A path straightening device and method for a wall-climbing robot used on a boiler membrane wall

Abstract

The present invention relates to a path straightening device and method for a wall-climbing robot used on a membrane-type boiler wall. The device comprises a laser emitting unit, a laser receiving unit, a travel switch unit, and a control unit. The laser emitting unit comprises a laser emitter, the laser receiving unit comprises a photoelectric sensor assembly, and the travel switch unit comprises a travel switch. The method comprises using the laser emitter to emit a highly parallel laser beam, projecting the laser beam onto the photoelectric sensor assembly. The control unit determines whether the wall-climbing robot has deflected during its movement and the direction of deflection based on the output current of the photoelectric sensor assembly and the state of the travel switch, and controls the differential wheel assembly to correct its direction of travel. The present invention solves the problem of automatic deviation correction during the movement of the wall-climbing robot, ensuring that the wall-climbing robot automatically travels along a straight path along the length of the boiler water-cooled wall tube bank.

Description

Technical Field

[0001] The present invention relates to the field of wall-climbing robots, and in particular to a path straightening device and method for a wall-climbing robot used on a membrane wall of a boiler. Background Art

[0002] In large-scale power generation and heating enterprises, the wall of the boiler is subjected to long-term liquid erosion and wear, which causes the wall thickness to become thinner. Therefore, it is necessary to regularly check the degree of wall wear to ensure the safety and reliability of the boiler. At present, most boiler walls are membrane walls (boiler membrane water-cooled walls, a water-cooled wall composed of flat steel and pipes welded together to form an airtight tube panel), such as Figure 1 As shown, wear detection is mainly completed by manually building scaffolding, but manual detection is inefficient, expensive and has a high risk factor. Therefore, a wall-climbing robot that can automatically detect wall thickness and status has gradually been used in maintenance.

[0003] Inside the boiler, the wall-climbing robot operates in a complex environment. To accurately measure tube thickness and surface condition, the robot must precisely follow the length of the tubes. Ideally, during normal operation, the left and right motors of the wheel set would move at exactly the same speed, allowing the robot to crawl in a straight line. However, due to manufacturing errors and environmental factors, the robot's position can deviate, making it impossible to automatically reach the designated location for operation. Therefore, ensuring that the robot follows the intended straight path is a crucial issue.

[0004] Currently, the path planning method used by wall-climbing robots is as follows: a camera captures real-time images of the water-cooled wall and performs image processing to extract the set straight path. Visual recognition is then used to determine the robot's real-time position and direction. Finally, the robot is intelligently controlled to follow the specified straight path based on the deviation between the real-time position and direction and the expected value. However, due to the environmental constraints of the boiler water-cooled wall, the following problems exist:

[0005] 1. The boiler interior is poorly lit, and dust and corrosion accumulate on the water-wall tubes, resulting in significant errors when extracting the straight path from images taken with a camera.

[0006] 2. The use of visual recognition methods requires the establishment of a huge matching database and a lot of early training. The current position and direction of the wall-climbing robot are determined by matching the images taken by the camera with the images in the database. This will result in complex algorithms, huge calculations, inflexible control actions and high costs. Summary of the Invention

[0007] One object of the present invention is to provide a path straightening device for a wall-climbing robot on a membrane wall of a boiler, so as to solve the path calibration problem of the wall-climbing robot during its straight walking along the length direction of the boiler water-cooled wall tube row.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A path straightening device for a wall-climbing robot used on a membrane wall of a boiler, comprising:

[0010] Laser emitting unit: It is arranged on the membrane wall of the boiler and includes a laser emitter and a collimator. The collimator is arranged in front of the laser emitter.

[0011] A laser receiving unit is provided on the wall-climbing robot and includes a photoelectric sensor assembly and a convex lens. The convex lens is provided in front of the photoelectric sensor assembly, and the projection of the convex lens on the surface where the photoelectric sensor assembly is provided covers the photoelectric sensor assembly. The photoelectric sensor assembly includes a middle photoelectric sensor and side photoelectric sensors. The side photoelectric sensors are respectively located on both sides of the middle photoelectric sensor.

[0012] A travel switch unit is provided on the wall-climbing robot and includes a drive assembly, a screw, and a travel switch. The drive assembly is in driving connection with the screw, and the travel switch is connected to the screw and can move relative to the screw in the length direction thereof.

