Method, device and apparatus for adjusting moving direction, and storage medium

Abstract

The application discloses a mobile direction adjusting method and device, equipment and storage medium, relates to the field of robot technology, and can realize timely correction of the mobile direction of a wall-climbing robot during wall climbing. The method comprises the following steps: step A: acquiring a current position sensing stripe image of a water cooling wall pipe; the current position sensing stripe image is an image collected by the wall-climbing robot during movement on the water cooling wall pipe; the current position sensing stripe image comprises a plurality of parallel stripe lines; step B: determining a current stripe parameter based on the stripe lines in the current position sensing stripe image; the current stripe parameter is used for representing the inclination degree of the stripe lines in the current position sensing stripe image relative to a preset direction; and step C: adjusting the mobile direction of the wall-climbing robot according to the current stripe parameter and a preset stripe parameter; the preset stripe parameter is used for representing the inclination degree of the stripe lines in a template position sensing stripe image relative to the preset direction.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method, apparatus, device, and storage medium for adjusting the direction of movement. Background Technology

[0002] Defects on boiler water-cooled wall tubes (such as coking, breakage, corrosion, and wear) can affect the stable operation of thermal power plants, making defect detection of water-cooled wall tubes particularly important. Traditionally, defect detection of water-cooled wall tubes relies on manual inspection, which is not only costly but also carries a high risk of accidents. With the development of artificial intelligence and robotics, wall-climbing robots can now replace manual labor in the task of defect detection of water-cooled wall tubes.

[0003] However, the wall-climbing robot uses a wheel-based magnetic attraction method for its crawling motion, and its direction of movement is greatly affected by the magnetic attraction surface. The surface of water-cooled wall tubes is uneven and often contains contaminants such as slag and iron filings. Furthermore, water-cooled wall tubes may have defects such as bulging or cracks. This can cause the wall-climbing robot to deviate from its planned path during crawling, making it unable to complete the defect detection task. Therefore, how to promptly correct the movement direction of the wall-climbing robot during crawling has become an urgent technical problem to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, device, and storage medium for adjusting the direction of movement, which can realize timely correction of the direction of movement of a wall-climbing robot during the climbing process.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application provides a method for adjusting the movement direction, comprising: Step A: acquiring a current positional fringe image of a water-cooled wall tube; the current positional fringe image is an image captured during the movement of a wall-climbing robot on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines; Step B: determining current fringe parameters based on the fringe lines in the current positional fringe image; the current fringe parameters are used to characterize the degree of inclination of the fringe lines in the current positional fringe image relative to a preset direction; Step C: adjusting the movement direction of the wall-climbing robot according to the current fringe parameters and the preset fringe parameters; the preset fringe parameters are used to characterize the degree of inclination of the fringe lines in the template positional fringe image relative to a preset direction.

[0007] In the technical solution provided in this application, the wall-climbing robot can acquire a current positional fringe image during its movement on the water-cooled wall pipes. The water-cooled wall pipes are typically laid out according to certain rules, with each pipe parallel to the others. Therefore, the acquired current positional fringe image can contain multiple parallel fringe lines. This application can determine the current fringe parameters based on the fringe lines in the current positional fringe image, and then adjust the movement direction of the wall-climbing robot according to these current fringe parameters and preset fringe parameters. Since the current fringe parameters characterize the degree of inclination of the fringe lines in the current positional fringe image relative to the preset direction, and the preset fringe parameters characterize the degree of inclination of the fringe lines in the template positional fringe image relative to the preset direction, the current movement direction of the wall-climbing robot can be located based on the current fringe parameters and the preset fringe parameters. Since the climbing robot's crawling route is generally planned in advance, its navigation direction is also determined. Therefore, based on the current fringe parameters and the preset fringe parameters, the directional deviation between the current movement direction and the navigation direction of the wall-climbing robot can be obtained. This directional deviation can then be used to correct the current movement direction of the wall-climbing robot in a timely manner. As can be seen, the technical solution provided in this application can correct the movement direction of the wall-climbing robot in a timely manner by comparing the current stripe parameters corresponding to the current positional stripe image with the preset stripe parameters corresponding to the template positional stripe image.

[0008] Optionally, in one possible design approach, the current fringe parameter is the first slope of the fringe line in the current position-sensitive fringe image relative to a preset direction; the preset fringe parameter is the second slope of the fringe line in the template position-sensitive fringe image relative to a preset direction.

[0009] Optionally, in another possible design approach, the aforementioned "adjusting the movement direction of the wall-climbing robot according to the current stripe parameters and preset stripe parameters" may include:

[0010] The current offset angle is determined based on the first slope and the second slope;

[0011] If it is determined that the current offset angle and the offset angle threshold meet the preset conditions, the movement direction of the wall-climbing robot is adjusted based on the current offset angle;

[0012] If it is determined that the current offset angle does not meet the preset conditions, the wall-climbing robot is controlled to maintain the current direction of movement.

[0013] Optionally, in another possible design approach, the above-mentioned "determining the current fringe parameters based on the fringe lines in the current position-sensing fringe image" may include:

[0014] Preprocess the current positional fringe image to obtain the target positional fringe image;

[0015] The target positional fringe image is divided into N positional fringe partitions based on a preset partitioning rule; N is a positive integer greater than 1.

[0016] The first slope is determined based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction.

[0017] Optionally, in another possible design approach, the aforementioned "determining the first slope based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction" may include:

[0018] Add a reference circle at a preset position in each of the N potential fringe sections; wherein the diameter of the reference circle is smaller than the preset width.

