Automatic cleaning device and control method for sonar probe

Abstract

The application discloses a kind of sonar probe automatic cleaning device and control method.Sonar probe automatic cleaning device includes visual identification module, mechanical arm, cleaning module and control module;Visual identification module, mechanical arm, cleaning module, sonar probe are connected with control module, visual identification module is installed in the side of sonar probe;The first end of mechanical arm is installed in the side of sonar probe, the second end of mechanical arm installs cleaning module, and cleaning module is adjacent to sonar probe with preset distance;Image acquisition end of visual identification module is towards sonar probe and cleaning module;Visual identification module is used to collect the image of sonar probe in real time, cleaning module is used to clean sonar probe, and control module is used to control the movement of mechanical arm and the work of cleaning module.The application can realize the cleaning of automatic completion sonar probe, reduce maintenance cost and safety risk, guarantee the continuous and stable operation of sonar equipment, improve the reliability of sonar probe.

Description

Technical Field

[0001] This invention relates to the field of equipment cleaning technology, and in particular to an automatic cleaning device and control method for sonar probes. Background Technology

[0002] Sonar probes are core sensing devices for monitoring the condition of facilities such as underwater debris screens in nuclear power plants, and their surface cleanliness directly determines the detection accuracy and operational reliability.

[0003] In existing technologies, sonar probe cleaning mainly relies on manual maintenance: workers need to travel by boat to the installation site, such as the debris barrier, and clean foreign objects from the probe surface through manual disassembly or underwater operations. Regular maintenance frequency is as high as once a month. However, manual maintenance has the following drawbacks: high labor costs, low efficiency (requiring one captain, two maintenance personnel, and a dedicated vessel for each maintenance session, and time-consuming per probe, making it difficult to meet the maintenance needs of large-scale sonar equipment in nuclear power plants); significant safety risks (underwater operations, high-altitude operations, and maritime navigation all pose safety hazards); easy equipment damage (manual cleaning can easily scratch the transducer on the probe surface, affecting sonar detection performance); and insufficient timeliness (constrained by weather and sea conditions, manual maintenance often cannot be performed on schedule, easily leading to the continuous accumulation of deposits on the probe). Summary of the Invention

[0004] This invention provides an automatic sonar probe cleaning device and control method to automatically clean the sonar probe, reduce maintenance costs and safety risks, ensure the continuous and stable operation of sonar equipment, and improve the reliability of the sonar probe.

[0005] In a first aspect, embodiments of the present invention provide an automatic sonar probe cleaning device, the automatic sonar probe cleaning device comprising a visual recognition module, a robotic arm, a cleaning module and a control module; The visual recognition module, the robotic arm, the cleaning module, and the sonar probe are all connected to the control module. The visual recognition module is installed on one side of the sonar probe. The first end of the robotic arm is installed on one side of the sonar probe, and the second end of the robotic arm is installed with the cleaning module. The cleaning module and the sonar probe are adjacent to each other at a preset distance. The image acquisition end of the visual recognition module faces the sonar probe and the cleaning module. The visual recognition module is used to acquire images of the sonar probe in real time, the cleaning module is used to clean the sonar probe, and the control module is used to control the movement of the robotic arm and the operation of the cleaning module.

[0006] Furthermore, the automatic cleaning device for sonar probes also includes a power supply module, which is electrically connected to the visual recognition module, the robotic arm, the cleaning module, and the control module.

[0007] Optionally, the robotic arm includes a four-degree-of-freedom robotic arm, and the second end of the robotic arm is provided with a quick-change interface; The cleaning module includes an ultrasonic generator, and the cleaning head of the ultrasonic generator is arc-shaped.

[0008] Optionally, the sonar probe, the visual recognition module, and the robotic arm are mounted on a sonar lifting bracket, one end of which extends underwater, and the distance between the robotic arm at the mounting position on the sonar lifting bracket and the sonar probe at the mounting position on the sonar lifting bracket is a preset distance.

[0009] Secondly, embodiments of the present invention also provide a control method for an automatic sonar probe cleaning device. The control method for the automatic sonar probe cleaning device is used to control the automatic sonar probe cleaning device described in any embodiment of the present invention, comprising: The visual recognition module is controlled to acquire images from the sonar probe in real time. Obtain the current detection range and continuous operating time of the sonar probe; Based on the image of the sonar probe, the thickness of the foreign object attached to the surface of the sonar probe, the area of ​​foreign object attachment, and the position of the sonar probe are identified; Whether to clean the sonar probe is determined based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe. When it is determined that the sonar probe needs to be cleaned, the second end of the robotic arm is moved to the position of the sonar probe, so that the cleaning module is in contact with the surface of the sonar probe, and the cleaning module is controlled to work to clean the foreign object attachment area on the sonar probe until the foreign object attachment thickness is less than a preset thickness.

