A cleaning device for a three-dimensional observation equipment for marine dynamic disasters

Abstract

The application provides a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, wherein: a sealing protection module comprises a shell, a cover plate, a waterproof shell and a pipe sleeve, the front end of the pipe sleeve is provided with a first hanging point; a control panel executes a cleaning instruction and performs overload protection; a transmission support module comprises a diaphragm coupling, a transmission shaft, a first deep groove ball bearing, a second deep groove ball bearing and an oil seal, the upper end of the transmission shaft is fixedly connected with the rear end of the pipe sleeve in a circumferential direction; an execution cleaning module comprises a scraper arm, a mounting bracket, a scraper and a spring, one end of the scraper arm is fixedly connected with the front end of the pipe sleeve, the scraper arm is provided with a second hanging point, the spring is hung on the first hanging point and the second hanging point, and the spring is in a stretching state and provides a pulling force to make the contact pressure of the scraper with a window to be cleaned constant. The application provides a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, to solve the problems of the prior art in the aspects of structural integration, control intelligence, fault protection capability and corrosion resistance design.

Description

Technical Field

[0001] This invention relates to the field of marine optical window cleaning technology, and in particular to a cleaning device for three-dimensional observation equipment for marine dynamic disasters. Background Technology

[0002] Current cleaning technologies for the optical windows of marine dynamic disaster three-dimensional observation equipment primarily rely on passive anti-fouling with active cleaning as a supplement. Existing active mechanical cleaning devices have significant shortcomings in terms of structural integration, intelligent control, fault protection capabilities, and corrosion-resistant design. Specifically: 1) The structural design is simple, but lacks integration and precise pressure control. Existing technologies mostly use simple motor-driven wipers, assembled from discrete components. These wipers are bulky, poorly sealed, and ill-suited to the harsh environments of the ocean, characterized by high humidity and salt spray corrosion. Furthermore, the contact pressure between the wiper blade and the optical window is often fixed, leading to decreased cleaning effectiveness due to wear and tear over time.

[0003] 2) The control method is simplistic and lacks closed-loop feedback. Most existing technologies rely on simple timing control, cannot interact with the host system, cannot achieve closed-loop control based on status feedback, and do not support remote command triggering. Their cleaning strategies are rigid and their energy consumption is high.

[0004] 3) Lack of fault self-detection and protection mechanisms In the low-temperature environment of the ocean, wiper blades are prone to freezing and jamming. Existing technologies typically lack overload detection and adaptive protection capabilities, which can easily lead to motor burnout or mechanical damage when stall occurs, resulting in poor system reliability.

[0005] 4) Inappropriate material selection and insufficient corrosion resistance Some existing products are not specifically designed for corrosion resistance in marine environments. Their shells and moving parts are susceptible to salt spray corrosion, leading to rust, jamming, and short service life. Summary of the Invention

[0006] This invention provides a cleaning device for three-dimensional observation equipment of marine dynamic disasters, which solves the problems of existing technologies in terms of structural integration, intelligent control, fault protection capabilities and corrosion-resistant design.