[0019] Candidate potential fringe zones are determined from N potential fringe zones based on the number of intersections between the fringe lines in each potential fringe zone and the corresponding reference circle; the number of intersections between the fringe lines in the candidate potential fringe zones and the corresponding reference circle is 2.

[0020] Based on the first coordinate of the first intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, and the second coordinate of the second intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, the slope of the fringe line in the candidate sonic fringe partition relative to the preset direction is determined; the first coordinate and the second coordinate are coordinates under the same reference coordinate system.

[0021] The first slope is determined based on the slope of the stripe lines in the candidate somatosensory stripe partitions relative to a preset direction.

[0022] Optionally, in another possible design, the method for adjusting the movement direction provided in this application can be applied to a control device, and the method may further include:

[0023] In response to the user's start operation, a first start command is sent to the wall-climbing robot; the first start command includes a navigation route; the first start command is used to instruct the wall-climbing robot to move based on the navigation route, and to collect the current positional fringe image based on a preset frequency during the movement, and to transmit the collected current positional fringe image back in real time.

[0024] After sending the first start command, repeat steps A through C until the first stop command is detected.

[0025] Optionally, in another possible design, the method for adjusting the direction of movement provided in this application can be applied to a wall-climbing robot, and the method may further include:

[0026] Receive a second start command; the second start command includes a navigation route; the second start command is used to instruct the wall-climbing robot to move based on the navigation route;

[0027] The machine begins to move based on the navigation route and repeats steps A through C during the movement until a second stop command is detected.

[0028] Secondly, this application provides a device for adjusting the direction of movement, comprising: an acquisition module, a determination module, and an adjustment module;

[0029] The acquisition module is used to perform step A: acquire the current positional fringe image of the water-cooled wall tube; the current positional fringe image is an image collected during the process of the wall-climbing robot moving on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines;

[0030] The determination module is used to perform step B: determine the current fringe parameters based on the fringe lines in the current positional fringe image; the current fringe parameters are used to characterize the degree of inclination of the fringe lines in the current positional fringe image relative to a preset direction;

[0031] The adjustment module is used to perform step C: adjust the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters; the preset stripe parameters are used to characterize the degree of inclination of the stripe lines in the template positional stripe image relative to the preset direction.

[0032] Optionally, in one possible design approach, the current fringe parameter is the first slope of the fringe line in the current position-sensitive fringe image relative to a preset direction; the preset fringe parameter is the second slope of the fringe line in the template position-sensitive fringe image relative to a preset direction.

[0033] Alternatively, in another possible design approach, the adjustment module is specifically used for:

[0034] The current offset angle is determined based on the first slope and the second slope;

[0035] If it is determined that the current offset angle and the offset angle threshold meet the preset conditions, the movement direction of the wall-climbing robot is adjusted based on the current offset angle;

[0036] If it is determined that the current offset angle does not meet the preset conditions, the wall-climbing robot is controlled to maintain the current direction of movement.

[0037] Alternatively, in another possible design approach, the module is specifically used for:

[0038] Preprocess the current positional fringe image to obtain the target positional fringe image;

[0039] The target positional fringe image is divided into N positional fringe partitions based on a preset partitioning rule; N is a positive integer greater than 1.

[0040] The first slope is determined based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction.

[0041] Optionally, in another possible design approach, based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction, the module is further used for:

[0042] Add a reference circle at a preset position in each of the N potential fringe sections; wherein the diameter of the reference circle is smaller than the preset width.

[0043] Candidate potential fringe zones are determined from N potential fringe zones based on the number of intersections between the fringe lines in each potential fringe zone and the corresponding reference circle; the number of intersections between the fringe lines in the candidate potential fringe zones and the corresponding reference circle is 2.

[0044] Based on the first coordinate of the first intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, and the second coordinate of the second intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, the slope of the fringe line in the candidate sonic fringe partition relative to the preset direction is determined; the first coordinate and the second coordinate are coordinates under the same reference coordinate system.

[0045] The first slope is determined based on the slope of the stripe lines in the candidate somatosensory stripe partitions relative to a preset direction.

[0046] Optionally, in another possible design, the movement direction adjustment device provided in this application can be applied to a control device, which may further include: a sending module and an execution module;

[0047] The sending module is used to respond to the user's start operation and send a first start command to the wall-climbing robot; the first start command includes a navigation route; the first start command is used to instruct the wall-climbing robot to move based on the navigation route, and to collect the current positional fringe image based on a preset frequency during the movement, and to transmit the collected current positional fringe image back in real time.

[0048] The execution module is used to call the acquisition module, the determination module, and the adjustment module after the sending module sends the first start command, and repeat steps A to C until the first stop command is detected.

[0049] Optionally, in another possible design, the movement direction adjustment device provided in this application can be applied to a wall-climbing robot, and the device may further include: a receiving module and a moving module;

[0050] A receiving module is used to receive a second start command; the second start command includes a navigation route; the second start command is used to instruct the wall-climbing robot to move based on the navigation route.

[0051] The movement module is used to start moving based on the navigation route, and during the movement, it calls the acquisition module, determination module and adjustment module to repeat steps A to C until a second stop command is detected.

[0052] Thirdly, this application provides a device for adjusting the direction of movement. This device can be the wall-climbing robot itself or a control device for controlling the wall-climbing robot, including a memory, a processor, a bus, and a communication interface. The memory is used to store computer-executed instructions, and the processor is connected to the memory via the bus. When the device for adjusting the direction of movement is running, the processor executes the computer-executed instructions stored in the memory to cause the device for adjusting the direction of movement to perform the method for adjusting the direction of movement as provided in the first aspect above.