[0010] Optionally, the image of the sonar probe includes an image of the sonar probe and an image of the cleaning module. Identifying the thickness of foreign matter adhesion on the surface of the sonar probe and the position of the sonar probe based on the image of the sonar probe includes: The image of the sonar probe is compared with a pre-stored template image of the sonar probe to identify the thickness and area of ​​foreign matter attachment on the surface of the sonar probe. The position of the sonar probe is determined based on the relative position of the sonar probe and the cleaning module in the image of the sonar probe; The images from the sonar probe are compared with pre-stored standard images of various foreign objects to identify the types of foreign objects on the surface of the sonar probe.

[0011] Optionally, the cleaning module includes multiple cleaning modes, each with different frequencies and power, and each mode corresponds to a different type of foreign matter being cleaned; controlling the operation of the cleaning module includes: The cleaning module is controlled to operate according to the cleaning mode corresponding to the type of foreign matter on the surface of the sonar probe.

[0012] Optionally, the cleaning module is equipped with a pressure sensor, and controlling the operation of the cleaning module includes: The pressure sensor acquires the contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe in real time, and controls the contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe within a preset pressure range.

[0013] Optionally, determining whether to clean the sonar probe based on the continuous operating time and the deviation between the current detection range and the normal detection range of the sonar probe includes: If the current detection range of the sonar probe decreases by a preset percentage compared to the normal detection range of the sonar probe, it is determined that the sonar probe needs to be cleaned. If the continuous working time meets the preset working time, it is determined that the sonar probe needs to be cleaned.

[0014] Optionally, controlling the cleaning module to clean the foreign object attachment area on the sonar probe until the foreign object attachment thickness is less than a preset thickness includes: The cleaning module is controlled to clean the area on the sonar probe where foreign matter is attached. The visual recognition module is controlled to acquire images of the sonar probe after cleaning. If the thickness of the foreign object in the image of the sonar probe after cleaning is less than the preset thickness, then cleaning is complete; if the thickness of the foreign object in the image of the sonar probe after cleaning is greater than or equal to the preset thickness, then the cleaning module is controlled to work until the thickness of the foreign object in the image of the sonar probe after cleaning is less than the preset thickness.

[0015] This invention provides an automatic sonar probe cleaning device and control method. The automatic sonar probe cleaning device includes a visual recognition module, a robotic arm, a cleaning module, and a control module. The visual recognition module, robotic arm, cleaning module, and sonar probe are all connected to the control module. The visual recognition module is installed on one side of the sonar probe. The first end of the robotic arm is installed on one side of the sonar probe, and the second end of the robotic arm is equipped with the cleaning module, which is adjacent to the sonar probe at a preset distance. The image acquisition end of the visual recognition module faces the sonar probe and the cleaning module to facilitate real-time image acquisition of the sonar probe and cleaning module for positioning of the sonar probe. The control module can control the movement of the robotic arm based on the acquired images of the sonar probe and cleaning module, so that the cleaning module installed at the second end of the robotic arm is close to the sonar probe, and the cleaning module cleans the sonar probe. This achieves automatic cleaning of the sonar probe without manual intervention, reducing maintenance costs and safety risks, ensuring the continuous and stable operation of the sonar equipment, and improving the reliability of the sonar probe. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an automatic cleaning device for a sonar probe provided in an embodiment of the present invention; Figure 2 This is an installation diagram of the automatic sonar probe cleaning device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of another automatic sonar probe cleaning device provided in an embodiment of the present invention; Figure 4 A flowchart illustrating a control method for an automatic cleaning device for a sonar probe provided in an embodiment of the present invention; Figure 5 A flowchart of a control method for an automatic sonar probe cleaning device provided in an embodiment of the present invention. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0018] This invention provides an automatic sonar probe cleaning device that can accurately identify the position of the sonar probe and automatically clean foreign objects without manual intervention, thereby reducing maintenance costs and safety risks and ensuring the continuous and stable operation of the sonar equipment. Figure 1 This is a schematic diagram of an automatic cleaning device for a sonar probe provided in an embodiment of the present invention. Figure 2 This is an installation diagram of the automatic sonar probe cleaning device provided in an embodiment of the present invention, as shown below. Figure 1 and Figure 2 As shown, the automatic cleaning device for sonar probes includes a visual recognition module 110, a robotic arm 120, a cleaning module 130, and a control module 140.

[0019] The visual recognition module 110, robotic arm 120, cleaning module 130, and sonar probe 210 are all connected to the control module 140. The visual recognition module 110 is installed on one side of the sonar probe 210. The first end of the robotic arm 120 is installed on one side of the sonar probe 210, and the second end of the robotic arm 120 is installed with the cleaning module 130. The cleaning module 130 and the sonar probe 210 are adjacent to each other at a preset distance. The image acquisition end of the visual recognition module 110 faces the sonar probe 210 and the cleaning module 130. The visual recognition module 110 is used to acquire images of the sonar probe 210 in real time, the cleaning module 130 is used to clean the sonar probe 210, and the control module 140 is used to control the movement of the robotic arm 120 and the operation of the cleaning module 130.

