Method and system for controlling a flaw detection device

Abstract

The application provides a control method and system of a flaw detection device, which comprises the following steps: acquiring the first to fourth distances between the flaw detection device and a reference plate collected by two laser testers at a previous moment and a next moment during movement of the flaw detection device; acquiring a fifth distance between the two laser testers; acquiring a center distance of a power wheel, installation angle information of the power wheel, and a first rotation angle speed and a first travel speed of the flaw detection device at a current moment; calculating a first rudder direction value of the flaw detection device at the current moment; calculating the travel speeds and rudder direction values of front and rear power wheels according to the first rudder direction value, the center distance of the power wheel, the installation angle information of the power wheel, the first rotation angle speed and the first travel speed; calculating the turning angles of the front and rear power wheels according to the first to fourth distances; and controlling the front and rear power wheels to drive the flaw detection device to move linearly on a workpiece to be detected. Thus, the accuracy of flaw detection can be greatly improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical inspection technology, specifically to a control method for a flaw detection device and a control system for a flaw detection device. Background Technology

[0002] The surface quality of steel plates is one of the most important quality factors, and the quality of the surface quality of steel plates will directly affect the performance and quality of the final product.

[0003] In related technologies, when using flaw detection devices to detect flaws in steel plates, it is easy for the detection to go astray or deviate, resulting in low accuracy. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a control method and system for a flaw detection device. This method and system can accurately calculate the travel speed, second rudder value, and steering angle required for the front and rear power wheels of the flaw detection device to straighten and correct their course during travel. This allows for control of the front and rear power wheels, ensuring that the flaw detection device travels straight in the vertical direction and has no displacement in the horizontal direction, thereby greatly improving the accuracy of flaw detection.

[0005] The technical solution adopted in this invention is as follows:

[0006] A control method for a flaw detection device, the flaw detection device comprising: a support frame, a front drive wheel and a rear drive wheel respectively disposed at both ends of one diagonal of the support frame, two driven omnidirectional wheels respectively disposed at both ends of the other diagonal of the support frame, and a detection module connected to the support frame, wherein the two driven omnidirectional wheels are respectively connected to the support frame, and the positions of the two driven omnidirectional wheels and the front drive wheel and the rear drive wheel are correspondingly arranged, a reference plate is disposed on one side of the support frame, and two laser testers corresponding to the reference plate are disposed on the support frame, the two laser testers being symmetrically arranged with respect to the axis of the support frame, the control method comprising the following steps: during the movement of the flaw detection device, acquiring a first distance and a second distance between the flaw detection device and the reference plate collected by the two laser testers at a previous moment, and acquiring a third distance and a fourth distance between the flaw detection device and the reference plate collected by the two laser testers at the current moment; acquiring a fifth distance between the two laser testers... The system acquires information on the center distance of the drive wheels, the installation angle of the drive wheels, and the first angular velocity and first travel speed of the flaw detection device at the current moment. It then calculates the first steering direction value of the flaw detection device at the current moment based on the third, fourth, and fifth distances. Based on the first steering direction value, the center distance of the drive wheels, the installation angle of the drive wheels, the first angular velocity, and the first travel speed, it calculates the second travel speed and second steering direction value of the front drive wheel, as well as the third travel speed and third steering direction value of the rear drive wheel. Based on the first, second, third, and fourth distances, it calculates the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel. The system controls the front drive wheel based on the second travel speed, the second steering direction value, and the first steering angle, and controls the rear drive wheel based on the third travel speed, the third steering direction value, and the second steering angle, driving the flaw detection device to move linearly on the workpiece to perform flaw detection on the workpiece.

[0007] In one embodiment of the present invention, calculating the first steering direction value of the flaw detection device at the current moment based on the third distance, the fourth distance, and the fifth distance includes: determining whether the third distance is greater than the fourth distance; if the third distance is greater than the fourth distance, then calculating the first steering direction value using the following formula:

[0008]

[0009] Wherein, α1 is the first rudder direction value, x3 is the third distance, x4 is the fourth distance, and L is the fifth distance;

[0010] If the third distance is greater than the fourth distance, the first rudder direction value is calculated using the following formula:

[0011]

[0012] In one embodiment of the present invention, calculating the second travel speed and the second rudder direction value of the front drive wheel, and the third travel speed and the third rudder direction value of the rear drive wheel based on the first rudder direction value, the center distance of the drive wheel, the installation angle information of the drive wheel, the first angular velocity, and the first travel speed includes: calculating the first rotation radius of the flaw detection device based on the first angular velocity and the first travel speed; calculating the second rotation radius and the second rudder direction value of the front drive wheel and the third rotation radius and the third rudder direction value of the rear drive wheel based on the drive wheel installation angle information, the first rotation radius, the center distance of the drive wheel, and the first rudder direction value; calculating the second travel speed based on the first travel speed, the first rotation radius, and the second rotation radius, and calculating the third travel speed based on the first travel speed, the first rotation radius, and the third rotation radius.