[0053] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to perform the method for adjusting the movement direction as provided in the first aspect.

[0054] Fifthly, this application provides a computer program product including computer instructions that, when executed on a computer, cause the computer to perform the method for adjusting the direction of movement as provided in the first aspect.

[0055] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the movement direction adjustment device, or it may be packaged separately from the processor of the movement direction adjustment device; this application does not impose any limitations on this.

[0056] The descriptions of the second, third, fourth, and fifth aspects in this application can be referenced to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth, and fifth aspects can be referenced to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0057] In this application, the names of the aforementioned devices or functional modules are not limited, and in actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, they all fall within the scope of the claims of this application and their equivalents.

[0058] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0059] Figure 1 A flowchart illustrating a method for adjusting the direction of movement provided in an embodiment of this application;

[0060] Figure 2 This is a partial structural schematic diagram of a water-cooled wall tube provided in an embodiment of this application;

[0061] Figure 3 This is a schematic diagram illustrating the partitioning of a target positional fringe image according to an embodiment of this application;

[0062] Figure 4 A schematic diagram of four target positional fringe images provided in the embodiments of this application;

[0063] Figure 5 A flowchart illustrating another method for adjusting the direction of movement provided in an embodiment of this application;

[0064] Figure 6 A flowchart illustrating another method for adjusting the direction of movement provided in this application embodiment;

[0065] Figure 7 A schematic diagram of a movement direction adjustment device provided in an embodiment of this application;

[0066] Figure 8 This is a schematic diagram of a device for adjusting the direction of movement provided in an embodiment of this application. Detailed Implementation

[0067] The following description, in conjunction with the accompanying drawings, details the method, apparatus, device, and storage medium for adjusting the direction of movement provided in the embodiments of this application.

[0068] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0069] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0070] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0071] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0072] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0073] Furthermore, the acquisition, storage, use, and processing of data in this application's technical solution all comply with relevant national laws and regulations.

[0074] Defects on boiler water-cooled wall tubes can affect the stable operation of thermal power plants, making defect detection of these tubes crucial. With the development of artificial intelligence and robotics, wall-climbing robots can now replace manual labor for defect detection. However, the climbing robot's movement uses a wheeled magnetic attraction method, and its direction of movement is significantly affected by the magnetic attraction surface. The surface of water-cooled wall tubes is uneven, often containing contaminants such as slag and iron filings, and may also have defects such as bulging or cracks. This can cause the climbing robot to deviate from its planned path during the climb, preventing it from completing the defect detection task. Therefore, how to promptly correct the climbing robot's movement direction during the climbing process has become a pressing technical problem.

[0075] To address the problems existing in the prior art, this application provides a method for adjusting the movement direction. This method can correct the movement direction of the wall-climbing robot in a timely manner by comparing the current fringe parameters corresponding to the current positional fringe image with the preset fringe parameters corresponding to the template positional fringe image.

[0076] The method for adjusting the movement direction provided in this application embodiment can be executed by the movement direction adjustment device provided in this application embodiment. This device can be implemented through software and / or hardware and integrated into the movement direction adjustment equipment executing this method. The movement direction adjustment device can be the wall-climbing robot itself or a control device communicatively connected to the wall-climbing robot.

[0077] The method for adjusting the direction of movement provided in this application will be described below with reference to the accompanying drawings.

[0078] Reference Figure 1 The method for adjusting the moving direction provided in this application embodiment includes S101-S103:

[0079] S101. Obtain the current positional fringe image of the water-cooled wall tube.

[0080] Among them, the current positional fringe image is an image collected during the process of the wall-climbing robot moving on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines.

[0081] Reference Figure 2 This application provides a partial structural schematic diagram of a water-cooled wall tube. For example... Figure 2 As shown, the water-cooled wall pipes are laid out in parallel. During the movement of wall-climbing robot A on the water-cooled wall pipes, the acquisition device on top of robot A, based on its current field of view (the center line of the field of view is indicated by arrow A), can acquire the current positional fringe image within region A. Similarly, during the movement of wall-climbing robot B on the water-cooled wall pipes, the acquisition device on top of robot B, based on its current field of view (the center line of the field of view is indicated by arrow B), can acquire the current positional fringe image within region B. Since the water-cooled wall pipes are laid out in parallel, the positional fringe image acquired by the acquisition device also contains multiple parallel fringe lines.

[0082] Understandable, Figure 2 For ease of plotting, the spacing between all stripes is equal. However, in practical applications, since the water-cooled wall tubes have thickness and there is a certain distance between each tube, the actual positional fringe image acquired by the acquisition device has two types of spacing between the stripes: one spacing is the thickness of the tube, and the other spacing is the distance between each tube, and the two spacings are arranged in an alternating pattern.

[0083] Optionally, the method for adjusting the movement direction provided in this application embodiment can be applied to a control device. The method may further include: in response to a user's start operation, sending a first start command to the wall-climbing robot; after sending the first start command, repeating steps S101 to S103 until a first stop command is detected.

[0084] The control device can be a device that communicates with the wall-climbing robot and is used to control the robot's start, stop, and direction of movement. For example, the control device can be different types of user terminals such as mobile phones, tablets, desktop computers, laptops, notebook computers, ultra-mobile personal computers (UMPCs), handheld computers, netbooks, personal digital assistants (PDAs), and wearable electronic devices.

