mechanism to clean the obstructed areas until the deposits are removed.

6. The underwater spherical detector attachment cleaning device according to claim 5, characterized in that, Methods for controlling full-wash or partial-wash mechanisms based on analyzing the number and location of areas obscured by attached substances include: The preset threshold for the number of occluded areas is (Q1, Q2), and the threshold for the number of connected areas within the occluded area is Q3. Obtain the number of occluded areas and their location information, and determine whether there is a correlation between the occluded areas based on the connection of their location labels. If there is no correlation between all the obscured areas and the number of obscured areas Q≤Q2, then a first control command is generated, and the control execution unit controls the local washing mechanism to clean the obscured areas according to the first control command. If there is no correlation between all the obscured areas and the number of obscured areas Q > Q2, then a second control command is generated, and the control execution unit controls the full washing mechanism to clean the obscured areas according to the second control command. If there is a correlation between the obscured areas and the number of obscured areas Q≤Q1, then a first control command is generated, and the control execution unit controls the local washing mechanism to clean the obscured areas according to the third control command. If there is a correlation between the obscured areas, and the number of obscured areas Q1 < Q ≤ Q2, and the number of connected areas in the obscured areas QL ≤ Q3, then a fourth control command is generated, and the control execution unit controls the local washing mechanism to clean the obscured areas according to the first control command. If there is a correlation between the obscured areas, and the number of obscured areas Q1 < Q ≤ Q2, and the number of connected areas in the obscured areas QL > Q3, then a fifth control command is generated, and the control execution unit controls the full washing mechanism to clean the obscured areas according to the first control command. If there is a correlation between the obscured areas and the number of obscured areas Q > Q2, then a sixth control command is generated. The control execution unit controls the full washing mechanism to clean the obscured areas according to the sixth control command. Here, Q is the number of obscured areas detected on the surface of the spherical detector, QL is the number of connected areas among the obscured areas detected on the surface of the spherical detector, Q1 > Q2, and Q, Q1, Q2, Q3, and QL are all integers greater than 0.

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