[0013] In one embodiment of the present invention, calculating the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance, and the fourth distance includes: calculating a first included angle between the flaw detection device and the reference plate at a previous moment based on the first distance, the second distance, and the fifth distance, and calculating a second included angle between the flaw detection device and the reference plate at the current moment based on the third distance, the fourth distance, and the fifth distance; calculating a first deviation distance between the flaw detection device and the reference plate at a previous moment based on the first distance, the second distance, the fifth distance, and the first included angle, and calculating a second deviation distance between the flaw detection device and the reference plate at the current moment based on the third distance, the fourth distance, the fifth distance, and the second included angle; calculating a third deviation distance of the flaw detection device at the current moment relative to the previous moment based on the first deviation distance and the second deviation distance; calculating a deviation angle of the flaw detection device based on the third deviation distance; calculating the first steering angle based on the deviation angle and the second steering value, and calculating the second steering angle based on the deviation angle and the third steering value.

[0014] A control system for a flaw detection device includes: a support frame, a front drive wheel and a rear drive wheel respectively disposed at both ends of one diagonal of the support frame, two driven omnidirectional wheels respectively disposed at both ends of the other diagonal of the support frame, and a detection module connected to the support frame. The two driven omnidirectional wheels are respectively connected to the support frame, and the positions of the two driven omnidirectional wheels and the front and rear drive wheels are correspondingly arranged. A reference plate is disposed on one side of the support frame, and two laser testers corresponding to the reference plate are disposed on the support frame. The control system, symmetrically arranged relative to the axis of the support frame, includes: a first acquisition unit, configured to acquire, during the movement of the flaw detection device, a first distance and a second distance between the flaw detection device and the reference plate collected by the two laser testing instruments at a previous moment, and a third distance and a fourth distance between the flaw detection device and the reference plate collected by the two laser testing instruments at the current moment; a second acquisition unit, configured to acquire a fifth distance between the two laser testing instruments; and a third acquisition unit, configured to acquire the distance between the drive wheel. The system includes: a center distance, a drive wheel installation angle, and the first angular velocity and first travel speed of the flaw detection device at the current moment; a first calculation unit, which calculates the first steering direction value of the flaw detection device at the current moment based on the third distance, the fourth distance, and the fifth distance; a second calculation unit, which calculates the second travel speed and second steering direction value of the front drive wheel, and the third travel speed and third steering direction value of the rear drive wheel based on the first steering direction value, the center distance of the drive wheel, the drive wheel installation angle, the first angular velocity, and the first travel speed; a third calculation unit, which calculates the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance, and the fourth distance; and a control unit, which controls the front drive wheel based on the second travel speed, the second steering direction value, and the first steering angle, and controls the rear drive wheel based on the third travel speed, the third steering direction value, and the second steering angle, driving the flaw detection device to move linearly on the workpiece to be tested for flaw detection.

[0015] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the control method of the aforementioned flaw detection device.

[0016] A non-transitory computer-readable storage medium storing a computer program thereon, characterized in that the program, when executed by a processor, implements the control method of the aforementioned flaw detection device.

[0017] The beneficial effects of this invention are:

[0018] This invention can accurately calculate the travel speed, second rudder value, and steering angle required for the front and rear power wheels of the flaw detection device to straighten and correct their course during travel, thereby controlling the front and rear power wheels to ensure that the flaw detection device travels straight in the vertical direction and has no displacement in the horizontal direction, thus greatly improving the accuracy of flaw detection. Attached Figure Description

[0019] Figure 1 This is a flowchart of the control method of the flaw detection device according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of a flaw detection device according to an embodiment of the present invention;

[0021] Figure 3a This is a right-angled schematic diagram of a flaw detection device according to an embodiment of the present invention;

[0022] Figure 3b This is a schematic diagram of the leftward deviation of a flaw detection device according to an embodiment of the present invention;

[0023] Figure 4a This is a right-angled schematic diagram of a flaw detection device according to another embodiment of the present invention;

[0024] Figure 4b This is a schematic diagram of the flaw detection device tilted to the left according to another embodiment of the present invention;

[0025] Figure 5a This is a schematic diagram of the rightward movement of a flaw detection device according to an embodiment of the present invention;

[0026] Figure 5b This is a schematic diagram of the leftward deviation of a flaw detection device according to an embodiment of the present invention;

[0027] Figure 6 This is a block diagram of the control system of the flaw detection device according to an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Figure 1 This is a flowchart of a control method for a flaw detection device according to an embodiment of the present invention.