[0085] In one possible implementation, the user terminal can carry an operating system for controlling the wall-climbing robot. When the user needs the wall-climbing robot to perform defect detection tasks, the user can pre-determine the navigation route for the robot based on the scene map of the water-cooled wall pipe to be inspected, and then add this navigation route to the operating system. Afterwards, the user can trigger the user terminal to send the first start command to the wall-climbing robot by clicking, long-pressing, or swiping the start control on the operating system's interface.

[0086] The first start command may include a navigation route; the first start command can be used to instruct the wall-climbing robot to move based on the navigation route, and during the movement, to collect current positional fringe images at a preset frequency, and to transmit the collected current positional fringe images back in real time. After obtaining the current positional fringe images transmitted back by the wall-climbing robot, the control device can process the current positional fringe images (that is, perform steps S101 to S103), and adjust the movement direction of the wall-climbing robot according to the processing results.

[0087] The preset frequency can be a sampling frequency determined in advance by a person. Optionally, the preset frequency can be determined by combining the climbing speed of the wall-climbing robot, the size of the area to be detected, and the performance parameters of the sampling equipment.

[0088] In one possible implementation, the first stop command can be a command received by the control device from the wall-climbing robot. For example, after the wall-climbing robot moves to the end position of the navigation route, it can send a first stop command to the control device. Upon receiving the first stop command, the control device stops acquiring the current positional fringe image from the wall-climbing robot and can control the wall-climbing robot to return to a predetermined stopping position.

[0089] In another possible implementation, the first stop command can also be an command automatically detected by the control device. For example, the control device can obtain the real-time position of the wall-climbing robot from its positioning system, and determine whether the wall-climbing robot has moved to the end position of the navigation route based on its real-time position. After determining that the wall-climbing robot has moved to the end position of the navigation route, the first stop command can be automatically detected.

[0090] The method for adjusting the movement direction of a control device provided in this application embodiment does not require any software or hardware improvements to existing wall-climbing robots. The wall-climbing robot does not need image processing capabilities; it only needs to use a top-mounted acquisition device to acquire the current positional fringe image and transmit it back to the control device. After receiving the current positional fringe image transmitted back by the wall-climbing robot, the control device processes the image and adjusts the movement direction of the wall-climbing robot based on the processing result.

[0091] Optionally, the method for adjusting the movement direction provided in this application embodiment can be applied to a wall-climbing robot. The method may further include: receiving a second start command; starting to move based on a navigation route, and repeatedly executing steps S101 to S103 during the movement until a second stop command is detected.

[0092] The second start command includes a navigation route; the second start command is used to instruct the wall-climbing robot to move based on the navigation route.

[0093] In one possible implementation, the second start command can be an instruction obtained by the wall-climbing robot from the control device. For example, the user can trigger the control device to send a second start command to the wall-climbing robot by performing a start operation on the control device.

[0094] In another possible implementation, the second start command can also be an command automatically detected by the wall-climbing robot. For example, the wall-climbing robot can be equipped with an autonomous control system. An image processing algorithm can be added to the control system. When a user needs the wall-climbing robot to perform a defect detection task, the navigation route for the robot can be determined in advance based on the area scene map of the water-cooled wall pipe to be inspected, and then this navigation route is synchronized to the control system. Afterwards, the user can trigger the second start command by pressing the start button on the wall-climbing robot, or by pressing the virtual buttons on the robot's display screen.

[0095] The second stop command can be an instruction received by the wall-climbing robot from the control device. For example, the control device can obtain the real-time position of the wall-climbing robot from its positioning system and determine whether it has moved to the end position of the navigation route based on the real-time position; after determining that the wall-climbing robot has moved to the end position of the navigation route, the control device can send the second stop command to the wall-climbing robot. Alternatively, the second stop command can also be an instruction automatically triggered by the wall-climbing robot. For example, after the wall-climbing robot moves to the end position of the navigation route, it can automatically trigger the second stop command.

[0096] In this embodiment, if the wall-climbing robot already has an autonomous control system, an image processing algorithm can be added to the control system to allow it to autonomously process the current positional fringe image. This reduces data transmission latency, increases the processing speed of the current positional fringe image, and enables timely adjustments to the robot's movement direction.

[0097] S102. Determine the current stripe parameters based on the stripe lines in the current positional fringe image.

[0098] The current fringe parameter characterizes the degree of inclination of the fringe lines in the current position-sensing fringe image relative to a preset direction. When the field of view of the climbing robot's data acquisition device changes, the degree of inclination of the fringe lines in the acquired current position-sensing fringe image relative to the preset direction will also change. For example... Figure 2 As shown, the acquisition devices of wall-climbing robot A and wall-climbing robot B have different fields of view. The acquisition device of wall-climbing robot A acquires the current positional fringe image in region A, while the acquisition device of wall-climbing robot B acquires the current positional fringe image in region B. Obviously, the fringe lines in the current positional fringe image in region A and the fringe lines in the current positional fringe image in region B have different degrees of tilt relative to the preset direction.

[0099] The preset direction can be a predetermined direction, such as... Figure 2 As shown, it is possible Figure 2 The direction of the middle arrow A, or perpendicular to the right of arrow A.

[0100] S103. Adjust the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters.

[0101] The preset stripe parameters are predetermined stripe parameters that can characterize the degree of inclination of the stripe lines in the template positional stripe image relative to the preset direction.

[0102] The template positional fringe image can be a template image pre-collected by the wall-climbing robot based on a preset acquisition field of view. Alternatively, the template positional fringe image can also be a template image drawn according to the engineering drawings of the water-cooled wall pipe. The preset acquisition field of view can be a predetermined acquisition field of view. For example, such as... Figure 2 As shown, the center line of the preset acquisition field of view can be the indicator line of arrow A, or the indicator line perpendicular to arrow A to the right.