[0013] Control unit: connected to the photoelectric sensor assembly and the limit switch signal, used to control the deflection of the wall-climbing robot wheel group according to the signals of the photoelectric sensor assembly and the limit switch.

[0014] Preferably, in the above technical solution, the straightening device is in an initial setting state: the center of the laser emitter, the center of the middle photoelectric sensor and the center of the convex lens are collinear, and are coplanar with the line connecting the centers of the middle photoelectric sensor and the side photoelectric sensor.

[0015] Preferably, in the above technical solution, a line connecting the center of the laser emitter and the center of the collimating mirror is perpendicular to the center plane of the collimating mirror.

[0016] Preferably, in the above technical solution, the distance between the center of the convex lens and the intermediate photoelectric sensor is the focal length of the convex lens.

[0017] Preferably, the above technical solution is that the laser emitting unit further comprises a mounting seat assembly, the mounting seat assembly comprises a base plate, a support seat, a transmitter mounting seat and a collimating mirror mounting seat, the support seat is connected to the base plate, the transmitter mounting seat is connected to the support seat and can be moved relative to the support seat in its extension direction, the collimating mirror mounting seat is connected to the transmitter mounting seat, the laser emitter is arranged on the transmitter mounting seat, and the collimating mirror is arranged on the collimating mirror mounting seat.

[0018] Further preferably, the mounting seat assembly also includes a plurality of magnetic components, the magnetic components are used to adsorb the mounting seat on the membrane wall of the boiler, the magnetic components are fixedly connected to the base plate, a plurality of grooves are provided on the base plate, and the plurality of grooves are opened along the extension direction of the base plate, the magnetic surface at one end of the magnetic component is inserted into the groove, and the support seat is connected to the other end of the plurality of magnetic components.

[0019] Further preferably, the mounting seat assembly also includes a linear motor; a guide rail is provided on the support seat, the extension direction of the guide rail is consistent with the extension direction of the support seat, the linear motor is movably provided on the guide rail, and the transmitter mounting seat is connected to the upper surface of the linear motor.

[0020] More preferably, the mounting seat assembly further includes a limiter, and the limiter is arranged at both ends of the support plate to limit the moving position of the linear motor at both ends.

[0021] More preferably, the distance between the bottom surface of the transmitter mounting base and the upper surface of the linear motor is adjustable.

[0022] Preferably, the above technical solution is such that the laser receiving unit further includes a cleaning component for automatically cleaning dust on the surface of the photoelectric sensor component. The cleaning component is arranged on the wall-climbing robot. The cleaning component includes a brush and a brush motor, and the brush motor is connected to the brush.

[0023] Preferably, the above technical solution is such that the laser receiving unit further includes a sensor mounting seat and a convex lens mounting seat, the sensor mounting seat and the convex lens mounting seat are arranged on the wall-climbing robot, the photoelectric sensor assembly is arranged on the sensor mounting seat, and the convex lens is arranged on the convex lens mounting seat.

[0024] Preferably, the above technical solution comprises a driving assembly including a driving motor, a reducer and a coupling; the driving motor is arranged on the wall-climbing robot; the driving motor is transmission-connected to the reducer; and the reducer is transmission-connected to the screw via the coupling.

[0025] Preferably, the above technical solution is that the travel switch unit also includes a switch mounting seat and a slide rail, the switch mounting seat is provided with a slide groove, the switch mounting seat is threadedly matched with the screw, and the travel switch is connected to the switch mounting seat; the slide rail is arranged on the wall-climbing robot, and the slide groove of the switch mounting seat is matched with the slide rail.

[0026] Further preferably, the length of the slide rail is greater than the distance between adjacent tubes of the water-cooled wall and less than twice the distance between adjacent tubes of the water-cooled wall.

[0027] Another object of the present invention is to provide a path straightening method for a wall-climbing robot used on a boiler membrane wall.

[0028] In order to achieve the above object, the technical solution adopted by the present invention is:

[0029] A method for straightening the path of a wall-climbing robot for a membrane-type wall of a boiler, which is implemented by the straightening device, comprises:

[0030] S1: Place the laser emitting unit and the wall-climbing robot on the water-cooled wall according to the set path, and adjust the relative positions of the units.