[0020] The visual recognition module 110 includes a camera, such as an integrated underwater dual-spectrum camera, a visible light camera, and a thermal imaging camera. The visible light camera has a focal length of 6-240mm, and the thermal imaging camera has a focal length of 50mm, adapting to underwater environments from 0 to 50m in depth and unaffected by water turbidity, enabling clear image capture of the sonar probe 210. The visual recognition module 110 can be equipped with an image recognition algorithm, featuring anti-interference design to filter out the influence of water flow and suspended particles on the image, and can operate stably within a working temperature range of -10℃ to +50℃. The robotic arm 120 can consist of multiple joints, allowing adjustment of the position of the cleaning module 130 located at the second end of the robotic arm 120 from multiple directions. The cleaning module 130 can be a conventional brush-shaped cleaning head or an ultrasonic cleaning device, capable of cleaning the sonar probe 210.

[0021] Specifically, the visual recognition module 110, robotic arm 120, cleaning module 130, and sonar probe 210 are all connected to the control module 140, which facilitates the visual recognition module 110 to send the acquired image information to the control module 140, and the control module 140 to control the robotic arm 120 and the cleaning module 130. It also facilitates the sonar probe 210 to send its detection range to the control module 140 in real time, so that the control module 140 can determine whether the sonar probe 210 needs to be cleaned. Since both the visual recognition module 110 and the robotic arm 120 are mounted on one side of the sonar probe 210, the visual recognition module 110 can easily acquire images of the sonar probe 210 in real time. Because the cleaning operation requires positioning of the sonar probe 210, the image acquisition end of the visual recognition module 110 is positioned towards the sonar probe 210 and the cleaning module 130. This allows the visual recognition module 110 to acquire images containing both the sonar probe 210 and the cleaning module 130. Based on the relative positions of the sonar probe 210 and the cleaning module 130 in the real-time acquired images, the control module 140 can control the cleaning module 130 on the second end of the robotic arm 120 to move to the location of the sonar probe 210 during cleaning. This allows the cleaning module 130 to adhere to the surface of the sonar probe 210, achieving positioning of the sonar probe 210. Furthermore, based on the state of foreign matter attached to the surface of the sonar probe 210 in the images, the cleaning effect of the cleaning module 130 can be determined, and operations such as whether the cleaning module 130 has completed the cleaning work can be controlled.

[0022] For example, the control module 140 can control the vision recognition module 110 to acquire images of the sonar probe in real time; obtain the current detection range and continuous working time of the sonar probe 210; identify the thickness of foreign matter attachment on the surface of the sonar probe 210, the foreign matter attachment area, and the position of the sonar probe 210 based on the images of the sonar probe 210; determine whether to clean the sonar probe 210 based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe 210; when it is determined that the sonar probe 210 needs to be cleaned, control the second end of the robotic arm 120 to move to the position of the sonar probe 210, so that the cleaning module 130 is in contact with the surface of the sonar probe 210, and control the cleaning module 130 to work to clean the foreign matter attachment area on the sonar probe 210 until the foreign matter attachment thickness is less than the preset thickness, thereby realizing the automatic completion of the cleaning of the sonar probe without manual intervention, reducing maintenance costs and safety risks, ensuring the continuous and stable operation of the sonar equipment, and improving the reliability of the sonar probe.

[0023] In some embodiments of the present invention Figure 3 This is a schematic diagram of another automatic sonar probe cleaning device provided in an embodiment of the present invention, as shown below. Figure 3As shown, the automatic cleaning device for sonar probes also includes a power supply module 150, which is electrically connected to the visual recognition module 110, the robotic arm 120, the cleaning module 130, and the control module 140.

[0024] Specifically, the power supply module 150 is electrically connected to the vision recognition module 110, the robotic arm 120, the cleaning module 130, and the control module 140, respectively, to supply power to these modules. Optionally, the power supply module 150 can also be connected to the sonar probe 210 to supply power to it. The power supply module 150 can use AC380V three-phase power input, which is stepped down and rectified to output DC24V / 100W power to supply power to the vision recognition module 110, the robotic arm 120, the cleaning module 130, and the control module 140. The power supply module 150 can be installed on the sonar lifting bracket 220 to facilitate electrical connection between the power supply module 150 and the sonar probe 210, the visual recognition module 110, the robotic arm 120, the cleaning module 130 and the control module 140, and to provide power to the sonar probe 210, the visual recognition module 110, the robotic arm 120, the cleaning module 130 and the control module 140.

[0025] The power supply module 150 can also be equipped with a built-in backup lithium battery (12V / 10Ah). In the event of a power outage of the AC380V three-phase power supply, the power supply module 150 can maintain a complete cleaning process, ensuring the continuity and reliability of the cleaning operation.

[0026] In some embodiments of the present invention, the robotic arm 120 includes a four-degree-of-freedom robotic arm, and the second end of the robotic arm 120 is provided with a quick-change interface.

[0027] Specifically, the four-degree-of-freedom robotic arm consists of four joints, each providing one degree of freedom. These joints can include rotation, extension, pitch, and swing joints. The robotic arm 120 has a working radius of 50-300mm, meeting the cleaning requirements of different sonar probe models 210. The joint drive of the robotic arm 120 can use waterproof stepper motors with an IPX8 protection rating, torque ≥0.5N・m, positioning accuracy ≤±0.1mm, and response time ≤100ms. The second end of the robotic arm 120 is equipped with a quick-change interface, which connects to the cleaning module 130 for easy maintenance and replacement.