[0030] In one embodiment of the present invention, such as Figure 2 As shown, the flaw detection device may include: a support frame 1, a front drive wheel and a rear drive wheel (not specifically shown in the figure) respectively set at both ends of one diagonal of the support frame 1, two driven universal wheels respectively set at both ends of the other diagonal of the support frame 1, and a detection module (not specifically shown in the figure) connected to the support frame. The two driven universal wheels are respectively connected to the support frame 1, and the positions of the two driven universal wheels and the front drive wheel and the rear drive wheel are correspondingly set. A reference plate 61 is set on one side of the support frame 1, and two laser testers 62 corresponding to the reference plate 61 are set on the support frame 1. The two laser testers 62 are symmetrically set with respect to the axis of the support frame 1.

[0031] like Figure 1 As shown, the control method of the flaw detection device in this embodiment of the invention may include the following steps:

[0032] S1, during the movement of the flaw detection device, acquire the first and second distances between the flaw detection device and the reference plate collected by the two laser testers at the previous moment, and acquire the third and fourth distances between the flaw detection device and the reference plate collected by the two laser testers at the current moment.

[0033] Specifically, the front and rear power wheels can be driven by a driving component to move, thereby driving the flaw detection device on the workpiece to be tested (i.e., Figure 2 The device to be tested (7) shown in the figure can be moved on, that is, the flaw detection device can be controlled to move straight first, and in this process, the deviation can be corrected.

[0034] First, during the movement of the flaw detection device, the first distance x1 (i.e., the distance between the first laser tester and the reference plate at the previous moment) and the second distance x2 (i.e., the distance between the second laser tester and the reference plate at the previous moment) collected by the two laser testers at the previous moment can be obtained. Then, the third distance x3 (i.e., the distance between the first laser tester and the reference plate at the current moment) and the fourth distance x4 (i.e., the distance between the second laser tester and the reference plate at the previous moment) collected by the two laser testers at the current moment can be obtained.

[0035] S2, obtain the fifth distance between the two laser testers.

[0036] The fifth distance L can be the physical distance between the two laser testing instruments.

[0037] S3, acquire information on the center distance of the drive wheel, the installation angle of the drive wheel, and the first angular velocity and first travel speed of the flaw detection device at the current moment.

[0038] Specifically, during the movement of the flaw detection device, the center distance F of the power wheels (i.e., the distance between the center points of the front and rear power wheels), the installation angle information A of the power wheels, and the first angular velocity W1 and the first travel speed V1 of the flaw detection device at the current moment can also be obtained.

[0039] S4, calculate the first rudder direction value of the flaw detection device at the current moment based on the third distance, the fourth distance and the fifth distance.

[0040] In one embodiment of the present invention, calculating the first rudder direction value of the flaw detection device at the current moment based on the third distance, the fourth distance, and the fifth distance includes: determining whether the third distance is greater than the fourth distance; if the third distance is greater than the fourth distance, then calculating the first rudder direction value using the following formula:

[0041]

[0042] Where α1 is the first rudder direction value, x3 is the third distance, and x4 is the fourth distance. L The fifth distance; if the third distance is greater than the fourth distance, the first rudder direction value is calculated using the following formula:

[0043]

[0044] Specifically, such as Figure 3a As shown, determine whether the third distance x3 is greater than the fourth distance x4. If the third distance x3 is greater than the fourth distance x4, it indicates that the flaw detection device is deflected to the right. In this case, the third distance x3, the fourth distance x4, and the fifth distance x4 can be adjusted. L Substitute into formula (1) to calculate the first rudder direction value α1; if the fourth distance x4 is greater than the third distance x3, it indicates that the flaw detection device has deviated to the left. At this time, the third distance x3, the fourth distance x4 and the fifth distance L can be substituted into formula (2) to calculate the first rudder direction value α1; if the fourth distance x4 is equal to the third distance x3, it indicates that the flaw detection device has not deviated. At this time, there is no need to correct the deviation.

[0045] S5, calculate the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel based on the first rudder direction value, the center distance of the drive wheel, the drive wheel installation angle information, the first angular velocity, and the first travel speed.

[0046] In one embodiment of the present invention, calculating the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel based on the first rudder direction value, the center distance of the drive wheels, the drive wheel installation angle information, the first angular velocity, and the first travel speed may include: calculating the first rotation radius of the flaw detection device based on the first angular velocity and the first travel speed; calculating the second rotation radius and second rudder direction value of the front drive wheel and the third rotation radius and third rudder direction value of the rear drive wheel based on the drive wheel installation angle information, the first rotation radius, the center distance of the drive wheels, and the first rudder direction value; calculating the second travel speed based on the first travel speed, the first rotation radius, and the second rotation radius; and calculating the third travel speed based on the first travel speed, the first rotation radius, and the third rotation radius.