[0031] S2: Turn on the laser transmitter; adjust the position and state value of the travel switch; set the initial value of the output current of the photoelectric sensor assembly,

[0032] S3: The wall-climbing robot is operated, and the control unit reads the status value of the travel switch and the output current value of the photoelectric sensor assembly in real time.

[0033] S4: When the state value of the travel switch changes, and the output current value of the middle photoelectric sensor is less than the initial current value, and the output current value of the side photoelectric sensor on one side is greater than the initial current value, it is determined that the wall-climbing robot has deflected.

[0034] S5: The control unit determines the deflection direction of the wall-climbing robot according to the difference between the current output value of the photoelectric sensor assembly and the initial value, and adjusts the wheel group of the wall-climbing robot to deflect in the opposite direction using the differential principle.

[0035] S6: When the state value of the travel switch is restored and the output current of the photoelectric sensor assembly returns to the initial value, the straightening process is completed.

[0036] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0037] Compared with traditional electromagnetic induction alignment, magnetic alignment, or optical alignment methods, the present invention does not require the prior labor and material resources to lay out wires, magnetic tape, or specially colored ribbons. It is more suitable for the tall, vertical, and even negative angle characteristics of boiler membrane walls. It has the advantages of simple algorithm and structure, and convenient device layout.

[0038] The present invention utilizes the characteristics of laser light, which is focused in direction and has a single color, and combines it with a collimating mirror to convert the laser light into a parallel beam with a highly uniform direction. The high brightness of the laser light and the dimness inside the boiler are then utilized to enable the photoelectric sensor to quickly sense the changes in light when the wall-climbing robot body is deflected, making the control device responsive, with high adjustment accuracy and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Attachment Figure 1 It is a schematic diagram of the membrane wall of the boiler;

[0040] Attachment Figure 2 Schematic diagram of the structure of the straightening device in this embodiment;

[0041] Attachment Figure 3 Schematic diagram of the structure of the laser emitting unit in this embodiment;

[0042] Attachment Figure 4 This is a schematic structural diagram of the transmitter mounting base in this embodiment;

[0043] Attachment Figure 5 This is a schematic diagram of the structure in which the laser receiving unit and the travel switch unit are installed on the wall-climbing robot in this embodiment;

[0044] Attachment Figure 6 Schematic diagram of the structure of the travel switch unit in this embodiment;

[0045] Attachment Figure 7a This is a schematic diagram of the optical path of the laser receiving unit when the wall-climbing robot is walking normally;

[0046] Attachment Figure 7b Schematic diagram of the optical path of the laser receiving unit when the wall-climbing robot deflects to the left;

[0047] Attachment Figure 7c Schematic diagram of the optical path of the laser receiving unit when the wall-climbing robot deflects to the right;

[0048] In the above attached figures:

[0049] 1. Laser generating unit; 10. Laser emitter; 11. Collimating mirror; 12. Base plate; 13. Magnetic component; 14. Support base; 15. Emitter mounting base; 16. Collimating mirror mounting base; 170. Guide rail; 171. Linear motor; 172. Stopper; 180. Bolt; 181. Nut.

[0050] 2. Laser receiving unit; 20. Sensor mounting base; 210. Middle photoelectric sensor; 211. Side photoelectric sensor; 22. Convex lens mounting base; 23. Convex lens; 24. Cleaning assembly;

[0051] 3. Travel switch unit; 30. Screw; 31. Switch mounting base; 32. Travel switch; 33. Slide rail; 34. Mounting plate; 350. Drive motor; 351. Reducer; 352. Coupling;

[0052] 4. Wall-climbing robot; 5. Water-cooled wall. DETAILED DESCRIPTION

[0053] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "middle," "lateral," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] like Figure 2 The path straightening device for a wall-climbing robot on a membrane-type wall of a boiler shown in the figure comprises a laser emitting unit 1, a laser receiving unit 2, a travel switch unit 3 and a control unit. Each unit is described in detail below.

[0056] like Figure 3 As shown: the laser emitting unit 1 is arranged on the membrane wall of the boiler, and includes a mounting assembly, a laser emitter 10, and a collimating lens 11.