[0028] In some embodiments of the present invention, the cleaning module 130 includes an ultrasonic generator, and the cleaning head of the ultrasonic generator is arc-shaped.

[0029] Specifically, the ultrasonic generator's cleaning frequency is adjustable, ranging from 20 to 80 kHz, and its power can be from 50 to 300 W. Since the types of foreign matter that may adhere to the sonar probe 210 vary, including marine organisms and sediment, the control module 140 can adjust and switch the frequency and power of the ultrasonic generator according to the type of foreign matter attached to the sonar probe 210. For example, when the foreign matter attached to the sonar probe 210 is marine organisms, a high-frequency (60-80 kHz) and high-power (200-300 W) operating mode can be used; when the sonar probe 210 is contaminated with sediment, a low-frequency (20-40 kHz) and medium-power (50-150 W) operating mode can be used to effectively clean the foreign matter attached to the sonar probe 210.

[0030] The cleaning head of the ultrasonic generator can be designed with an arc shape to fit snugly against the surface of the sonar probe 210. Preferably, the contact ratio between the cleaning head of the ultrasonic generator and the surface of the sonar probe is ≥90% to ensure effective cleaning of the surface of the sonar probe 210 and achieve better cleaning results. The cleaning head of the ultrasonic generator is made of polytetrafluoroethylene (PTFE) to avoid scratching the sonar probe 210.

[0031] The ultrasonic generator can be equipped with a built-in pressure sensor to detect the contact pressure between the cleaning head of the ultrasonic generator and the surface of the sonar probe 210 in real time. The force of the robotic arm 120 can be dynamically adjusted through the control module 140 to control the contact pressure between 0.1 and 0.5 MPa, so as to prevent damage to the sonar probe 210.

[0032] In some embodiments of the present invention, reference is made to Figure 2 The sonar probe 210, the visual recognition module 110, and the robotic arm 120 are mounted on the sonar lifting bracket 220. One end of the sonar lifting bracket 220 extends underwater. The distance between the installation position of the robotic arm 120 on the sonar lifting bracket 220 and the installation position of the sonar probe 210 on the sonar lifting bracket 220 is a preset distance.

[0033] Specifically, the sonar probe 210, visual recognition module 110, and robotic arm 120 are mounted on the sonar lifting bracket 220. These components can be deployed underwater from the sonar lifting bracket 220, and the visual recognition module 110, robotic arm 120, and cleaning module 130 can perform image acquisition, positioning, and cleaning operations on the sonar probe 210 underwater. By setting a preset distance between the installation positions of the robotic arm 120 and the sonar probe 210 on the sonar lifting bracket 220, it can be ensured that the robotic arm 120 does not interfere with the normal lifting and lowering of the sonar probe 210 on the sonar lifting bracket 220 and its sonar detection operations. The preset distance can be less than or equal to 50cm, ensuring that the working range of the robotic arm 120 can cover the entire surface of the sonar probe 210.

[0034] The main body of the visual recognition module 110, robotic arm 120, and cleaning module 130 of the automatic sonar probe cleaning device in this embodiment of the invention can be made of 316 stainless steel with a protection level of IP65. The visual recognition module 110, robotic arm 120, and sonar lifting bracket 220 are fixed with chemical anchors, which can meet the requirements of level 14 wind resistance. The positions of the visual recognition module 110 and robotic arm 120 on the sonar lifting bracket 220 are designed to reserve space for the sonar probe 210 to avoid it.

[0035] The automatic cleaning device for sonar probes in this embodiment of the invention is adapted to the sonar probe 210 in the marine organism monitoring system of a nuclear power plant. The sonar probe 210 includes a broadband digital sonar (frequency 130~210kHz) and a multi-beam imaging sonar (frequency 750 / 1200kHz), which is installed on a sonar lifting bracket 220 and is compatible with existing sonar systems.

[0036] The control module 140 of this embodiment can adopt an industrial-grade PLC (such as CPU1212C DC / DC / DC), supporting communication with the marine organism monitoring and early warning control cabinet of a nuclear power plant via a LAN interface. The control module 140 can also remotely control the cleaning process or automatically trigger cleaning. The control module 140 can preset two working modes: timed cleaning, with a cycle of 7-30 days; and on-demand cleaning, triggered by abnormal sonar detection data from the sonar probe 210, such as a decrease in the detection range of the sonar probe 210 of ≥10%. The control module 140 can integrate safety protection logic. For example, if the robotic arm 120 exceeds its movement limit, the cleaning pressure of the cleaning module 130 is abnormal, or the visual recognition module 110 fails, the visual recognition module 110, robotic arm 120, and cleaning module 130 can be immediately stopped, and an audible and visual alarm can be issued. Simultaneously, the equipment is locked to improve safety during the cleaning process and prevent accidents such as damage to the sonar probe 210.

[0037] The automatic sonar probe cleaning device of this invention can be adapted to the harsh environment of nuclear power plants. It is an integrated device that can automatically complete probe positioning and cleaning, which can solve the pain points of existing manual maintenance, eliminate the need for manual intervention, reduce maintenance costs and safety risks, ensure the continuous and stable operation of sonar equipment, and improve the reliability of sonar probes.