[0047] Specifically, the first rotation radius R1 of the flaw detection device can be calculated using the following formula based on the first angular velocity W1 and the first travel speed V1:

[0048]

[0049] Where R1 is the first rotation radius, W1 is the first angular velocity, and V1 is the first travel speed.

[0050] It should be noted that the second angular velocity W2 corresponding to the front drive wheel is equal to the third angular velocity W3 corresponding to the rear drive wheel, and is equal to the first angular velocity W1.

[0051] Secondly, based on the installation angle information of the drive wheel, the second rotation radius R2 and the second rudder direction value α2 of the front drive wheel, as well as the third rotation radius R3 and the third rudder direction value α3 of the rear drive wheel, are calculated according to the first rotation radius R1, the center distance F of the drive wheel, and the first rudder direction value α1.

[0052] Specifically, when the flaw detection device deviates to the right or to the left, different calculation methods can be used to calculate the second rotation radius R2 and the second rudder direction value α2 of the front power wheel, as well as the third rotation radius R3 and the third rudder direction value α3 of the rear power wheel.

[0053] Specifically, in combination Figure 4a As shown, when the flaw detection device deviates to the right, based on the installation angle information of the drive wheel, the second rotation radius R2 and the second rudder direction value α2 of the front drive wheel can be calculated using the following formula according to the first rotation radius R1, the center distance F of the drive wheel, and the first rudder direction value α1:

[0054]

[0055] The third rotation radius R3 and the third steering direction value α3 of the rear drive wheel are calculated using the following formulas:

[0056]

[0057] Combination Figure 4b As shown, when the flaw detection device deviates to the left, based on the installation angle information of the drive wheel, the second rotation radius R2 and the second rudder direction value α2 of the front drive wheel can be calculated using the following formula according to the first rotation radius R1, the center distance F of the drive wheel, and the first rudder direction value α1:

[0058]

[0059] The third rotation radius R3 and the third steering direction value α3 of the rear drive wheel are calculated using the following formulas:

[0060]

[0061] Among them, such as Figure 4a and 4b As shown, O is the physical center of the flaw detection device, O2 is the physical center of the rear drive wheel, and O3 is the physical center of the front drive wheel.

[0062] Finally, the second travel speed V2 is calculated based on the first travel speed V1, the first rotation radius R1, and the second rotation radius R2:

[0063] V2 = V1 * (R2 / R1), (8)

[0064] Calculate the third travel speed V3 using the first angular velocity V1, the first rotation radius R1, and the third rotation radius R3:

[0065] V3 = V1 * (R3 / R1). (9)

[0066] S6 calculates the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance and the fourth distance.

[0067] In one embodiment of the present invention, calculating the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on a first distance, a second distance, a third distance, and a fourth distance includes: calculating a first included angle between the flaw detection device and the reference plate at a previous moment based on the first distance, the second distance, and the fifth distance; calculating a second included angle between the flaw detection device and the reference plate at the current moment based on the third distance, the fourth distance, and the fifth distance; calculating a first deviation distance between the flaw detection device and the reference plate at a previous moment based on the first distance, the second distance, the fifth distance, and the first included angle; calculating a second deviation distance between the flaw detection device and the reference plate at the current moment based on the third distance, the fourth distance, the fifth distance, and the second included angle; calculating a third deviation distance of the flaw detection device at the current moment relative to the previous moment based on the first deviation distance and the second deviation distance; calculating a deviation angle of the flaw detection device based on the third deviation distance; calculating a first steering angle based on the deviation angle and a second steering direction value; and calculating a second steering angle based on the deviation angle and the third steering direction value.

[0068] Specifically, as one possible implementation method, combining Figure 5a As shown, when the flaw detection device deviates to the right, the second distance x2 is less than the first distance x1, the first distance x1 is less than the fourth distance x4, and the fourth distance x4 is less than the third distance x3.

[0069] The first included angle β1 between the flaw detection device and the reference plate at the previous moment can be calculated using the following formula based on the first distance x1, the second distance x2, and the fifth distance L:

[0070]

[0071] And based on the third distance x3, the fourth distance x4, and the fifth distance L, the second included angle β2 between the flaw detection device and the reference plate at the current moment is calculated using the following formula:

[0072]

[0073] Secondly, based on the first distance x1, the second distance x2, the fifth distance L, and the first included angle β1, the first deviation distance G1 between the flaw detection device and the reference plate at the previous moment is calculated using the following formula:

[0074]

[0075] And calculate the second deviation distance G2 between the flaw detection device and the reference plate at the current moment based on the third distance x3, the fourth distance x4, the fifth distance L, and the second included angle β2:

[0076]

[0077] Next, based on the first deviation distance G1 and the second deviation distance G2, the third deviation distance G3 of the flaw detection device at the current moment relative to the previous moment is calculated using the following formula:

[0078] G3 = G2 - G1, (14)

[0079] Then, the deviation angle β of the flaw detection device is calculated based on the third offset G3 distance:

[0080]

[0081] Where E is the distance between the physical center of the flaw detection device at the previous moment and the physical center of the flaw detection device at the current moment (i.e., the displacement of the flaw detection device relative to the previous moment).