[0057] The mounting base assembly includes a base plate 12, a magnetic component 13, a support base 14, a transmitter mounting base 15, and a collimator lens mounting base 16. Specifically, the base plate 12 is made of carbon steel plate and is provided with multiple grooves, which can be square grooves. The multiple grooves are evenly distributed along the extension direction of the base plate 12. The magnetic component 13 adopts a switch-type magnetic base. The magnetic component 13 is fixedly connected to the base plate 12, and the magnetic surface of one end is inserted into the groove. The support base 14 is connected to the non-magnetic surface of the other end of the multiple magnetic components 13, and the two are fixed with bolts. The multiple magnetic components 13 adsorb the base plate 12 on the water-cooled wall 5. The base plate 12 is attached to the water-cooled wall 5 to ensure that the laser emitted by the laser transmitter 10 is parallel to the water-cooled wall 5. The emitter mounting seat 15 is connected to the support seat 14 and can move relative to the support seat 14 in its extension direction. The collimator lens mounting seat 16 is connected to the emitter mounting seat 15. The laser emitter 10 is set on the emitter mounting seat 15. The collimator lens 11 is set on the collimator lens mounting seat 16 and is used to convert the light emitted by the laser emitter 10 into a highly parallel laser beam. The collimator lens 11 is located in front of the laser emitter 10. The laser emitter and the collimator lens are very close, and the line connecting the center of the laser emitter 10 and the center of the collimator lens 11 is perpendicular to the center plane of the collimator lens 11, as shown in FIG. Figure 4 shown.

[0058] In this embodiment, the mounting assembly further includes a guide rail 170 and a linear motor 171. The guide rails 170 have two parallel sections arranged on the upper surface of the support base 14. The extension direction of the guide rails 170 is consistent with the extension direction of the support base 14. The linear motor 171 is movably arranged on the guide rails 170, and the emitter mounting base 15 is connected to the upper surface of the linear motor 171. This allows the emitter mounting base 15 to be moved by remotely controlling the linear motor 171 to adjust the position of the laser emitter 10, thereby avoiding repeated movement of the laser emitting unit 1. In addition, limiters 172 are provided at both ends of the guide rails 170 to limit the movement of the linear motor 171 at both ends.

[0059] The distance between the bottom surface of the transmitter mount 15 and the top surface of the linear motor 171 is adjustable. Specifically, the transmitter mount 15 has four mounting holes at each corner. It is attached to the top surface of the linear motor 171 using four bolts 180 and nuts 181. The lower ends of the bolts 180 are mounted in threaded holes in the linear motor 171, and then pass through the nuts 181, the mounting holes of the transmitter mount 15, and the nuts 181. This allows the position of each set of nuts 181 to be fine-tuned to keep the bottom surface of the transmitter mount 15 parallel to the water-cooled wall 5.

[0060] like Figure 5 As shown: the laser receiving unit 2 is arranged at the rear of the wall-climbing robot 4, which includes a sensor mounting seat 20, a photoelectric sensor assembly, a convex lens mounting seat 22 and a convex lens 23.

[0061] The sensor mounting seat 20 and the convex lens mounting seat 22 are arranged on the wall-climbing robot 4 , the photoelectric sensor assembly is arranged on the sensor mounting seat 20 , and the convex lens 23 is arranged on the convex lens mounting seat 22 .

[0062] The photoelectric sensor assembly includes a central photoelectric sensor 210 and side photoelectric sensors 211, with the side photoelectric sensors 211 located on either side of the central photoelectric sensor 210. The central photoelectric sensor 210 and the side photoelectric sensors 211 are arranged along a straight line. The width of the central photoelectric sensor 210 is much smaller than that of the side photoelectric sensors 211. This means that the central photoelectric sensor 210 can be considered a point sensor, while the side photoelectric sensors 211 can be considered line sensors. A convex lens 23 is located directly in front of the photoelectric sensor assembly. The distance between the center of the convex lens 23 and the central photoelectric sensor 210 is the focal length of the convex lens 23, and the projection of the convex lens 23 onto the photoelectric sensor assembly's mounting surface covers the photoelectric sensor assembly. The diameter of the convex lens 23 is much larger than the diameter of the collimating lens 11. When the wall-climbing robot 4 travels along a designated straight path, the convex lens 23 converges the parallel laser beam projected onto it into a point, which then enters the central photoelectric sensor 210. When the wall-climbing robot 4 deflects, the parallel laser beam is refracted to the side photoelectric sensor 211 on one side, thereby determining the deflection direction.