[0007] This invention provides a cleaning device for three-dimensional observation equipment of marine dynamic disasters, comprising a sealing and protection module, a control and drive module, a transmission and support module, and a cleaning execution module, wherein: The sealing and protection module includes an outer shell, a cover plate, a waterproof shell, and a sleeve. The top of the outer shell has a through hole. The outer shell is fixedly connected to the cover plate, and a first sealing element is provided in the sealing groove of the mating surface. The waterproof shell has two bearing seat holes. The waterproof shell is fixedly connected to the top of the outer shell, and a second sealing element is provided in the sealing groove of the mating surface. The sleeve includes a rear end and a front end, and a first hanging point is provided at the front end. The control drive module includes a control board, a servo motor, and a waterproof connector. The control board and the servo motor are installed inside the housing. The control board executes cleaning commands and provides overload protection. The servo motor is powered and driven by the control board. The waterproof connector contains power and data cables connected to the control board. The transmission support module includes a diaphragm coupling, a transmission shaft, a first deep groove ball bearing, a second deep groove ball bearing, and an oil seal. The diaphragm coupling is connected to the lower end of the servo motor output shaft and the transmission shaft, respectively. The upper end of the transmission shaft passes through the through hole and extends out of the waterproof shell. The upper end of the transmission shaft is circumferentially fixedly connected to the rear end of the sleeve. The first deep groove ball bearing and the second deep groove ball bearing are respectively installed in the two bearing seat holes and sleeved on the transmission shaft. The oil seal is installed on the upper end of the second deep groove ball bearing and tightly fits the surface of the transmission shaft. The cleaning module includes a scraper arm, a mounting bracket, a scraper blade, and a spring. One end of the scraper arm is fixedly connected to the front end of the sleeve, and the other end of the scraper arm is fixedly connected to the mounting bracket. The scraper arm is provided with a second hanging point. The scraper blade is made of a corrosion-resistant elastic flexible material and is fixed on the mounting bracket. The spring is hung on the first hanging point and the second hanging point. The spring is in a stretched state, and the tension it provides makes the contact pressure between the scraper blade and the window to be cleaned constant.

[0008] Optionally, the housing is provided with multiple mounting brackets.

[0009] Optionally, the control board integrates a power supply unit, a control unit, and a transceiver unit. The power supply unit supplies power to the servo motor, the control unit, and the transceiver unit respectively through different voltage rails. The control unit executes the cleaning command and performs the overload protection. The cleaning command is received through the transceiver unit, which realizes signal conversion between the control unit and the data core line based on a differential transceiver.

[0010] Optionally, the cleaning instructions include timed cleaning instructions and real-time cleaning instructions, wherein the real-time cleaning instructions support remote triggering.

[0011] Optionally, the overload protection includes: Determine whether the current exceeds a preset current and the duration exceeds a preset time. The current is monitored in real time by a current sensor integrated into the control board or the servo motor. If so, stop driving the servo motor and report a stall fault.

[0012] Optionally, the control board also provides power supply protection, which includes: Determine whether the voltage is within a preset voltage range; the voltage is monitored in real time by a voltage sensor integrated into the control board or the servo motor. If so, stop driving the servo motor and report an overvoltage fault.

[0013] Optionally, the control board also provides overheat protection, which includes: The system determines whether the temperature exceeds a preset temperature, which is monitored in real time by a temperature sensor integrated into the control board or the servo motor. If so, stop driving the servo motor and report an overheating fault.

[0014] Optionally, the control panel can also execute cleaning status query commands.

[0015] Optionally, the outer shell and the cover plate are made of corrosion-resistant aluminum alloy, and the waterproof shell, the sleeve, the scraper arm and the mounting bracket are made of corrosion-resistant stainless steel.

[0016] Optionally, the position of the second attachment point is higher than the position of the first attachment point.

[0017] The above solution features high integration, intelligent control capabilities, a robust fault protection mechanism, and adaptability to harsh marine environments. Its specific benefits are as follows: 1) High integration and intelligent control By integrating the control drive module and transmission support module into a sealed housing, the cleaning device achieves a high degree of structural integration. It can be connected to the equipment to be cleaned in a "plug-and-play" manner through a waterproof aviation plug. The control board integrates a power supply unit, a control unit, and a transceiver unit, supports multiple triggering methods such as timed cleaning and remote command real-time cleaning, and reports cleaning status and faults in real time, realizing intelligent management of cleaning operations and forming a complete closed-loop control process.

[0018] 2) Comprehensive fault self-detection and protection mechanism By fully utilizing the servo motor to monitor parameters such as current, voltage, and temperature in real time, overload protection, power supply protection, and overheat protection can be achieved, ensuring the system's operational reliability under extreme conditions.