[0038] This invention also provides a control method for an automatic sonar probe cleaning device. This control method is used to control the automatic sonar probe cleaning device in any embodiment of this invention. It is executed by the control module of the automatic sonar probe cleaning device, and the control method can achieve the same functions and technical effects as the automatic sonar probe cleaning device. Figure 4 A flowchart of a control method for an automatic sonar probe cleaning device provided in an embodiment of the present invention is shown below. Figure 4 As shown, the control method of the automatic cleaning device for sonar probes includes: S110 controls the visual recognition module to acquire images from the sonar probe in real time.

[0039] Specifically, the control module 140 can control the vision recognition module 110 to acquire images of the sonar probe in real time. The acquired images of the sonar probe include images of the sonar probe 210 and the cleaning module 130. During the cleaning operation, the position of the sonar probe 210 needs to be located, so that the control module 140 can control the cleaning module 130 on the second end of the robotic arm 120 to move to the position of the sonar probe 210 and make the cleaning module 130 fit against the surface of the sonar probe 210.

[0040] S120. Obtain the current detection range and continuous operating time of the sonar probe.

[0041] Specifically, the current detection range of the sonar probe 210 is affected by foreign matter adhering to its surface. The thicker and larger the foreign matter, the smaller the current detection range. When the current detection range shrinks to a certain extent, it affects the normal operation of the sonar probe 210, requiring cleaning. Therefore, by obtaining the current detection range of the sonar probe 210, it can be determined whether cleaning is necessary. Normally, the sonar probe 210 is cleaned at regular intervals to ensure its normal operation. By obtaining the continuous operating time of the sonar probe 210, cleaning can be performed when the continuous operating time reaches a preset time.

[0042] S130. Identify the thickness of foreign matter attachment on the surface of the sonar probe, the area of ​​foreign matter attachment, and the position of the sonar probe based on the image of the sonar probe.

[0043] Specifically, by comparing the image of the sonar probe with pre-stored images of normal sonar probes using an image recognition algorithm, the thickness and area of ​​foreign matter adhesion on the surface of the sonar probe can be determined. Since the image acquisition end of the visual recognition module 110 faces both the sonar probe 210 and the cleaning module 130, the acquired image of the sonar probe 210 includes images of both the sonar probe 210 and the cleaning module 130. By using these images, the relative positions of the sonar probe 210 and the cleaning module 130 can be identified, thereby enabling the location of the sonar probe.

[0044] S140. Determine whether to clean the sonar probe based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe.

[0045] Specifically, since the continuous working time of the sonar probe 210 and the deviation between the current detection range and the normal detection range of the sonar probe 210 are factors that affect whether the sonar probe 210 needs to be cleaned, the decision to clean the sonar probe is made based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe.

[0046] S160. When it is determined that the sonar probe needs to be cleaned, the second end of the robotic arm is moved to the position of the sonar probe so that the cleaning module is in contact with the surface of the sonar probe, and the cleaning module is controlled to work to clean the area on the sonar probe where foreign matter is attached until the thickness of the foreign matter is less than the preset thickness.

[0047] Specifically, when it is determined that the sonar probe 210 needs to be cleaned, the control module 140 controls the cleaning module 130 on the second end of the robotic arm 120 to move to the location of the sonar probe 210 based on the relative position of the sonar probe 210 and the cleaning module 130 in the real-time acquired image. This allows the cleaning module 130 to adhere to the surface of the sonar probe 210, thus achieving positioning of the sonar probe 210. Furthermore, based on the state of foreign matter attached to the surface of the sonar probe 210 in the image, the cleaning effect of the cleaning module 130 can be judged, and the cleaning module 130 can be controlled to complete the cleaning work. When the thickness of the foreign matter is less than the preset thickness, the cleaning module 130 is controlled to stop cleaning, and the robotic arm 120 is controlled to return to its original position, thus automatically completing the cleaning of the sonar probe 210. The entire process requires no manual intervention, reducing maintenance costs and safety risks, ensuring the continuous and stable operation of the sonar equipment, and improving the reliability of the sonar probe.

[0048] This invention also provides another control method for an automatic sonar probe cleaning device. Figure 5 A flowchart of a control method for another sonar probe automatic cleaning device provided in an embodiment of the present invention is shown below. Figure 5 As shown, the control method of the automatic cleaning device for sonar probes includes: S210 controls the visual recognition module to acquire images from the sonar probe in real time.

[0049] S220: Obtain the current detection range and continuous operating time of the sonar probe.

[0050] S230. Compare the image of the sonar probe with the pre-stored template image of the sonar probe to identify the thickness and area of ​​foreign matter attachment on the surface of the sonar probe; determine the position of the sonar probe based on the relative position of the sonar probe and the cleaning module in the image of the sonar probe; compare the image of the sonar probe with the pre-stored standard images of various foreign matter to identify the types of foreign matter on the surface of the sonar probe.