[0103] Optionally, the current stripe parameter can be the first slope of the stripe line in the current positional fringe image relative to a preset direction; the preset stripe parameter can be the second slope of the stripe line in the template positional fringe image relative to a preset direction.

[0104] Optionally, adjusting the movement direction of the wall-climbing robot based on the current stripe parameters and preset stripe parameters may include: determining the current offset angle based on the first slope and the second slope; if it is determined that the current offset angle and the offset angle threshold meet the preset conditions, then adjusting the movement direction of the wall-climbing robot based on the current offset angle; if it is determined that the current offset angle and the offset angle threshold do not meet the preset conditions, then controlling the wall-climbing robot to maintain the current movement direction.

[0105] The offset angle threshold can be a pre-determined angle value that combines parameters such as the climbing robot's moving speed, the spacing between the water-cooled wall tubes, the performance of the wheel drive (used to drive the climbing robot's movement), and the surface conditions of the water-cooled wall tubes. The preset conditions can be pre-defined conditions, such as the current offset angle being greater than the offset angle threshold.

[0106] For example, if α represents the current offset angle, k represents the first slope, and p represents the second slope, then the current offset angle can be determined according to the following expression:

[0107] Due to the crawling conditions, the wall-climbing robot's movement direction will deviate from the navigation direction as soon as it begins to move on the water-cooled wall pipe. If direction correction is performed every time this deviation occurs, the correction frequency will be extremely high, almost equivalent to the acquisition frequency of the current positional fringe image. This excessively high correction frequency requires the wall-climbing robot to perform multiple turning operations to adjust its angle during defect detection tasks, thus affecting its efficiency. Therefore, in this embodiment, an offset angle threshold can be set, and correction will only be performed when the current offset angle meets the threshold's preset conditions. This allows for timely correction of the wall-climbing robot's movement direction while maintaining its efficiency in performing defect detection tasks.

[0108] Optionally, determining the current fringe parameters based on the fringe lines in the current positional fringe image may include: preprocessing the current positional fringe image to obtain a target positional fringe image; dividing the target positional fringe image into N positional fringe partitions based on a preset partitioning rule; where N is a positive integer greater than 1; and determining a first slope based on the slope of the fringe lines in the positional fringe partitions relative to a preset direction.

[0109] Preprocessing the current positional fringe image can involve basic image processing operations such as binarization and denoising.

[0110] The preset partitioning rule can be a predetermined partitioning rule, which includes the number of partitions N. For example, N can be 4 or 6.

[0111] Reference Figure 3 This application provides a schematic diagram for partitioning a target positional fringe image. For example... Figure 3 As shown, the target positional fringe image is divided into 6 positional fringe zones. The slope of the fringe lines in each of the 6 positional fringe zones relative to a preset direction (either the X-axis or the Y-axis) can be determined by establishing a Cartesian coordinate system. After obtaining the slopes of the fringe lines in the 6 positional fringe zones relative to the preset direction, the average of the 6 slopes can be calculated to obtain the first slope.

[0112] In this embodiment, the target positional fringe image can be divided into partitions, and a first slope can be determined based on the slope of the fringe lines in each partition relative to a preset direction. This improves the accuracy of the determined first slope, thereby increasing the accuracy of correcting the movement direction of the wall-climbing robot.

[0113] Optionally, determining the first slope based on the slope of the stripe lines in the position-sensitive stripe partitions relative to a preset direction may include: adding a reference circle at a preset position in each of the N position-sensitive stripe partitions; determining candidate position-sensitive stripe partitions from the N position-sensitive stripe partitions based on the number of intersections between the stripe lines in each position-sensitive stripe partition and the corresponding reference circle; determining the slope of the stripe lines in the candidate position-sensitive stripe partitions relative to a preset direction based on the first coordinates of the first intersection point of the stripe lines in the candidate position-sensitive stripe partitions and the corresponding reference circle, and the second coordinates of the second intersection point of the stripe lines in the candidate position-sensitive stripe partitions and the corresponding reference circle; and determining the first slope based on the slope of the stripe lines in the candidate position-sensitive stripe partitions relative to the preset direction.

[0114] Among them, the number of intersection points between the stripe lines in the candidate positional fringe partition and the corresponding reference circle is 2, the diameter of the reference circle is less than the preset width, and the first coordinate and the second coordinate are coordinates under the same reference coordinate system.

[0115] The preset width can be a predetermined width. For example, the preset width can be the minimum fringe spacing in the template fringe image. The preset position can be a predetermined position. For example, the preset position can be the center position of each fringe section.

[0116] For example, such as Figure 3 As shown, a reference circle can be added at the center of the six positional fringe sections. Figure 3 (Due to occlusion of the reference circle, the reference circle is not fully displayed in median fringe sections 2 and 5). It can be seen that the number of intersections between median fringe section 2 and its corresponding reference circle is not 2, and the number of intersections between median fringe section 5 and its corresponding reference circle is also not 2. Therefore, median fringe sections 1, 3, 4, and 6 can be identified as candidate median fringe sections. If (x1, y1) represents the first coordinate of the first intersection point, and (x2, y2) represents the second coordinate of the second intersection point, then, with the preset direction being the x-axis, the slope of the fringe lines in the candidate median fringe sections relative to the preset direction can be determined by the following expression: If the slopes of potential fringe sections 1, 3, 4, and 6 relative to the preset direction are K1, K3, K4, and K6, respectively, then the first slope...