[0019] 3) The structure is reasonably designed and has strong environmental adaptability. Key components are made of corrosion-resistant materials such as 316 stainless steel and Al6061, combined with a multi-seal design (O-ring, oil seal, waterproof aviation plug) to effectively resist marine salt spray corrosion; the tension spring ensures that the pressure between the scraper and the window to be cleaned is constant, ensuring consistent cleaning effect over long-term use. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, provided in an embodiment of the present invention. Figure 2 A side view of a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, provided in an embodiment of the present invention; Figure 3 This is a partial internal structure diagram of a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, provided in an embodiment of the present invention. Figure 4 A rear cross-sectional view of a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, provided in an embodiment of the present invention; Figure 5 This is a side sectional view of a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, provided as an embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0025] Please refer to Figures 1-5 This embodiment provides a cleaning device for a three-dimensional observation equipment for marine dynamic disasters, including a sealing and protection module, a control and drive module, a transmission support module, and a cleaning execution module.

[0026] The sealing and protection module includes a housing 1, a cover plate 2, a waterproof shell 3, and a sleeve 4. The top of the housing 1 is provided with a through hole. The housing 1 is fixedly connected to the cover plate 2, and a first sealing element 15 is provided in the sealing groove of the mating surface. The waterproof shell 3 is provided with two bearing seat holes. The waterproof shell 3 is fixedly connected to the top of the housing 1, and a second sealing element (not shown in the figure) is provided in the sealing groove of the mating surface. The sleeve 4 includes a sleeve rear end 41 and a sleeve front end 42. The sleeve front end 42 is provided with a first hanging point 421.

[0027] The outer shell 1 is the main load-bearing structural component, and its function is to provide an installation reference and physical protection for the internal precision components.

[0028] In this embodiment, the outer casing 1 is provided with multiple fixing seats 5.

[0029] The mounting base 5 is used to securely install the entire cleaning device onto the equipment to be cleaned, ensuring overall stability during operation.

[0030] In one possible implementation, two fixing seats 5 are provided on the left and right sides of the outer casing 1, respectively.

[0031] In one possible implementation, the outer casing 1 and the cover plate 2 are connected by screws.

[0032] In this embodiment, the outer shell 1 and the cover plate 2 are made of corrosion-resistant aluminum alloy.

[0033] In one possible implementation, the outer shell 1 and the cover plate 2 are made of Al6061 and are anodized.

[0034] The waterproof housing 3 provides a separate sealed cavity for the portion of the drive shaft that extends out of the housing 1 through the through hole.

[0035] In one possible implementation, the waterproof shell 3 is connected to the top of the outer shell 1 via a flange and secured with screws.

[0036] The sleeve 4 provides an independent protective channel for the upper end of the drive shaft 16, serving as a protective and guiding housing to isolate the drive shaft 16 from direct impact by external rainwater and washing water.

[0037] In one possible implementation, the first sealing element 15 and the second sealing element are O-rings. The O-rings can undergo elastic deformation under the preload of the screws, filling the joint gaps and achieving watertight isolation of the static interface.

[0038] The control drive module includes a control board 11, a servo motor 12, and a waterproof aviation connector 6. The control board 11 and the servo motor 12 are installed inside the housing 1. The control board 11 executes cleaning commands and provides overload protection. The servo motor 12 is powered and driven by the control board 11. The waterproof aviation connector 6 contains power and data core wires connected to the control board 11.

[0039] In this embodiment, the control board 11 integrates a power supply unit, a control unit, and a transceiver unit. The power supply unit supplies power to the servo motor 12, the control unit, and the transceiver unit through different voltage rails. The control unit executes cleaning commands and performs overload protection. The cleaning commands are received through the transceiver unit, which realizes signal conversion between the control unit and the data core line based on a differential transceiver.

[0040] In one possible implementation, the power supply unit employs a two-stage DC-DC buck architecture: the first stage steps down the externally input 12V DC to a stable 8.4V / 5A output, dedicated to the servo motor's 12 power stages; the second stage further steps down the 8.4V to 3.3V, providing logic power to the control unit and transceiver unit. The power supply unit's circuitry includes input / output filter capacitors and inductors to ensure power supply ripple suppression.