[0051] Specifically, by comparing the image of the sonar probe 210 with a pre-stored template image of the sonar probe 210, the foreign object attachment area on the surface of the sonar probe 210 can be directly identified because the image shows foreign objects attached to its surface, while the template image shows no foreign objects attached. The foreign object attachment thickness can be the maximum foreign object attachment thickness on the surface of the sonar probe 210. Based on image algorithms, the image of the sonar probe 210 and the template image of the sonar probe 210 are converted into three-dimensional images. The surface of the sonar probe 210 in the three-dimensional image of the template image is used as a reference plane. The height difference between the surface of the sonar probe 210 in the three-dimensional image of the sonar probe 210 and the reference plane is the foreign object attachment thickness. In addition, a thickness gauge can be set on the surface of the sonar probe 210, and the thickness of the foreign object attachment can be directly determined through the image of the sonar probe 210. The detection of the foreign object attachment thickness can also be confirmed by methods such as binocular / structured light 3D reconstruction and contour comparison.

[0052] S240. If the current detection range of the sonar probe decreases by a preset percentage compared to the normal detection range of the sonar probe, it is determined that the sonar probe needs to be cleaned; if the continuous working time meets the preset working time, it is determined that the sonar probe needs to be cleaned.

[0053] Specifically, this invention provides two methods for determining when the sonar probe needs cleaning. One is timed cleaning, with a preset working duration of 7 to 30 days. If the continuous working duration meets the preset working duration, it is determined that the sonar probe needs cleaning, thus achieving regular cleaning of the sonar probe 210 once at certain intervals. The other is on-demand cleaning. If the current detection range of the sonar probe decreases by a preset percentage compared to the normal detection range of the sonar probe, the preset percentage can be ≥10%. That is, when the current detection range decreases by ≥10% compared to the normal detection range of the sonar probe, it is determined that the sonar probe needs cleaning, thus allowing the sonar probe 210 to be cleaned according to its cleaning requirements even during timed cleaning.

[0054] For example, the average time during which the current detection range of the sonar probe 210 decreases by more than 10% compared to its normal detection range can be used as a preset working time. The preset working time is 20 days, and the preset ratio is greater than 10%. By judging whether the continuous working time meets the preset working time, it is determined that the sonar probe 210 needs to be cleaned when it does. This achieves cleaning of the sonar probe 210 once every 20 days. During the 20-day interval, since the underwater environment is constantly changing, the surface of the sonar probe 210 may experience increased foreign matter adhesion. Therefore, during the 20-day interval, it is determined whether the current detection range of the sonar probe 210 decreases by more than 10% compared to its normal detection range. If it does, it is determined that the sonar probe needs to be cleaned. This achieves a combination of timed cleaning and on-demand cleaning. By using both methods together, the cleaning of the sonar probe 210 is automatically completed, reducing maintenance costs and safety risks, ensuring the continuous and stable operation of the sonar equipment, and improving the reliability of the sonar probe 210.

[0055] S260. When it is determined that the sonar probe needs to be cleaned, the second end of the robotic arm is moved to the position of the sonar probe so that the cleaning module is in contact with the surface of the sonar probe. The cleaning module is controlled to work according to the cleaning mode corresponding to the type of foreign matter on the surface of the sonar probe, and the foreign matter attached area on the sonar probe is cleaned until the foreign matter attachment thickness is less than the preset thickness.

[0056] The cleaning module 130 includes multiple cleaning modes, each with different frequencies and power, and each cleaning mode 130 corresponds to a different type of foreign matter to be cleaned. The control module 140 controls the cleaning module to operate according to the cleaning mode corresponding to the type of foreign matter on the surface of the sonar probe 210.

[0057] Specifically, when the control module 140 determines that the sonar probe 210 needs cleaning, it compares the image of foreign matter attached to the surface of the sonar probe 210 with a pre-stored image of foreign matter. Using an image recognition algorithm, it can determine the type of foreign matter attached to the surface of the sonar probe 210, thus determining the cleaning mode to be used in the current cleaning mode 130. Then, it controls the second end of the robotic arm 120 to move to the position of the sonar probe 210, so that the cleaning module 130 is in contact with the surface of the sonar probe 210. The cleaning module 130 then operates according to the cleaning mode corresponding to the type of foreign matter on the surface of the sonar probe 210, cleaning the area where foreign matter is attached to the sonar probe 210 until the thickness of the foreign matter is less than a preset thickness.

[0058] If the foreign matter includes marine organisms and silt, the control module 140 can adjust and switch the frequency and power of the ultrasonic generator according to the type of foreign matter attached to the sonar probe 210. For example, when the control module 140 detects marine organisms as foreign matter attached to the sonar probe 210, it can control the cleaning module 130 to operate in a high-frequency (60-80kHz) and high-power (200-300W) mode. When the control module 140 detects silt as foreign matter attached to the sonar probe 210, it can control the cleaning module 130 to operate in a low-frequency (20-40kHz) and medium-power (50-150W) mode, so as to effectively clean the foreign matter attached to the sonar probe 210 and improve the cleaning efficiency.