[0063] In the initial setting position, the center of the laser emitter 10 , the center of the middle photoelectric sensor 210 , and the center of the convex lens 23 are collinear and coplanar with the line connecting the centers of the middle photoelectric sensor 210 and the side photoelectric sensor 211 .

[0064] In addition, the laser receiving unit 2 also includes a cleaning assembly 24 for cleaning dust from the surface of the photoelectric sensor assembly. The cleaning assembly 24 is mounted on the wall-climbing robot 4 and is shown directly above the middle photoelectric sensor 210. The cleaning assembly 24 includes a brush and a brush motor. The brush motor is connected to the brush. When the output current value of at least one of the side photoelectric sensors 211 is less than a certain value, the control unit drives the brush motor to drive the brush to clean dust from the photoelectric sensor surface.

[0065] like Figure 6As shown: the wheel set of the wall-climbing robot 4 adopts a differential wheel set, and the wall-climbing robot 4 is provided with a travel switch unit 3. The travel switch unit 3 includes a drive assembly, a screw 30, a switch mounting seat 31, a travel switch 32 and a slide rail 33. The drive assembly is connected to the side of the wall-climbing robot 4 through a mounting plate 34. The screw 30 is in transmission connection with the drive assembly. The switch mounting seat 31 and the screw 30 can move relative to the screw 30 in the length direction through threaded cooperation. The travel switch 32 is connected to the switch mounting seat 31; a slide groove is provided on the upper surface of the switch mounting seat 31, and the slide rail 33 is provided at the bottom of the wall-climbing robot 4, and the length of the slide rail 33 is greater than the distance between adjacent tubes of the water-cooled wall 5 and less than twice the distance between adjacent tubes of the water-cooled wall, ensuring that the slide rail 33 only crosses one water-cooled wall round tube, and the slide groove of the switch mounting seat 31 cooperates with the slide rail 33. Specifically:

[0066] The drive assembly includes a drive motor 350, a reducer 351, and a coupling 352. The drive motor 350 is in transmission connection with the reducer 351. The reducer 351 is in transmission connection with one end of the screw 30 via the coupling 352. The other end of the screw 30 passes through the switch mounting base 31 and is secured with a nut for position control. The drive motor 350, through the reducer 351 and coupling 352, rotates the screw 30, causing the switch mounting base 31 to move along the slide rail 33 on the screw 30, thereby adjusting the position of the limit switch 32. When the pressure rod of the limit switch 32 contacts the top of the arc of the water-cooled wall tube, the pressure rod is depressed, triggering the limit switch 32 and causing it to stop moving.

[0067] The control unit is signal-connected to the photoelectric sensor assembly and cleaning assembly 24 of the laser receiving unit 2, and the driving assembly and travel switch 32 of the travel switch unit 3 for controlling them.

[0068] The following specifically describes the straightening method of the straightening device of this example:

[0069] The laser emitting unit 1 and the wall-climbing robot 4 are placed on the water-cooled wall 5 according to the set path, and the relative positions of the units are adjusted.

[0070] Turn on the laser emitter 10 and move it so that the laser coincides with the set walking trajectory of the wall-climbing robot 4. At the same time, make the parallel laser light emitted by the laser emitter 10 and refracted by the collimator 11 coincide with the center of the convex lens 23 and be perpendicular to the median plane of the convex lens 23.

[0071] Adjust the position of the limit switch 32 so that the pressure rod of the limit switch 32 contacts the top of the arc of the water-cooled wall tube until the limit switch 32 is triggered and the state value is 1;

[0072] The control unit reads the output current values ​​of the photoelectric sensor assembly and sets each value as the initial value of the corresponding photoelectric sensor output current in the control unit.