[0041] In one possible implementation, the control unit is an embedded processor based on the ARM architecture. The control unit generates PWM waveforms with specific duty cycles according to communication commands to control the rotation angle and speed of the servo motor 12, and monitors the status of each I / O port. The control unit is a low-power microcontroller with low quiescent current, suitable for long-term unattended three-dimensional observation equipment for marine dynamic disasters.

[0042] In one possible implementation, the transceiver unit is built based on an RS-485 transceiver and connected to the UART serial port of the control unit. It is used to convert TTL level signals into RS-485 differential signals that are resistant to common-mode interference and to exchange data with the device to be cleaned through the data core wire in the waterproof aviation plug 6.

[0043] In this embodiment, the cleaning instructions include timed cleaning instructions and real-time cleaning instructions, and the real-time cleaning instructions support remote triggering.

[0044] In this embodiment, overload protection includes: The current is determined to be higher than the preset current and the duration is determined to be longer than the preset time. The current is monitored in real time by a current sensor integrated into the control board 11 or the servo motor 12. If so, stop driving servo motor 12 and report a stall fault.

[0045] In one specific implementation, the preset current is 80% of the current corresponding to the rated torque, and the preset time is 0.5 seconds.

[0046] In this embodiment, the control board 11 also provides power supply protection, which includes: Determine whether the voltage is within the preset voltage range. The voltage is monitored in real time by a voltage sensor integrated into the control board 11 or the servo motor 12. If so, stop driving servo motor 12 and report an overvoltage fault.

[0047] In one specific implementation, the preset voltage range is 10.5V~28V.

[0048] In this embodiment, the control board 11 also provides overheat protection, which includes: To determine whether the temperature exceeds the preset temperature, the temperature is monitored in real time by a temperature sensor integrated into the control board 11 or the servo motor 12. If so, stop driving servo motor 12 and report an overheating fault.

[0049] In one specific implementation, the preset temperature is 85℃.

[0050] The aforementioned multiple protection mechanisms ensure that the cleaning device automatically limits current and reduces force under extreme operating conditions, effectively protecting the mechanical structure and electrical system and preventing motor burnout or mechanical damage.

[0051] In this embodiment, the control board 11 also executes a cleaning status query command.

[0052] The servo motor 12 serves as the power output actuator of the system, and it integrates a DC motor, a reduction gear set, and a magnetic encoder. The servo motor 12 receives the 8.4V DC power and PWM control signal provided by the control board 11 through a cable, converting electrical energy into reciprocating mechanical energy to drive the transmission shaft 16 to reciprocate at a preset angle.

[0053] The external interface of the waterproof aviation plug 6 is connected to the equipment to be cleaned, providing a power input channel and a signal transmission channel. At the same time, its watertight structure ensures electrical isolation between the inside of the housing 1 and the external environment, preventing moisture intrusion.

[0054] In one possible implementation, the waterproof aviation connector 6 is a 7-core watertight aviation connector.

[0055] The transmission support module includes a diaphragm coupling 14, a drive shaft 16, a first deep groove ball bearing 17, a second deep groove ball bearing 18, and an oil seal 19. The diaphragm coupling 14 is connected to the lower end of the servo motor output shaft 13 and the drive shaft 16, respectively. The upper end of the drive shaft 16 passes through the through hole and extends out of the waterproof shell 3. The upper end of the drive shaft 16 is circumferentially fixed to the rear end 41 of the sleeve. The first deep groove ball bearing 17 and the second deep groove ball bearing 18 are respectively installed in the two bearing seat holes and sleeved on the drive shaft 16. The oil seal 19 is installed on the upper end of the second deep groove ball bearing 18 and is tightly attached to the surface of the drive shaft 16.

[0056] The transmission support module enables efficient and reliable power transmission from the inside of the sealed cavity to the outside, converting the rotational motion of the servo motor 12 into the reciprocating swing of the scraper arm 7.

[0057] Diaphragm coupling 14 is used to transmit torque and compensate for installation errors.