[0117] In practical applications, boiler water-cooled wall tubes often accumulate contaminants such as coke slag and iron filings. Furthermore, the water-cooled wall tubes themselves may have weld seams, localized thickening, and cracks. Therefore, if only conventional image processing operations (such as binarization and denoising) are used to obtain the target positional fringe image, the accuracy of the first slope obtained based on the target positional fringe image will be affected by coke slag, iron filings, weld seams, and cracks. For example, refer to... Figure 4 This application provides schematic diagrams of four types of target positional fringe images, such as... Figure 4 As shown, the distribution of stripe lines in these four target positional fringe images is affected by coke slag, weld seam, expansion, and cracks, respectively. Therefore, in this embodiment, a reference circle can be added to each positional fringe region of the target positional fringe image. Then, based on the number of intersections between the reference circle and the stripe lines in the positional fringe region, positional fringe regions whose stripe line distribution is affected by coke slag, weld seam, expansion, or cracks can be screened out. This allows for the accurate determination of the first slope based on the stripe lines in the candidate positional fringe regions with complete stripe line distribution.

[0118] In summary, the method for adjusting the movement direction provided in this application embodiment allows the wall-climbing robot to acquire a current positional fringe image during its movement on the water-cooled wall pipes. The water-cooled wall pipes are typically laid out according to certain rules, with each pipe parallel to the others. Therefore, the acquired current positional fringe image may contain multiple parallel fringe lines. This application embodiment can determine the current fringe parameters based on the fringe lines in the current positional fringe image, and then adjust the movement direction of the wall-climbing robot according to these current fringe parameters and preset fringe parameters. Since the current fringe parameters characterize the degree of inclination of the fringe lines in the current positional fringe image relative to the preset direction, and the preset fringe parameters characterize the degree of inclination of the fringe lines in the template positional fringe image relative to the preset direction, the current movement direction of the wall-climbing robot can be located based on the current fringe parameters and the preset fringe parameters. The climbing route of a wall-climbing robot is generally planned in advance, so its navigation direction is also determined. Therefore, based on the current fringe parameters and the preset fringe parameters, the directional deviation between the current movement direction and the navigation direction of the wall-climbing robot can be obtained. This directional deviation can then be used to correct the robot's current movement direction in a timely manner. It can be seen that in this embodiment, by comparing the current fringe parameters corresponding to the current positional fringe image with the preset fringe parameters corresponding to the template positional fringe image, timely correction of the wall-climbing robot's movement direction during the climbing process can be achieved.

[0119] Optional, such as Figure 5As shown, this application embodiment also provides a method for adjusting the movement direction, which can be applied to a control device, including S501-S506:

[0120] S501, in response to the user's start operation, sends the first start command to the wall-climbing robot.

[0121] S502. Obtain the current positional fringe image of the water-cooled wall tube.

[0122] S503. Determine the current stripe parameters based on the stripe lines in the current positional fringe image.

[0123] S504. Adjust the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters.

[0124] S505. Determine if the first stop command has been detected.

[0125] If it is determined that the first stop command is detected, then proceed to step S506; if it is determined that the first stop command is not detected, then return to re-execute step S502.

[0126] S506. Control the wall-climbing robot to return to the predetermined stopping position.

[0127] Optional, such as Figure 6 As shown, this application embodiment also provides a method for adjusting the movement direction, which can be applied to a wall-climbing robot, including S601-S606:

[0128] S601, Receive the second start command.

[0129] S602. Obtain the current positional fringe image of the water-cooled wall tube.

[0130] S603. Determine the current fringe parameters based on the fringe lines in the current positional fringe image.

[0131] S604. Adjust the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters.

[0132] S605. Determine if a second stop command has been detected.

[0133] If a second stop command is detected, proceed to step S606; if no second stop command is detected, return to and re-execute step S602.

[0134] S606, Stop acquiring the current positional fringe image and move to the predetermined stopping position.

[0135] like Figure 7As shown in the figure, this application embodiment also provides a moving direction adjustment device, which may include: an acquisition module 11, a determination module 21 and an adjustment module 31.

[0136] Specifically, the acquisition module 11 executes S101 in the above method embodiment, the determination module 21 executes S102 in the above method embodiment, and the adjustment module 31 executes S103 in the above method embodiment.

[0137] The acquisition module 11 is used to perform step A: acquire the current positional fringe image of the water-cooled wall tube; the current positional fringe image is an image collected during the process of the wall-climbing robot moving on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines.

[0138] The determination module 21 is used to perform step B: determine the current fringe parameters based on the fringe lines in the current positional fringe image; the current fringe parameters are used to characterize the degree of inclination of the fringe lines in the current positional fringe image relative to a preset direction.

[0139] Adjustment module 31 is used to perform step C: adjust the moving direction of the wall-climbing robot according to the current stripe parameters and preset stripe parameters; preset stripe parameters are used to characterize the degree of inclination of the stripe lines in the template positional stripe image relative to the preset direction.

[0140] Optionally, in one possible design approach, the current fringe parameter is the first slope of the fringe line in the current position-sensitive fringe image relative to a preset direction; the preset fringe parameter is the second slope of the fringe line in the template position-sensitive fringe image relative to a preset direction.

[0141] Alternatively, in another possible design, adjustment module 31 is specifically used for:

[0142] The current offset angle is determined based on the first slope and the second slope;

[0143] If it is determined that the current offset angle and the offset angle threshold meet the preset conditions, the movement direction of the wall-climbing robot is adjusted based on the current offset angle;

[0144] If it is determined that the current offset angle does not meet the preset conditions, the wall-climbing robot is controlled to maintain the current direction of movement.