[0059] In addition, the control module 140 is equipped with safety protection logic. For example, if the movement of the robotic arm 120 exceeds the limit, the contact pressure between the cleaning head of the cleaning module 130 and the surface of the sonar probe 210 is abnormal, or the visual recognition module 110 fails, the robotic arm 120 and the cleaning module 130 will be immediately controlled to stop working and issue an audible and visual alarm, while locking the equipment, thereby improving the safety of the cleaning process and protecting the sonar probe 210.

[0060] In some embodiments of the present invention, the cleaning module is controlled to clean the area on the sonar probe where foreign matter adheres until the thickness of the foreign matter is less than a preset thickness, including: The system controls the cleaning module to clean the area where foreign matter adheres to the sonar probe; it controls the visual recognition module to acquire images of the sonar probe after cleaning; if the thickness of the foreign matter in the image of the sonar probe after cleaning is less than the preset thickness, the cleaning is complete; if the thickness of the foreign matter in the image of the sonar probe after cleaning is greater than or equal to the preset thickness, the system controls the cleaning module to continue working until the thickness of the foreign matter in the image of the sonar probe after cleaning is less than the preset thickness.

[0061] Specifically, to ensure the sonar probe 210 is thoroughly cleaned and to assess the cleaning effect of the cleaning module 130, during the cleaning process of the cleaning module 130 on the sonar probe 210, the visual recognition module 110 can be controlled to acquire images of the cleaned sonar probe 210. The thickness of the foreign matter attached to the sonar probe 210 after cleaning is determined from the images. If the thickness of the foreign matter attached to the sonar probe 210 in the images after cleaning is less than a preset thickness (which can be set to be less than 5% of the maximum thickness of the foreign matter attached to the sonar probe 210), then cleaning is complete. If the thickness of the foreign matter attached to the sonar probe 210 in the images after cleaning is greater than or equal to the preset thickness, the cleaning module 130 is controlled to continue working until the thickness of the foreign matter attached to the sonar probe 210 in the images after cleaning is less than the preset thickness, thus completing a complete cleaning process and ensuring that the sonar probe 210 can be thoroughly cleaned in one automatic cleaning cycle.

[0062] In some embodiments of the present invention, a pressure sensor is provided in the cleaning module 130, and controlling the operation of the cleaning module includes: The contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe is obtained in real time by a pressure sensor, and the contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe is controlled within a preset pressure range.

[0063] Specifically, the pressure sensor in the cleaning module 130 can obtain the contact pressure between the cleaning head of the cleaning module 130 and the surface of the sonar probe 210 in real time, and control the contact pressure between the cleaning head of the cleaning module 130 and the surface of the sonar probe 210 within a preset pressure range.

[0064] In some embodiments of the present invention, the control module 140 further has the following functions and control logic to control the automatic cleaning device for the sonar probe, including: 1. Triggered Cleaning: The automatic cleaning device for the sonar probe can be activated by a timed command from the control module 140 or a remote control signal. The sonar lifting bracket 220 adjusts the sonar probe 210 to a preset cleaning position, which can be 1-1.5m below sea level. 2. Visual Positioning: The underwater dual-spectrum camera of the visual recognition module 110 acquires images of the sonar probe 210. The control module 140 determines the position of the sonar probe 210, the area and thickness of foreign matter attachment, using a recognition algorithm. 3. Path Planning: The control module 140 calculates the movement path of the robotic arm 120 based on the position of the sonar probe 210, avoiding the cables and fixed structures of the sonar probe 210, and causing the robotic arm 120 to drive the cleaning module 13. 0. Move to the position of sonar probe 210; 4. Ultrasonic cleaning: The robotic arm 120 drives the cleaning module 130 to move along the path and perform precise cleaning on the area where foreign matter is attached. The cleaning module 130 can be controlled to adjust the cleaning frequency, power and contact pressure in real time; 5. Effect detection: After the cleaning module 130 finishes cleaning, the visual recognition module 110 collects images again to detect the foreign matter residue on the sonar probe 210. If the residue rate is >5%, the cleaning process is repeated until the residue rate is less than or equal to 5%; 6. Operation end: After the sonar probe 210 is cleaned successfully, the robotic arm 120 resets, the device enters standby mode, and the cleaning record (time, parameters, effect) is uploaded to the marine organism monitoring and early warning system.

[0065] In addition, the control module 140 is equipped with safety protection logic. For example, if the movement of the robotic arm 120 exceeds the limit, the contact pressure between the cleaning head of the cleaning module 130 and the surface of the sonar probe 210 is abnormal, or the visual recognition module 110 fails, the robotic arm 120 and the cleaning module 130 will be immediately controlled to stop working and issue an audible and visual alarm, while locking the equipment, thereby improving the safety of the cleaning process and protecting the sonar probe 210.

[0066] This invention provides a control method for an automatic sonar probe cleaning device. A visual recognition module acquires real-time images of the sonar probe and the cleaning module to locate the sonar probe. Based on these images, the method controls the movement of a robotic arm, bringing the cleaning module mounted at the second end of the robotic arm close to the sonar probe. The cleaning module then cleans the sonar probe automatically, eliminating the need for manual intervention, reducing maintenance costs and safety risks, ensuring the continuous and stable operation of the sonar equipment, and improving the reliability of the sonar probe.