[0082] Finally, the first steering angle ω1 is calculated using the following formula based on the deviation angle β and the second rudder value α2:

[0083] ω1=α2-β, (16)

[0084] The second steering angle ω2 is calculated using the following formula based on the deviation angle β and the third rudder value α3:

[0085] ω2=α3+β. (17)

[0086] As another possible implementation method, combined with Figure 5b As shown, when the flaw detection device deviates to the left, the third distance x3 is less than the first distance x1, the first distance x1 is less than the second distance x2, and the fourth distance x4 is less than the second distance x2.

[0087] The first included angle β1 between the flaw detection device and the reference plate at the previous moment can be calculated using the following formula based on the first distance x1, the second distance x2, and the fifth distance L:

[0088]

[0089] And based on the third distance x3, the fourth distance x4, and the fifth distance L, the second included angle β2 between the flaw detection device and the reference plate at the current moment is calculated using the following formula:

[0090]

[0091] Secondly, based on the first distance x1, the second distance x2, the fifth distance L, and the first included angle β1, the first deviation distance G1 between the flaw detection device and the reference plate at the previous moment is calculated using the following formula:

[0092]

[0093] And calculate the second deviation distance G2 between the flaw detection device and the reference plate at the current moment based on the third distance x3, the fourth distance x4, the fifth distance L, and the second included angle β2:

[0094]

[0095] Next, based on the first deviation distance G1 and the second deviation distance G2, the third deviation distance G3 of the flaw detection device at the current moment relative to the previous moment is calculated using the following formula:

[0096] G3 = G1 - G2, (22)

[0097] Then, the deviation angle β of the flaw detection device is calculated based on the third offset G3 distance:

[0098]

[0099] Where E is the distance between the physical center of the flaw detection device at the previous moment and the physical center of the flaw detection device at the current moment (i.e., the displacement of the flaw detection device relative to the previous moment).

[0100] Finally, the first steering angle ω1 is calculated using the following formula based on the deviation angle β and the second rudder value α2:

[0101] ω1=α2+β, (24)

[0102] The second steering angle ω2 is calculated using the following formula based on the deviation angle β and the third rudder value α3:

[0103] ω2=α3-β。(25)

[0104] S7 controls the front drive wheel according to the second travel speed, the second rudder value and the first steering angle, and controls the rear drive wheel according to the third travel speed, the third rudder value and the second steering angle, driving the flaw detection device to move linearly on the test piece in order to perform flaw detection on the test piece.

[0105] Specifically, the calculated second travel speed V2, second steering direction value α2, and first steering angle ω1 can be sent to the servo driver through a high-speed pulse port to control the corresponding PLC actuator, that is, to control the front power wheel to travel and steer. The calculated third travel speed V3, third steering direction value α3, and second steering angle ω2 can also be sent to the servo driver through a high-speed pulse port to control the corresponding PLC actuator, that is, to control the rear power wheel to travel and steer. This drives the flaw detection device to move linearly on the workpiece to perform flaw detection on the workpiece.

[0106] Therefore, this invention acquires real-time laser ranging data from the front and rear ends, and obtains relevant mechanical and electrical parameters of the flaw detection device. Then, based on a mathematical model, it calculates the turning angle and travel speed required for the front and rear drive wheels of the flaw detection device to straighten and correct their course during travel. This allows for dynamic and real-time adjustment of the flaw detection device's posture, ensuring that the device travels vertically straight with no horizontal displacement. This enables fully automatic flaw detection on the workpiece (e.g., the steel plate) without manual intervention, reducing labor waste and effectively avoiding missed or repeated detections.

[0107] In summary, the control method for the flaw detection device according to embodiments of the present invention acquires, during the movement of the flaw detection device, the first and second distances between the flaw detection device and the reference plate collected by the two laser testers at the previous moment, the third and fourth distances between the flaw detection device and the reference plate collected by the two laser testers at the current moment, and the fifth distance between the two laser testers; it also acquires the center distance of the drive wheels, the installation angle information of the drive wheels, and the first angular velocity and first travel speed of the flaw detection device at the current moment; and calculates the first rudder direction value of the flaw detection device at the current moment based on the third, fourth, and fifth distances. The system calculates the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel based on the first rudder direction value, the center distance of the drive wheels, the installation angle of the drive wheels, the first angular velocity, and the first travel speed. It also calculates the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first, second, third, and fourth distances. The system controls the front drive wheel based on the second travel speed, second rudder direction value, and first steering angle, and controls the rear drive wheel based on the third travel speed, third rudder direction value, and second steering angle, driving the flaw detection device to move linearly on the workpiece to perform flaw detection. This allows for accurate calculation of the travel speed, second rudder direction value, and steering angle required for the front and rear drive wheels to maintain straight movement and correct deviation during travel. This control of the front and rear drive wheels ensures that the flaw detection device moves vertically straight and without horizontal displacement, thus significantly improving the accuracy of flaw detection.