[0058] The drive shaft 16 serves as the main component for power transmission. Its upper end is fixedly connected to the rear end 41 of the sleeve. The rotation of the drive shaft 16 drives the sleeve 4 to rotate, and the front end 42 of the sleeve in turn drives the scraper arm to move, so as to stably transmit the torque output by the servo motor 12 to the external scraper arm 7 and bear the radial load during the scraping process.

[0059] In one specific implementation, the upper end of the drive shaft 16 is circumferentially fixed to the rear end 41 of the sleeve by a screw connection. The upper end of the drive shaft 16 and the rear end 41 of the sleeve are provided with corresponding threaded holes, and the circumferential fixed connection can be achieved by simultaneously screwing the screw into the threaded holes.

[0060] There is a gap between the upper end of the drive shaft 16 and the inner wall of the rear end 41 of the sleeve, so that the drive shaft 16 can rotate freely within the rear end 41 of the sleeve.

[0061] The first deep groove ball bearing 17 and the second deep groove ball bearing 18 serve as the main supports to support the rotational movement of the transmission shaft 16, reduce rotational friction resistance, and ensure the rotational accuracy and stability of the transmission shaft 16 under radial load.

[0062] The two deep groove ball bearings are each installed in an independent bearing housing bore. This not only ensures axial fixation of the drive shaft 16 but also facilitates the separate installation and removal of the deep groove ball bearings. During maintenance, only the damaged deep groove ball bearing needs to be replaced, eliminating the need to disassemble both bearings simultaneously. The two deep groove ball bearings, positioned at different locations on the drive shaft 16, provide more stable radial support, reduce the deflection of the drive shaft 16, and improve transmission rigidity. When the scraper arm 7 is in operation, it bears radial force and bending moment; the two deep groove ball bearings can share the load, preventing overload of a single deep groove ball bearing.

[0063] A spacer ring 20 is provided below the second deep groove ball bearing 18 to axially support the second deep groove ball bearing 18.

[0064] Oil seal 19 is used to form a rotary dynamic seal interface to prevent external water mist and dust from entering the bearing housing bore and the interior of housing 1 along the surface of drive shaft 16, while also preventing internal grease from leaking out.

[0065] The first sealing element 15, the second sealing element, and the oil seal 19 together form a multi-layered waterproof barrier.

[0066] The cleaning module includes a scraper arm 7, a mounting bracket 8, a scraper blade 9, and a spring 10. One end of the scraper arm 7 is fixedly connected to the front end 42 of the sleeve, and the other end of the scraper arm 7 is fixedly connected to the mounting bracket 8. The scraper arm 7 is provided with a second hanging point 71. The scraper blade 9 is made of corrosion-resistant elastic flexible material and is fixed on the mounting bracket 8. The spring 10 is hung on the first hanging point 421 and the second hanging point 71. The spring 10 is in a stretched state, and the tension it provides makes the contact pressure between the scraper blade 9 and the window to be cleaned constant.

[0067] In one specific implementation, one end of the scraper arm 7 is provided with a connecting hole, which is used to fix it to the front end 42 of the sleeve.

[0068] In one specific implementation, one end of the scraper arm 7 is connected to the front end 42 of the sleeve by screws.

[0069] The scraper arm 7 transmits the reciprocating oscillating motion of the drive shaft 16 to the scraper blade 9, and uses the spring 10 to provide a constant pressure on the scraper blade 9 to press against the window to be cleaned.

[0070] In this embodiment, the waterproof shell 3, the sleeve 4, the scraper arm 7, and the mounting bracket 8 are made of corrosion-resistant stainless steel.

[0071] In one possible implementation, the waterproof housing 3, the sleeve 4, the scraper arm 7, and the mounting bracket 8 are made of 316 stainless steel and painted with a white matte finish.

[0072] In this embodiment, the position of the second hanging point 71 is higher than the position of the first hanging point 421.