[0145] Alternatively, in another possible design approach, module 21 is specifically used for:

[0146] Preprocess the current positional fringe image to obtain the target positional fringe image;

[0147] The target positional fringe image is divided into N positional fringe partitions based on a preset partitioning rule; N is a positive integer greater than 1.

[0148] The first slope is determined based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction.

[0149] Optionally, in another possible design, based on the slope of the stripe lines in the position-sensitive stripe section relative to a preset direction, the determination module 21 is further used for:

[0150] Add a reference circle at a preset position in each of the N potential fringe sections; wherein the diameter of the reference circle is smaller than the preset width.

[0151] Candidate potential fringe zones are determined from N potential fringe zones based on the number of intersections between the fringe lines in each potential fringe zone and the corresponding reference circle; the number of intersections between the fringe lines in the candidate potential fringe zones and the corresponding reference circle is 2.

[0152] Based on the first coordinate of the first intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, and the second coordinate of the second intersection point of the fringe line in the candidate sonic fringe partition and the corresponding reference circle, the slope of the fringe line in the candidate sonic fringe partition relative to the preset direction is determined; the first coordinate and the second coordinate are coordinates under the same reference coordinate system.

[0153] The first slope is determined based on the slope of the stripe lines in the candidate somatosensory stripe partitions relative to a preset direction.

[0154] Optionally, in another possible design, the movement direction adjustment device provided in this application can be applied to a control device, which may further include: a sending module and an execution module;

[0155] The sending module is used to respond to the user's start operation and send a first start command to the wall-climbing robot; the first start command includes a navigation route; the first start command is used to instruct the wall-climbing robot to move based on the navigation route, and to collect the current positional fringe image based on a preset frequency during the movement, and to transmit the collected current positional fringe image back in real time.

[0156] The execution module is used to call the acquisition module 11, the determination module 21 and the adjustment module 31 after the sending module sends the first start command, and repeat steps A to C until the first stop command is detected.

[0157] Optionally, in another possible design, the movement direction adjustment device provided in this application can be applied to a wall-climbing robot, and the device may further include: a receiving module and a moving module;

[0158] A receiving module is used to receive a second start command; the second start command includes a navigation route; the second start command is used to instruct the wall-climbing robot to move based on the navigation route.

[0159] The movement module is used to start moving based on the navigation route, and during the movement, it calls the acquisition module 11, the determination module 21 and the adjustment module 31 to repeat steps A to C until a second stop command is detected.

[0160] Optionally, the device for adjusting the direction of movement may also include a storage module for storing program code, etc., of the device for adjusting the direction of movement.

[0161] like Figure 8 As shown, this application embodiment also provides a device for adjusting the direction of movement, including a memory 41 and a processor (e.g., ...). Figure 8 The processor includes 42-1 and 42-2, bus 43 and communication interface 44; memory 41 is used to store computer execution instructions, and the processor and memory 41 are connected through bus 43; when the movement direction adjustment device is running, the processor executes the computer execution instructions stored in memory 41 to make the movement direction adjustment device perform the movement direction adjustment method provided in the above embodiments.

[0162] In a specific implementation, as one example, the processor may include one or more central processing units (CPUs), for example... Figure 8 CPU0 and CPU1 are shown in the diagram. As one embodiment, the device for adjusting the direction of movement may include multiple processors, such as... Figure 8 The processors 42-1 and 42-2 are shown in the diagram. Each of these processors (CPUs) can be a single-core processor or a multi-core processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0163] The memory 41 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 41 may exist independently and be connected to the processor via bus 43. The memory 41 may also be integrated with the processor.

[0164] In a specific implementation, memory 41 is used to store the data in this application and the computer execution instructions corresponding to the software program of this application. The processor can perform various functions of the movement direction adjustment device by running or executing the software program stored in memory 41 and calling the data stored in memory 41.

[0165] Communication interface 44 uses any transceiver-like device for communicating with other devices or communication networks, such as control systems, radio access networks (RAN), wireless local area networks (WLANs), etc. Communication interface 44 may include a receiving unit to implement receiving functions and a transmitting unit to implement transmitting functions.

[0166] Bus 43 can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. This bus 43 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0167] As an example, combined Figure 7 The acquisition module in the movement direction adjustment device performs the same function as Figure 8 The receiving unit in the middle performs the same function, and the determining module in the movement direction adjustment device performs the same function. Figure 8 The processor in the same module performs the same function. When the movement direction adjustment device includes a storage module, the storage module performs the same function as... Figure 8 The memory in them performs the same function.

[0168] The explanation of the relevant content in this embodiment can be found in the above method embodiment, and will not be repeated here.

[0169] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0170] This application also provides a computer-readable storage medium storing instructions that, when executed by a computer, cause the computer to perform the movement direction adjustment method provided in the above embodiments.