[0073] Run the wall-climbing robot 4 to make it walk in a straight line along the length of the set water-cooled wall tube row:

[0074] When the wall-climbing robot 4 moves straight along the set path, the laser light focused by the convex lens 23 is projected onto the middle photoelectric sensor 210, and the output current value of the photoelectric sensor assembly remains unchanged, such as Figure 7a As shown, the state of the travel switch 32 remains unchanged;

[0075] When the wall-climbing robot 4 deviates from the track, the pressure rod of the limit switch 32 no longer contacts the arc top of the water-cooled wall tube, and the state value of the limit switch 32 turns to 0. The light energy of the laser focused by the convex lens 23 projected on the middle photoelectric sensor 210 decreases, and the output current value of the middle photoelectric sensor 210 decreases. The light energy projected on the side photoelectric sensor 211 on one side increases, and the output current value of the side photoelectric sensor 211 on that side increases. Figure 7b 、 7c shown.

[0076] The control unit determines the deflection direction of the wall-climbing robot 4 based on the difference between the current output value of the photoelectric sensor component and the initial value. When the output current of the left side photoelectric sensor 211 increases, the wall-climbing robot 4 deflects to the right. When the output current of the right side photoelectric sensor 211 increases, the wall-climbing robot 4 deflects to the left.

[0077] According to the deflection direction of the wall-climbing robot 4, the control unit uses the differential principle to adjust the wheel group of the wall-climbing robot 4 to deflect in the opposite direction, and judges whether the position of the wall-climbing robot 4 returns to the set path according to whether the state value of the limit switch state 32 is restored to 1; and judges whether the driving direction of the wall-climbing robot 4 coincides with the set path according to whether the real-time value of the photoelectric sensor component returns to the initial value.

[0078] When the state value of the travel switch 32 returns to 1 and the output current of the photoelectric sensor assembly returns to the initial value, the straightening process is completed.

[0079] The present invention utilizes an external independent laser emitting unit to emit a highly parallel laser beam, and then uses the optical laws of a convex lens to transmit the laser beam through the convex lens to each photoelectric sensor. The control unit determines whether the wall-climbing robot deflects and the deflection direction during its walking process based on the output current of each photoelectric sensor and the status of the travel switch, thereby solving the problem of automatic deviation correction during the walking process of the wall-climbing robot and ensuring that the wall-climbing robot automatically walks along a straight path in the length direction of the boiler water-cooled wall tube row.

[0080] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. A path straightening device for a wall-climbing robot on a membrane-type boiler wall, characterized by: include: Laser emitting unit: It is arranged on the membrane wall of the boiler and includes a laser emitter and a collimator. The collimator is arranged in front of the laser emitter. Laser receiving unit: provided on the wall-climbing robot, comprising a photoelectric sensor assembly and a convex lens. The photoelectric sensor assembly comprises a middle photoelectric sensor and a side photoelectric sensor. The side photoelectric sensors are respectively located on either side of the middle photoelectric sensor. The middle photoelectric sensor and the side photoelectric sensors are arranged along a straight line. The width of the middle photoelectric sensor is much smaller than that of the side photoelectric sensors. The convex lens is provided directly in front of the photoelectric sensor assembly, and the projection of the convex lens on the installation surface of the photoelectric sensor assembly covers the photoelectric sensor assembly. A travel switch unit is provided on the wall-climbing robot and includes a drive assembly, a screw, and a travel switch. The drive assembly is in driving connection with the screw, and the travel switch is connected to the screw and can move relative to the screw in the length direction thereof. When the pressure rod of the travel switch contacts the top of the arc of the water-cooled wall tube until the travel switch is triggered, the state value is 1; when the pressure rod of the travel switch no longer contacts the top of the arc of the water-cooled wall tube, the state value changes to 0; Control unit: connected to the photoelectric sensor assembly and the limit switch signal, used to control the deflection of the wall-climbing robot wheel group according to the signals of the photoelectric sensor assembly and the limit switch. When the state value of the limit switch changes and the output current value of the middle photoelectric sensor is less than the initial current value, and the output current value of the side photoelectric sensor on one side is greater than the initial current value, it is determined that the wall-climbing robot has deflected.

2. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: In the initial setting state of the straightening device, the center of the laser emitter, the center of the middle photoelectric sensor and the center of the convex lens are collinear and coplanar with the line connecting the centers of the middle photoelectric sensor and the side photoelectric sensors.

3. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The line connecting the center of the laser emitter and the center of the collimating mirror is perpendicular to the center plane of the collimating mirror.

4. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The distance between the center of the convex lens and the middle photoelectric sensor is the focal length of the convex lens.

5. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The laser emitting unit also includes a mounting seat assembly, which includes a base plate, a support seat, a transmitter mounting seat and a collimating mirror mounting seat. The support seat is connected to the base plate, the transmitter mounting seat is connected to the support seat and can move relative to the support seat in its extension direction, the collimating mirror mounting seat is connected to the transmitter mounting seat, the laser emitter is arranged on the transmitter mounting seat, and the collimating mirror is arranged on the collimating mirror mounting seat.

6. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 5, characterized in that: The mounting seat assembly also includes multiple magnetic components, which are used to adsorb the mounting seat on the membrane wall of the boiler. The magnetic components are fixedly connected to the base plate. Multiple grooves are provided on the base plate. The multiple grooves are opened along the extension direction of the base plate. The magnetic surface at one end of the magnetic component is inserted into the groove, and the support seat is connected to the other end of the multiple magnetic components.

7. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 5, characterized in that: The mounting seat assembly also includes a linear motor; a guide rail is provided on the support seat, the extension direction of the guide rail is consistent with the extension direction of the support seat, the linear motor is movably arranged on the guide rail, and the transmitter mounting seat is connected to the upper surface of the linear motor.

8. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 7, characterized in that: The mounting seat assembly further includes a limiter, which is arranged at both ends of the support plate and is used to limit the moving position of the linear motor at both ends.

9. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 7, characterized in that: The distance between the bottom surface of the transmitter mounting seat and the upper surface of the linear motor is adjustable.

10. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The laser receiving unit also includes a cleaning component for automatically cleaning the dust on the surface of the photoelectric sensor component. The cleaning component is arranged on the wall-climbing robot. The cleaning component includes a brush and a brush motor. The brush motor is connected to the brush.

11. The path straightening device for a wall-climbing robot for a membrane-type boiler wall according to claim 1, characterized in that: The laser receiving unit also includes a sensor mounting seat and a convex lens mounting seat. The sensor mounting seat and the convex lens mounting seat are arranged on the wall-climbing robot. The photoelectric sensor assembly is arranged on the sensor mounting seat, and the convex lens is arranged on the convex lens mounting seat.

12. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The driving assembly includes a driving motor, a reducer and a coupling. The driving motor is arranged on the wall-climbing robot. The driving motor is transmission-connected to the reducer. The reducer is transmission-connected to the screw through the coupling.

13. The path straightening device for a wall-climbing robot on a membrane wall of a boiler according to claim 1, characterized in that: The travel switch unit also includes a switch mounting seat and a slide rail. The switch mounting seat is provided with a slide groove. The switch mounting seat is threadedly engaged with the screw rod, and the travel switch is connected to the switch mounting seat; the slide rail is arranged at the bottom of the wall-climbing robot, and the slide groove of the switch mounting seat is engaged with the slide rail.

14. The path straightening device for a wall-climbing robot for a membrane-type boiler wall according to claim 13, characterized in that: The length of the slide rail is greater than the distance between adjacent water-cooled wall tubes and less than twice the distance between adjacent water-cooled wall tubes.

15. A path straightening method for a wall-climbing robot used on a membrane wall of a boiler, characterized by: The straightening device is implemented by any one of claims 1 to 14, comprising: S1: Place the laser emitting unit and the wall-climbing robot on the water-cooled wall according to the set path, and adjust the relative positions of the units. S2: Turn on the laser transmitter; adjust the position and state value of the travel switch; set the initial value of the output current of the photoelectric sensor assembly, S3: The wall-climbing robot is operated, and the control unit reads the status value of the travel switch and the output current value of the photoelectric sensor assembly in real time. S4: When the state value of the travel switch changes and the output current value of the middle photoelectric sensor is less than the initial current value, and the output current value of the side photoelectric sensor on one side is greater than the initial current value, it is determined that the wall-climbing robot has deflected. S5: The control unit determines the deflection direction of the wall-climbing robot based on the difference between the current output value and the initial value of the photoelectric sensor assembly, and uses the differential principle to adjust the wheel group of the wall-climbing robot to deflect in the opposite direction. S6: When the state value of the travel switch is restored and the output current of the photoelectric sensor assembly returns to the initial value, the straightening process is completed.

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