[0108] In accordance with the control method of the flaw detection device in the above embodiments, the present invention also proposes a control system for the flaw detection device.

[0109] In one embodiment of the present invention, such as Figure 2As shown, the flaw detection device may include: a support frame 1, front and rear drive wheels (not specifically shown in the figure) respectively located at both ends of one diagonal of the support frame 1, two driven omnidirectional wheels respectively located at both ends of the other diagonal of the support frame 1, and a detection module (not specifically shown in the figure) connected to the support frame. The two driven omnidirectional wheels are connected to the support frame 1, and their positions correspond to those of the front and rear drive wheels. A reference plate 61 is provided on one side of the support frame 1, and two laser testers 62 corresponding to the reference plate 61 are provided on the support frame 1. The two laser testers 62 are symmetrically arranged relative to the axis of the support frame 1. Figure 6 As shown, the control system of the flaw detection device in this embodiment of the invention may include: a first acquisition unit 100, a second acquisition unit 200, a third acquisition unit 300, a first calculation unit 400, a second calculation unit 500, a third calculation unit 600, and a control unit 700.

[0110] The first acquisition unit 100 is used to acquire, during the movement of the flaw detection device, the first distance and the second distance between the flaw detection device and the reference plate collected by the two laser testers at the previous moment, and the third distance and the fourth distance between the flaw detection device and the reference plate collected by the two laser testers at the current moment; the second acquisition unit 200 is used to acquire the fifth distance between the two laser testers; the third acquisition unit 300 is used to acquire the center distance of the drive wheels, the installation angle information of the drive wheels, and the first angular velocity and the first travel speed of the flaw detection device at the current moment; the first calculation unit 400 is used to calculate the first rudder direction value of the flaw detection device at the current moment based on the third distance, the fourth distance, and the fifth distance; the second calculation unit 400 is used to calculate the first rudder direction value of the flaw detection device at the current moment; Unit 500 is used to calculate the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel, based on the first rudder direction value, the center distance of the drive wheel, the drive wheel installation angle information, the first angular velocity, and the first travel speed; the third calculation unit 600 is used to calculate the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance, and the fourth distance; the control unit 700 is used to control the front drive wheel based on the second travel speed, the second rudder direction value, and the first steering angle, and to control the rear drive wheel based on the third travel speed, the third rudder direction value, and the second steering angle, driving the flaw detection device to move linearly on the test piece, so as to perform flaw detection on the test piece.

[0111] In one embodiment of the present invention, the first calculation unit 400 is specifically used to: determine whether the third distance is greater than the fourth distance; if the third distance is greater than the fourth distance, calculate the first rudder direction value using the following formula:

[0112]

[0113] Where α1 is the first rudder direction value, x3 is the third distance, x4 is the fourth distance, and L is the fifth distance;

[0114] If the third distance is greater than the fourth distance, the first rudder direction value is calculated using the following formula:

[0115]

[0116] In one embodiment of the present invention, the second calculation unit 500 is specifically used to: calculate the first rotation radius of the flaw detection device based on the first angular velocity and the first travel speed; calculate the second rotation radius and the second rudder direction value of the front power wheel and the third rotation radius and the third rudder direction value of the rear power wheel based on the installation angle information of the power wheel, the first rotation radius, the center distance of the power wheel and the first rudder direction value respectively; calculate the second travel speed based on the first travel speed, the first rotation radius and the second rotation radius, and calculate the third travel speed based on the first travel speed, the first rotation radius and the third rotation radius.

[0117] In one embodiment of the present invention, the third calculation unit 600 is specifically configured to: calculate a first included angle between the flaw detection device and the reference plate at the previous moment based on a first distance, a second distance, and a fifth distance; calculate a second included angle between the flaw detection device and the reference plate at the current moment based on a third distance, a fourth distance, and a fifth distance; calculate a first deviation distance between the flaw detection device and the reference plate at the previous moment based on a first distance, a second distance, a fifth distance, and a first included angle; calculate a second deviation distance between the flaw detection device and the reference plate at the current moment based on a third distance, a fourth distance, a fifth distance, and a second included angle; calculate a third deviation distance of the flaw detection device at the current moment relative to the previous moment based on a first deviation distance and a second deviation distance; calculate a deviation angle of the flaw detection device based on a third deviation distance; calculate a first steering angle based on a deviation angle and a second steering value; and calculate a second steering angle based on a deviation angle and a third steering value.