[0067] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An automatic cleaning device for sonar probes, characterized in that, The automatic cleaning device for sonar probes includes a visual recognition module, a robotic arm, a cleaning module, and a control module. The visual recognition module, the robotic arm, the cleaning module, and the sonar probe are all connected to the control module. The visual recognition module is installed on one side of the sonar probe. The first end of the robotic arm is installed on one side of the sonar probe, and the second end of the robotic arm is installed with the cleaning module. The cleaning module and the sonar probe are adjacent to each other at a preset distance. The image acquisition end of the visual recognition module faces the sonar probe and the cleaning module. The visual recognition module is used to acquire images of the sonar probe in real time, the cleaning module is used to clean the sonar probe, and the control module is used to control the movement of the robotic arm and the operation of the cleaning module.

2. The automatic cleaning device for sonar probes according to claim 1, characterized in that, It also includes a power supply module, which is electrically connected to the vision recognition module, the robotic arm, the cleaning module, and the control module.

3. The automatic sonar probe cleaning device according to claim 1, characterized in that, The robotic arm includes a four-degree-of-freedom robotic arm, and the second end of the robotic arm is provided with a quick-change interface; The cleaning module includes an ultrasonic generator, and the cleaning head of the ultrasonic generator is arc-shaped.

4. The automatic sonar probe cleaning device according to any one of claims 1-3, characterized in that, The sonar probe, the visual recognition module, and the robotic arm are mounted on a sonar lifting bracket, one end of which extends underwater. The distance between the robotic arm and the sonar probe at the mounting position on the sonar lifting bracket is a preset distance.

5. A control method for an automatic cleaning device for a sonar probe, characterized in that, The control method for the sonar probe automatic cleaning device is used to control the sonar probe automatic cleaning device according to any one of claims 1-4, comprising: The visual recognition module is controlled to acquire images from the sonar probe in real time. Obtain the current detection range and continuous operating time of the sonar probe; Based on the image of the sonar probe, the thickness of the foreign object attached to the surface of the sonar probe, the area of ​​foreign object attachment, and the position of the sonar probe are identified; Whether to clean the sonar probe is determined based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe. When it is determined that the sonar probe needs to be cleaned, the second end of the robotic arm is moved to the position of the sonar probe, so that the cleaning module is in contact with the surface of the sonar probe, and the cleaning module is controlled to work to clean the foreign object attachment area on the sonar probe until the foreign object attachment thickness is less than a preset thickness.

6. The control method for the automatic cleaning device for sonar probes according to claim 5, characterized in that, The image of the sonar probe includes an image of the sonar probe itself and an image of the cleaning module. Identifying the thickness of foreign matter deposits on the surface of the sonar probe and the position of the sonar probe based on the image of the sonar probe includes: The image of the sonar probe is compared with a pre-stored template image of the sonar probe to identify the thickness and area of ​​foreign matter attachment on the surface of the sonar probe. The position of the sonar probe is determined based on the relative position of the sonar probe and the cleaning module in the image of the sonar probe; The images from the sonar probe are compared with pre-stored standard images of various foreign objects to identify the types of foreign objects on the surface of the sonar probe.

7. The control method for the automatic cleaning device for sonar probes according to claim 6, characterized in that, The cleaning module includes multiple cleaning modes, each with different frequencies and power, and each mode is designed to clean different types of foreign objects. The control of the cleaning module includes: The cleaning module is controlled to operate according to the cleaning mode corresponding to the type of foreign matter on the surface of the sonar probe.

8. The control method for the automatic cleaning device for sonar probes according to claim 5, characterized in that, The cleaning module is equipped with a pressure sensor, and controlling the operation of the cleaning module includes: The pressure sensor acquires the contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe in real time, and controls the contact pressure between the cleaning head of the cleaning module and the surface of the sonar probe within a preset pressure range.

9. The control method for the automatic cleaning device for sonar probes according to claim 6, characterized in that, Determining whether to clean the sonar probe based on the continuous working time and the deviation between the current detection range and the normal detection range of the sonar probe includes: If the current detection range of the sonar probe decreases by a preset percentage compared to the normal detection range of the sonar probe, it is determined that the sonar probe needs to be cleaned. If the continuous working time meets the preset working time, it is determined that the sonar probe needs to be cleaned.

10. The control method for the automatic cleaning device for sonar probes according to claim 6, characterized in that, The control of the cleaning module to clean the foreign object attachment area on the sonar probe until the foreign object attachment thickness is less than a preset thickness includes: The cleaning module is controlled to clean the area on the sonar probe where foreign matter is attached. The visual recognition module is controlled to acquire images of the sonar probe after cleaning. If the thickness of the foreign object in the image of the sonar probe after cleaning is less than the preset thickness, then cleaning is complete; if the thickness of the foreign object in the image of the sonar probe after cleaning is greater than or equal to the preset thickness, then the cleaning module is controlled to work until the thickness of the foreign object in the image of the sonar probe after cleaning is less than the preset thickness.

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