[0073] The scraper blade 9 comes into direct contact with the window to be cleaned, and during the swinging motion, it scrapes away rainwater, seawater droplets, and dirt adhering to the window to be cleaned, thus achieving a clean view.

[0074] In one possible implementation, the scraper 9 is mounted on the mounting bracket 8 via a snap-fit ​​or connector.

[0075] In one possible implementation, the scraper 9 is a rubber scraper or a silicone scraper.

[0076] The spring 10, when stretched, provides continuous tension, directed diagonally downwards towards the window to be cleaned. This tension is decomposed into normal and tangential components. The normal component ensures a constant contact pressure between the scraper blade 9 and the window to be cleaned, while the tangential component is negligible, providing only a small amount of resistance / assistance to the scraper blade 9 as it swings left and right. As the scraper blade 9 moves, the spring 10 adapts to minor undulations or changes in dirt thickness on the window to be cleaned (i.e., allowing for further stretching or retraction), maintaining stable contact pressure and thus effectively removing dirt.

[0077] In one possible implementation, the spring 10 is required to provide a tension of 1-2 kg (approximately 9.8-19.6 N) to drive the scraper blade 9 to press against the window to be cleaned and overcome the resistance of the dirt. As shown in Table 1, the spring 10 has a wire diameter of 1 mm, an outer diameter of 8 mm, and a free length of 20 mm. The center distance between the hooks at both ends is set to 25 mm. At this time, the spring 10 is stretched by 5 mm, generating a preload of 15.6 N (approximately 1.59 kg). This tension not only ensures that the scraper blade 9 fits tightly against the window to be cleaned and can automatically fine-tune its stroke according to the changes in resistance during movement, but also ensures that the scraper blade 9 can still maintain an effective fit with the window to be cleaned through automatic compensation by the spring 10 after wear, guaranteeing consistent cleaning results over long-term use. Alternatively, springs with the same wire diameter and outer diameter, and a free length of 25 mm or 30 mm, can be used, and similar performance can be obtained by adjusting the installation distance.

[0078] Table 1

[0079] The above solution features high integration, intelligent control capabilities, a robust fault protection mechanism, and adaptability to harsh marine environments. Its specific benefits are as follows: 1) High integration and intelligent control By integrating the control drive module and transmission support module into a sealed housing, the cleaning device achieves a high degree of structural integration. It can be connected to the equipment to be cleaned in a "plug-and-play" manner through a waterproof aviation plug. The control board integrates a power supply unit, a control unit, and a transceiver unit, supports multiple triggering methods such as timed cleaning and remote command real-time cleaning, and reports cleaning status and faults in real time, realizing intelligent management of cleaning operations and forming a complete closed-loop control process.

[0080] 2) Comprehensive fault self-detection and protection mechanism By fully utilizing the servo motor to monitor parameters such as current, voltage, and temperature in real time, overload protection, power supply protection, and overheat protection can be achieved, ensuring the system's operational reliability under extreme conditions.

[0081] 3) The structure is reasonably designed and has strong environmental adaptability. Key components are made of corrosion-resistant materials such as 316 stainless steel and Al6061, combined with a multi-seal design (O-ring, oil seal, waterproof aviation plug) to effectively resist marine salt spray corrosion; the tension spring ensures that the pressure between the scraper and the window to be cleaned is constant, ensuring consistent cleaning effect over long-term use.