[0118] It should be noted that a more specific embodiment of the control system of the flaw detection device of the present invention can be found in the embodiment of the control method of the flaw detection device described above. To avoid redundancy, it will not be described in detail here.

[0119] According to the control system of the flaw detection device of the present invention, during the movement of the flaw detection device, the first acquisition unit acquires the first and second distances between the flaw detection device and the reference plate collected by the two laser testers at the previous moment, and acquires the third and fourth distances between the flaw detection device and the reference plate collected by the two laser testers at the current moment; the second acquisition unit acquires the fifth distance between the two laser testers; the third acquisition unit acquires the center distance of the drive wheels, the installation angle information of the drive wheels, and the first angular velocity and the first travel speed of the flaw detection device at the current moment; and the first calculation unit calculates the first steering value of the flaw detection device at the current moment based on the third, fourth, and fifth distances. The second calculation unit calculates the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel based on the first rudder direction value, the center distance of the drive wheels, the installation angle information of the drive wheels, the first angular velocity, and the first travel speed. The third calculation unit calculates the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance, and the fourth distance. The control unit controls the front drive wheel based on the second travel speed, the second rudder direction value, and the first steering angle, and controls the rear drive wheel based on the third travel speed, the third rudder direction value, and the second steering angle, driving the flaw detection device to move linearly on the workpiece to perform flaw detection. Therefore, the travel speed, second rudder direction value, and steering angle required for the front and rear drive wheels of the flaw detection device to straighten and correct their course during travel can be accurately calculated, allowing for control of the front and rear drive wheels. This ensures that the flaw detection device moves vertically straight and without horizontal displacement, thereby greatly improving the accuracy of flaw detection.

[0120] Corresponding to the above embodiments, the present invention also proposes a computer device.

[0121] The computer device in this embodiment of the invention may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the control method of the flaw detection device described above.

[0122] According to the computer equipment of the present invention, the control method of the above-described flaw detection device can accurately calculate the travel speed, second rudder value and steering angle required for the front and rear power wheels of the flaw detection device to straighten and correct their course during travel, so as to control the front and rear power wheels, thereby ensuring that the flaw detection device travels straight in the vertical direction and has no displacement in the horizontal direction, thus greatly improving the accuracy of flaw detection.

[0123] Corresponding to the above embodiments, the present invention also proposes a non-transitory computer-readable storage medium.

[0124] The non-transitory computer-readable storage medium of this invention stores a computer program, which, when executed by a processor, implements the control method of the flaw detection device described above.

[0125] According to the non-transitory computer-readable storage medium of the present invention, the control method of the above-described flaw detection device can accurately calculate the travel speed, second rudder value and steering angle required for the front and rear power wheels of the flaw detection device to straighten and correct their course during travel, so as to control the front and rear power wheels, thereby ensuring that the flaw detection device travels straight in the vertical direction and has no displacement in the horizontal direction, thus greatly improving the accuracy of flaw detection.

[0126] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0127] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0128] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0129] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0130] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0131] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0132] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0133] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for a flaw detection device, characterized in that, The flaw detection device includes: a support frame, a front drive wheel and a rear drive wheel respectively disposed at both ends of one diagonal of the support frame, two driven omnidirectional wheels respectively disposed at both ends of the other diagonal of the support frame, and a detection module connected to the support frame. The two driven omnidirectional wheels are respectively connected to the support frame, and the positions of the two driven omnidirectional wheels and the front and rear drive wheels are correspondingly arranged. A reference plate is disposed on one side of the support frame, and two laser testers corresponding to the reference plate are disposed on the support frame. The two laser testers are symmetrically arranged relative to the axis of the support frame. The control method includes the following steps: During the movement of the flaw detection device, the first and second distances between the flaw detection device and the reference plate, collected by the two laser testers at the previous moment, are obtained, and the third and fourth distances between the flaw detection device and the reference plate, collected by the two laser testers at the current moment, are obtained. Obtain the fifth distance between the two laser testing instruments; Acquire information on the center distance of the drive wheel, the installation angle of the drive wheel, and the first angular velocity and first travel speed of the flaw detection device at the current moment; The first rudder direction value of the flaw detection device at the current moment is calculated based on the third distance, the fourth distance, and the fifth distance; The second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel are calculated based on the first rudder direction value, the center distance of the drive wheels, the installation angle information of the drive wheels, the first angular velocity, and the first travel speed; wherein, the first rotation radius of the flaw detection device is calculated based on the first angular velocity and the first travel speed; based on the drive wheel installation angle information, the second rotation radius and second rudder direction value of the front drive wheel and the third rotation radius and third rudder direction value of the rear drive wheel are calculated based on the first rotation radius, the center distance of the drive wheels, and the first rudder direction value; the second travel speed is calculated based on the first travel speed, the first rotation radius, and the second rotation radius, and the third travel speed is calculated based on the first travel speed, the first rotation radius, and the third rotation radius; The first steering angle of the front drive wheel and the second steering angle of the rear drive wheel are calculated based on the first distance, the second distance, the third distance, and the fourth distance. The front drive wheel is controlled according to the second travel speed, the second steering value and the first steering angle, and the rear drive wheel is controlled according to the third travel speed, the third steering value and the second steering angle, so as to drive the flaw detection device to move linearly on the test piece, so as to perform flaw detection on the test piece.