[0171] The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, RAM, ROM, an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination thereof, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an application-specific integrated circuit (ASIC). In embodiments of this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0172] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for adjusting the direction of movement, characterized in that, include: Step A: Obtain the current positional fringe image of the water-cooled wall tube; the current positional fringe image is an image captured by the wall-climbing robot during its movement on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines; Step B: Determine the current stripe parameter based on the stripe lines in the current positional fringe image; the current stripe parameter is the first slope of the stripe lines in the current positional fringe image relative to a preset direction; the current stripe parameter is used to characterize the degree of inclination of the stripe lines in the current positional fringe image relative to the preset direction. Step C: Adjust the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters; the preset stripe parameters are used to characterize the degree of inclination of the stripe lines in the template positional stripe image relative to the preset direction; the preset stripe parameters are the second slope of the stripe lines in the template positional stripe image relative to the preset direction. The step of determining the current fringe parameters based on the fringe lines in the current positional fringe image includes: The current positional fringe image is preprocessed to obtain a target positional fringe image; the target positional fringe image is divided into N positional fringe partitions based on a preset partitioning rule; N is a positive integer greater than 1; the first slope is determined based on the slope of the fringe lines in the positional fringe partitions relative to the preset direction; Determining the first slope based on the slope of the stripe lines in the position-sensitive stripe partition relative to the preset direction includes: A reference circle is added at a preset position in each of the N position-sensing fringe sections; wherein the diameter of the reference circle is smaller than a preset width; candidate position-sensing fringe sections are determined from the N position-sensing fringe sections based on the number of intersections between the fringe lines in each position-sensing fringe section and the corresponding reference circle; the number of intersections between the fringe lines in the candidate position-sensing fringe sections and the corresponding reference circle is 2; the slope of the fringe lines in the candidate position-sensing fringe sections relative to the preset direction is determined based on the first coordinate of the first intersection point of the fringe lines in the candidate position-sensing fringe sections and the corresponding reference circle, and the second coordinate of the second intersection point of the fringe lines in the candidate position-sensing fringe sections and the corresponding reference circle; the first coordinate and the second coordinate are coordinates in the same reference coordinate system; the first slope is determined based on the slope of the fringe lines in the candidate position-sensing fringe sections relative to the preset direction.

2. The method for adjusting the direction of movement according to claim 1, characterized in that, The step of adjusting the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters includes: The current offset angle is determined based on the first slope and the second slope; If it is determined that the current offset angle and the offset angle threshold meet the preset conditions, then the movement direction of the wall-climbing robot is adjusted based on the current offset angle; If it is determined that the current offset angle does not meet the preset condition with respect to the offset angle threshold, then the wall-climbing robot is controlled to maintain its current direction of movement.

3. The method for adjusting the direction of movement according to claim 1, characterized in that, Applied to control equipment, the method further includes: In response to the user's activation operation, a first activation command is sent to the wall-climbing robot; the first activation command includes a navigation route; the first activation command is used to instruct the wall-climbing robot to move based on the navigation route, and to collect the current positional fringe image based on a preset frequency during the movement, and to transmit the collected current positional fringe image back in real time. After sending the first start command, steps A through C are repeated until the first stop command is detected.

4. The method for adjusting the direction of movement according to claim 1, characterized in that, Applied to the wall-climbing robot, the method further includes: Receive a second start command; the second start command includes a navigation route; the second start command is used to instruct the wall-climbing robot to move based on the navigation route; The system begins to move based on the navigation route and repeats steps A through C during the movement until a second stop command is detected.

5. A device for adjusting the direction of movement, characterized in that, include: The acquisition module is used to perform step A: acquire the current positional fringe image of the water-cooled wall tube; the current positional fringe image is an image collected during the process of the wall-climbing robot moving on the water-cooled wall tube; the current positional fringe image contains multiple parallel fringe lines; The determination module is used to perform step B: determining the current stripe parameter based on the stripe lines in the current positional fringe image; the current stripe parameter is used to characterize the degree of inclination of the stripe lines in the current positional fringe image relative to a preset direction; the current stripe parameter is the first slope of the stripe lines in the current positional fringe image relative to the preset direction; The adjustment module is used to perform step C: adjusting the movement direction of the wall-climbing robot according to the current stripe parameters and the preset stripe parameters; the preset stripe parameters are used to characterize the degree of inclination of the stripe lines in the template positional stripe image relative to the preset direction; the preset stripe parameters are the second slope of the stripe lines in the template positional stripe image relative to the preset direction. The determination module is specifically used to preprocess the current positional fringe image to obtain a target positional fringe image; and to divide the target positional fringe image into N positional fringe partitions based on a preset partitioning rule; where N is a positive integer greater than 1. The first slope is determined based on the slope of the stripe lines in the positional stripe partition relative to the preset direction; The step of determining the first slope based on the slope of the stripe lines in the position-sensitive stripe partitions relative to the preset direction includes: adding a reference circle at a preset position in each of the N position-sensitive stripe partitions; wherein the diameter of the reference circle is smaller than a preset width; determining candidate position-sensitive stripe partitions from the N position-sensitive stripe partitions based on the number of intersections between the stripe lines in each position-sensitive stripe partition and the corresponding reference circle; the number of intersections between the stripe lines in the candidate position-sensitive stripe partitions and the corresponding reference circle is 2; determining the slope of the stripe lines in the candidate position-sensitive stripe partitions relative to the preset direction based on the first coordinate of the first intersection point of the stripe lines in the candidate position-sensitive stripe partitions and the corresponding reference circle, and the second coordinate of the second intersection point of the stripe lines in the candidate position-sensitive stripe partitions and the corresponding reference circle; the first coordinate and the second coordinate are coordinates in the same reference coordinate system; and determining the first slope based on the slope of the stripe lines in the candidate position-sensitive stripe partitions relative to the preset direction.

6. A device for adjusting the direction of movement, characterized in that, It includes a memory, a processor, a bus, and a communication interface; the memory is used to store computer-executed instructions, and the processor is connected to the memory via the bus; When the movement direction adjustment device is running, the processor executes the computer execution instructions stored in the memory to cause the movement direction adjustment device to perform the movement direction adjustment method as described in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computer, cause the computer to perform the method for adjusting the direction of movement as described in any one of claims 1-4.

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