[0082] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A cleaning device for three-dimensional observation equipment of marine dynamic disasters, characterized in that, It includes a sealing and protection module, a control and drive module, a transmission support module, and a cleaning execution module, wherein: The sealing protection module includes an outer shell (1), a cover plate (2), a waterproof shell (3), and a sleeve (4). The top of the outer shell (1) is provided with a through hole. The outer shell (1) is fixedly connected to the cover plate (2), and a first sealing element (15) is provided in the sealing groove of its mating surface. The waterproof shell (3) is provided with two bearing seat holes. The waterproof shell (3) is fixedly connected to the top of the outer shell (1), and a second sealing element is provided in the sealing groove of its mating surface. The sleeve (4) includes a sleeve rear end (41) and a sleeve front end (42). The sleeve front end (42) is provided with a first hanging point (421). The control drive module includes a control board (11), a servo motor (12), and a waterproof connector (6). The control board (11) and the servo motor (12) are installed inside the housing (1). The control board (11) executes cleaning commands and performs overload protection. The servo motor (12) is powered and driven by the control board (11). The waterproof connector (6) is provided with a power core wire and a data core wire connected to the control board (11). The transmission support module includes a diaphragm coupling (14), a transmission shaft (16), a first deep groove ball bearing (17), a second deep groove ball bearing (18), and an oil seal (19). The diaphragm coupling (14) is connected to the lower end of the servo output shaft (13) and the transmission shaft (16), respectively. The upper end of the transmission shaft (16) passes through the through hole and extends out of the waterproof shell (3). The upper end of the transmission shaft (16) is circumferentially fixed to the rear end (41) of the sleeve. The first deep groove ball bearing (17) and the second deep groove ball bearing (18) are respectively installed in the two bearing seat holes and sleeved on the transmission shaft (16). The oil seal (19) is installed on the upper end of the second deep groove ball bearing (18) and tightly fits the surface of the transmission shaft (16). The cleaning module includes a scraper arm (7), a mounting bracket (8), a scraper blade (9), and a spring (10). One end of the scraper arm (7) is fixedly connected to the front end (42) of the sleeve, and the other end of the scraper arm (7) is fixedly connected to the mounting bracket (8). The scraper arm (7) is provided with a second hanging point (71). The scraper blade (9) is made of corrosion-resistant elastic flexible material and is fixed on the mounting bracket (8). The spring (10) is hung on the first hanging point (421) and the second hanging point (71). The spring (10) is in a stretched state and the tension it provides makes the contact pressure between the scraper blade (9) and the window to be cleaned constant.

2. The apparatus according to claim 1, characterized in that, The outer casing (1) is provided with multiple mounting bases (5).

3. The apparatus according to claim 1, characterized in that, The control board (11) integrates a power supply unit, a control unit, and a transceiver unit. The power supply unit supplies power to the servo motor (12), the control unit, and the transceiver unit respectively through different voltage rails. The control unit executes the cleaning command and performs the overload protection. The cleaning command is received through the transceiver unit. The transceiver unit realizes the signal conversion between the control unit and the data core line based on a differential transceiver.

4. The apparatus according to claim 1, characterized in that, The cleaning instructions include timed cleaning instructions and real-time cleaning instructions, and the real-time cleaning instructions support remote triggering.

5. The apparatus according to claim 1, characterized in that, The overload protection includes: Determine whether the current exceeds the preset current and the duration exceeds the preset time. The current is monitored in real time by a current sensor integrated into the control board (11) or the servo motor (12). If so, stop driving the servo motor (12) and report a stall fault.

6. The apparatus according to claim 1, characterized in that, The control board (11) also provides power supply protection, which includes: Determine whether the voltage is within the preset voltage range. The voltage is monitored in real time by a voltage sensor integrated into the control board (11) or the servo motor (12). If so, stop driving the servo motor (12) and report an overvoltage fault.

7. The apparatus according to claim 1, characterized in that, The control board (11) also provides overheat protection, which includes: Determine whether the temperature exceeds the preset temperature, the temperature being monitored in real time by a temperature sensor integrated into the control board (11) or the servo motor (12); If so, stop driving the servo motor (12) and report an overheating fault.

8. The apparatus according to claim 1, characterized in that, The control panel (11) also executes cleaning status query commands.

9. The apparatus according to claim 1, characterized in that, The outer shell (1) and the cover plate (2) are made of corrosion-resistant aluminum alloy, and the waterproof shell (3), the sleeve (4), the scraper arm (7) and the mounting bracket (8) are made of corrosion-resistant stainless steel.

10. The apparatus according to claim 1, characterized in that, The position of the second hanging point (71) is higher than the position of the first hanging point (421).

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