2. The control method for the flaw detection device according to claim 1, characterized in that, The calculation of the first rudder direction value of the flaw detection device at the current moment based on the third distance, the fourth distance, and the fifth distance includes: Determine whether the third distance is greater than the fourth distance; If the third distance is greater than the fourth distance, the first rudder direction value is calculated using the following formula: ， in, The first rudder direction value, The third distance, For the fourth distance, The fifth distance; If the third distance is less than the fourth distance, the first rudder direction value is calculated using the following formula: 。 3. The control method for the flaw detection device according to claim 1, characterized in that, Calculating the first steering angle of the front drive wheel and the second steering angle of the rear drive wheel based on the first distance, the second distance, the third distance, and the fourth distance includes: The first angle between the flaw detection device and the reference plate at the previous moment is calculated based on the first distance, the second distance, and the fifth distance; and the second angle between the flaw detection device and the reference plate at the current moment is calculated based on the third distance, the fourth distance, and the fifth distance. The first deviation distance between the flaw detection device and the reference plate at the previous moment is calculated based on the first distance, the second distance, the fifth distance and the first included angle; and the second deviation distance between the flaw detection device and the reference plate at the current moment is calculated based on the third distance, the fourth distance, the fifth distance and the second included angle. The third deviation distance of the flaw detection device relative to the previous moment is calculated based on the first deviation distance and the second deviation distance; The deviation angle of the flaw detection device is calculated based on the third deviation distance; The first steering angle is calculated based on the deviation angle and the second steering direction value, and the second steering angle is calculated based on the deviation angle and the third steering direction value.

4. A control system for a flaw detection device, characterized in that, The flaw detection device includes: a support frame, a front drive wheel and a rear drive wheel respectively disposed at both ends of one diagonal of the support frame, two driven omnidirectional wheels respectively disposed at both ends of the other diagonal of the support frame, and a detection module connected to the support frame. The two driven omnidirectional wheels are respectively connected to the support frame, and the positions of the two driven omnidirectional wheels and the front and rear drive wheels are correspondingly arranged. A reference plate is disposed on one side of the support frame, and two laser testers corresponding to the reference plate are disposed on the support frame. The two laser testers are symmetrically arranged relative to the axis of the support frame. The control system includes: The first acquisition unit is used to acquire, during the movement of the flaw detection device, the first distance and the second distance between the flaw detection device and the reference plate collected by the two laser testers at the previous moment, and to acquire the third distance and the fourth distance between the flaw detection device and the reference plate collected by the two laser testers at the current moment. The second acquisition unit is used to acquire the fifth distance between the two laser testers; The third acquisition unit is used to acquire information on the center distance of the power wheel, the installation angle of the power wheel, and the first angular velocity and the first travel speed of the flaw detection device at the current moment. The first calculation unit is used to calculate the first rudder direction value of the flaw detection device at the current moment based on the third distance, the fourth distance and the fifth distance; The second calculation unit is used to calculate the second travel speed and second rudder direction value of the front drive wheel, and the third travel speed and third rudder direction value of the rear drive wheel, based on the first rudder direction value, the center distance of the drive wheels, the installation angle information of the drive wheels, the first angular velocity, and the first travel speed. Specifically, the second calculation unit is used to: calculate the first rotation radius of the flaw detection device based on the first angular velocity and the first travel speed; calculate the second rotation radius and second rudder direction value of the front drive wheel and the third rotation radius and third rudder direction value of the rear drive wheel based on the drive wheel installation angle information, the first rotation radius, the center distance of the drive wheels, and the first rudder direction value; calculate the second travel speed based on the first travel speed, the first rotation radius, and the second rotation radius; and calculate the third travel speed based on the first travel speed, the first rotation radius, and the third rotation radius. The third calculation unit is used to calculate the first steering angle of the front power wheel and the second steering angle of the rear power wheel based on the first distance, the second distance, the third distance and the fourth distance; The control unit is configured to control the front drive wheel according to the second travel speed, the second steering value and the first steering angle, and to control the rear drive wheel according to the third travel speed, the third steering value and the second steering angle, so as to drive the flaw detection device to move linearly on the test piece in order to perform flaw detection on the test piece.

5. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method of the flaw detection device according to any one of claims 1-3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the control method of the flaw detection device according to any one of claims 1-3.

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